【作者】 刘世廷；

【导师】 王向军；

【作者基本信息】 天津大学 ， 仪器科学与技术， 2012， 硕士

【摘要】 随着使用的需要和高新技术的发展,近年来在世界范围内掀起了对无人机的研究热潮,特别是微小型无人机,在军用和民用领域都具有广泛的应用价值,长期以来都是国内外众多科研机构和组织的热点研究方向。如何确定微小型无人机机载光电测量系统采集到的图像上的地面目标的位置,就成了一个重要的课题。本文正是以国产某微小型无人机机载硬件平台为基础,对微小型无人机目标自主定位技术需要解决的几项技术问题展开了研究。本论文主要研究内容包括:1)在研究相关文献了解国内外相关研究工作的基础上,并结合本课题的课题背景使用条件,提出本文使用的方法和手段。2)根据计算机视觉中的摄像机模型与欧式刚体变换等相关知识,并根据本文使用的微小型无人机实际情况设计适合的坐标系。按照该微小型无人机实际情况推导根据无人机姿态与光电吊舱姿态等信息获得目标方位的解算模型。3)完成了本文所述算法的C语言代码编写,并结合基于DSP+FPGA平台的机载硬件平台,完成算法的移植与优化。4)针对解算模型和测高逼近改进算法,设计了相关的仿真实验、实测实验以及相应的测试用例。经过实验结果分析,本文中使用的算法可以较好的完成课题中所需要的功能要求及精度要求。本论文主要创新点包括:在了解数字高程相关知识的基础上根据数字高程的数据结构特点提出了利用双线性插值的方法获得数字高程模型涵盖范围内任意一点的地面高度的方法。在此基础上,提出了基于迭代逼近的测高改进算法,在一定程度上修正了直接采用无人机位置地面高度代替目标所在位置地面高度的近似测高带来的测高误差。更多还原

【Abstract】 With the demands of application and development of high-technology , more and more attentions are paid to the research on the UAV (Unmanned Aerial Vehicle) all over the world in recent years. Especially the MUAV (Micro Unmanned Aerial Vehicle) which is widely applied both in the military area and the civilian area , has become one of the most popular research subjects in many institutions and organizations for a long time . It becomes an important issue that how to locate ground targets caught by the airborne optical measurement system of a MUAV. This research work of this paper is about the solution of some key problems of autonomous targets location of an MUAV based on the airborne hardware platform of a MUAV made in our country.In this paper , the main contents include:1) The methods used in this paper is proposed based on the understanding of the research work of other experts and the using background of our subject.2) The coordinate system used in this paper is designed according to the knowledge of the camera model and European rigid transformation in computer vision. The target’s coordinate measurement model is derived about the information of the situation of the MUAV and optical pod .3) The C language code is ported and optimized based on the airborne hardware platform.4) Simulation experiments and the measured experiments are designed to test the algorithm in this paper. And the results of these experiments shows that the algorithm in this paper can meet the requirements both in the function and the accuracy.In this paper , the innovative point include:The ground height of the point which is in the range of the DEM is gotten based on bilinear interpolation , according to the data structure of the DEM. And the DEM-based approach altimeter is proposed to correct the error caused by using the ground height of the MUAV’ ground projection position instead of the ground height of the target.更多还原