Research On Autonomous Targets Location Of An MUAV Using DEM-based Approach Altimeter

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.