Research On Target Positioning Technology Based On Visual/INS Posture Measurement

Patrol missile is an important weapon and equipment for unmanned combat in the future,and high precision target positioning is one of its key technologies.Based on the large gap between the target positioning field in China and the technologically developed countries,this paper proposed an attitude measurement method based on image/ins and carried out the research on the target positioning technology.The main contents are as follows:In this paper,the overall scheme of target positioning is designed at first.On the basis of analyzing the attitude of the carrier with the maximum error source affecting the positioning accuracy,the feasibility of improving the target positioning accuracy by combining the visual/inertial navigation system with the attitude measurement is illustrated.At the same time,the visual/inertial navigation posture measurement is introducedBased on monocular vision image sequence,blob region is used to optimize the algorithm,and the number of feature points is limited while the feature extraction is improved.In addition,a hierarchical iterative algorithm is designed to solve the feature matching problem of image displacement between adjacent frames.Finally,the eight-point algorithm is studied to estimate the motion of the carrier,which lays a foundation for information fusion.Next,the study of inertial attitude updating method,and the visual appearance,on the basis of measurement based on inertial navigation error equations of state variables and the model based on visual/state of inertial motion differential,structures,Kalman filter,the appearance of test data fusion,and through the simulation means to check the fusion of visual/attitude information can effectively increase the attitude accuracy.Finally,combining with airborne sensor information,the design just in observation point on the target,the measurement of a target can be calculated absolute position of monostatic target localization algorithm,using the Monte-Carlo method,combining with solving pose information of target simulation test,the test results show that the increase in flight vehicle’s own attitude accuracy,on the basis of combining with other sensors,target positioning accuracy can be increased by 34%.