Research on An Accurate UAV Self localization Method Based on Non calibrated Vision Navigation
FU Qiang
SUN Xiuxia
LIU Shuguang
XU Song
PENG Ke
Abstract：Aimed at the problem of"miss"in the traditional GPS navigation system,a new algorithm for self??localization is presented by taking the visual navigation as a novel navigation manner without compute camera calibration and any remote sensory information,and the position can be well estimated on the prop-erty of proj ective geometry and relation of geometry.Firstly,the target in the plane is located with the tar-get's position to realize the vision self??localization.The conclusion demonstrates the effectiveness of the model.The experiments show that the method can effectively eliminate the position,and the maximal dif-ferent value is 0.01 m.A novel thought??way with simplicity,real time and high precision is provided for vi-sion self??localization of UAV is provided.
Keywords：vision self-localizationproj ective geometrynon-calibrated cameracross ratio theorem
Publication Date：2015-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 5-8 )