نوع مقاله : مقالة مروری
نویسندگان
دانشکده مهندسی مکانیک، دانشگاه تربیت مدرس، تهران، ایران
چکیده
خطای سیستم ناوبری اینرسی به علت خطاهای حسگرهای آن، با افزایش زمان، زیاد می‌شود. معمولاً برای جلوگیری از رشد خطای سیستم ناوبری، این سیستم را با حسگر یا سامانه‌های کمکی تلفیق می‌کنند؛ که مهم‌ترین سامانة کمکی، سامانه ماهواره‌ای ناوبری جهانی است. به دلیل امکان قطع سامانه ماهواره‌ای ناوبری جهانی یا معتبر نبودن اطلاعات آن، از حسگرهای کمکی دیگر در زمان قطع سامانه ماهواره‌ای ناوبری جهانی برای افزایش دقت سیستم ناوبری اینرسی استفاده می‌شود. در این مقاله، به بررسی انواع روش‌های استفاده‌شده از دوربین تصویربردار برای ناوبری یا افزایش دقت سیستم ناوبری اینرسی انواع پرنده‌های بدون سرنشین، پرداخته شده است. پس از مرور مقالات در حوزه ناوبری تصویری در پرنده‌های بدون سرنشین، دسته‌بندی مناسبی برای انواع روش‌های ناوبری تصویری ارائه شده و روند توسعه این روش‌ها بررسی شده است. در پرنده‌های بدون سرنشین ناوبری تصویری بیشتر بر اساس تکنیک‌های: نقشه متریک، شار نوری، ردیابی مشخصه‌ها، ادومتری و سیستم‌های ناوبری تصویری مبتنی بر تشکیل و استفاده هم‌زمان نقشه، انجام شده است.
کلیدواژه‌ها
عنوان مقاله [English]
A Survey on Vision Navigation Methods for UAV Navigation Applications
نویسندگان [English]
- Masoud Ebrahimi Kachoie
- Mohammadvali Arbabmir
- Mohammad Norouz
Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran
چکیده [English]
Inertial navigation system error increases due to sensor errors with the increase in
time. Usually, to prevent the growth of navigation system error, inertial navigation
systems are integrated with sensors or auxiliary systems. The importantly aided system is
GNSS. Because of GNSS outage or its invalidity, the other auxiliary sensors are used to
increase the accuracy of the inertial navigation system. In this article, the types of
methods which are used by imaging camera for navigation or for the accuracy
improvement of an inertial navigation system for UAVs are discussed. After reviewing the
literature in the field of vision navigation in UAVs, the proper classification for vision
navigation methods and the development of these methods are presented. In UAVs, the
vision navigation techniques are based more on Map metric, optical flow, feature
tracking, odometers and simultaneous localization and mapping.
کلیدواژه‌ها [English]
- Inertial Navigation System
- Vision Navigation
- Estimator
- UAV
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