摘要
针对无人机编队飞行中传统定位方法在复杂环境下存在的成本高、易受干扰及系统复杂等问题,本文提出一种基于伴飞影像的单目视觉测量方法。通过构建“刚性基线-物像比视觉测距模型”,以翼尖连线为几何基准,结合光学投影变换解算相对位置,并引入载体姿态信息进行动态修正。试验结果表明:地面模拟在2~7 m范围内三维测量误差小于2 cm;飞行试验在X向13~30 m、Y向0~2.5 m、Z向0~4 m包线内,三向测量误差均方根值分别优于0.66 m、1.16 m和0.78 m,处理速度达20 fps,且在多种编队阵型下表现稳定。该轻量化视觉测量技术有效解决了运动目标特征提取质量与实时性的矛盾,为复杂电磁环境下的无人机编队自主协同提供了可靠技术路径。
To address the challenges of high cost,vulnerability to interference,and system complexity associated with traditional positioning methods in UAV swarm flight within complex environments,this paper proposes a monocular vision measurement method based on companion flight imagery.By constructing a″Rigid Baseline-to-Image Ratio Visual Ranging Model″,the wingtip line is used as a geometric benchmark to calculate relative position through optical projection transformation,while incorporating carrier attitude information for dynamic correction.Test results demonstrate that the ground simulation achieves 3D measurement errors of less than 2 cm within a 2 to 7 meter range.Flight tests within the operational envelope(X:13 to 30 m,Y:0 to 2.5 m,Z:0 to 4 m)show root mean square errors better than 0.66 m,1.16 m and 0.78 m in the three directions respectively,with a processing speed of 20 fps and stable performance across various formation configurations.This lightweight vision measurement technology effectively resolves the conflict between feature extraction quality and real-time performance for moving targets,providing a reliable technical solution for autonomous coordination of UAV swarms in complex electromagnetic environments.
作者
惠广裕
Hui Guangyu(Chinese Flight Test Establishment,Xi′an 710089,China)
出处
《电子测量技术》
北大核心
2025年第24期59-67,共9页
Electronic Measurement Technology
关键词
伴飞影像
单目视觉
相对位置
无人机编队
物相比视觉模型
companion flight image
monocular vision
relative position
UAV swarm
object-to-image ratio visual model
