Description: Problems for the Navigation satellite navigation signals in the absence of conditions, and in conjunction with optical flow landmark UAV design indoor navigation positioning method using the camera, inertial measurement device, an ultrasonic range finder sensor fusion article using the compensation angle computing optical flow rate of the inter-pixel differentiation small displacements, and extracted with high precision before and after the point of error algorithm, to avoid the tracking error pixel, improve the accuracy of optical flow speed optical flow field obtained for the mean shift algorithm optimization, the histogram peak optical flow, in order to calculate the optical flow velocity. in this paper, the landmark location algorithm continuously accumulated error is measured in real time the position of the UAV by multirate Kalman filter observation period inconsistent positions , optimal estimation speed information. tested on eight rotor UAV platform structures, the position a
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用于无人机室内导航的光流与地标融合方法_吴琦.caj
惯性_光流_磁组合导航技术在四旋翼飞行器中的应用_杨天雨.caj
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