基于光电图像特征的自主测速方法研究

为了提高无人机低空飞行时自主测速能力，本文提出了一种基于光电图像特征的无人机自主测速方法，首先利用光电设备获取存在相同地面景象的连续两帧光电图像，并对前后帧图像分别进行点特征、线特征检测，对提取的图像特征进行判断，提取有效的图像特征；然后对提取的图像特征进行特征关联，根据关联的图像特征像素位置计算图像特征的像素位移矢量，剔除偏差较大的位移矢量；最后根据光电设备参数及位移矢量特性计算无人机对地速度。利用无人机搭载光电设备进行了飞行试验，试验结果表明本文方法减少了计算量，具有较好实用性，能够满足无人机等低空飞行平台自主测速要求。

Research on Autonomous Velocity Measurement Method Based on Photoelectric Image Features

In order to improve autonomous velocity measurement performance for UAV (unmanned aerial vehicle) low-altitude flight, a autonomous velocity measurement method for UAV based on photoelectric image feature is proposed. Firstly, two frames of continuous photoelectric image that have overlapped scene are acquired used photoelectric equipment. The method detects point features and line features from the before and after images respectively, and judges the extracted image features, and extract the valid image features. Then, the extracted image features from the before and after images is associated. According to the pixel position of association image features, the method calculates pixel displacement vector, and exclude the pixel displacement vector with large deviation. Finally, according to the parameter of photoelectric equipment and feature of displacement vector, the method calculates the ground-speed of UAV. Using the UAV with photoelectric equipment flight test, the experimental results show that the method can effectively reduce computational complexity and have better real-time performance, and meet the autonomous velocity measurement requirement for UAV and other low-altitude flight platforms.