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Optical Flow Aided Navigation Inspired by Honeybee Vision

Author: YinXiaoFang
Tutor: LiuJianGuo
School: Huazhong University of Science and Technology
Course: Pattern Recognition and Intelligent Systems
Keywords: Aided Navigation Kalman filter Bees visual Optical flow
CLC: TP391.41
Type: Master's thesis
Year: 2011
Downloads: 49
Quote: 0
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Abstract


Today become an important indicator of national military forces enhance navigation accuracy improved by early single navigation algorithm , to the present combination of navigation around the world , have invested considerable effort . According to the existing research shows that from a single navigation method to improve navigation accuracy is difficult to achieve the desired effect , and therefore we chose to study from the Integrated Navigation . Positioning error accumulated over time to correct the inertial navigation system (INS) , based on the mechanism of bee vision and learn from the principle of the terrain aided navigation , to become the focus of this study to design a new type of assisted navigation method . Mainly related to the following key technologies : ( 1 ) optical flow features of the concept of the proposed design and calculation model : Based on the the the bees visual mechanism image interpolation algorithm based on the design optical flow characteristics , mathematical model of the optical flow characteristics , the derivation of the formula the proof of ( 2) optical flow characteristics : calculated according to the characteristics of the optical flow characteristics of proof , including linear features and rotation invariance . (3) : learn from SITAN algorithm based on optical flow characteristics of Kalman filter algorithm design , the design of the Kalman filter formula based on the characteristics of the optical flow , and its navigation process . (4) simulation and results analysis : collecting a series of images on the navigation algorithm proposed in this paper experimental verification , and the results were analyzed . The algorithm simulation experiments to select multiple debugging parameters in the initial error , the latitude and longitude of the source image a large number of simulation experiments , and to analyze the experimental results . Experiments show that aided navigation based on optical flow characteristics of the bees visual mechanism is an effective long - distance flying precision-guided , but no increase in other hardware , each position from time to time at the same time once the aircraft during the flight any change the flight route , to improve the mobility of the aircraft .

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