公开(公告)号：US20150292888A1

公开(公告)日：2015-10-15

申请号：US14363261

申请日：2014-04-14

Applicant: SAAB Vricon Systems AB

Inventor： Leif Haglund ,  Johan Bejeryd ,  Per Carlbom ,  Zoran Sjanic

IPC: G01C21/00 ,  G06T7/00

CPC classification number: G01C21/005 ,  G01S19/13 ,  G01S19/49 ,  G05D1/08 ,  G05D1/0808 ,  G06T7/207 ,  G06T7/32 ,  G06T7/74 ,  G06T2207/10032 ,  G06T2207/20016

Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.

Abstract translation: 本发明涉及一种用于航空器导航的方法。 该方法包括从飞行器传感器提供传感器图像。 该方法还包括重复地，直到达到至少一个预定标准，执行设置输入数据的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和飞行器的三维位置有关的信息， 基于输入数据从数据库提供二维图像的步骤，其中数据库包括环境的三维地理参考信息，以及从数据库比较传感器图像和二维图像的步骤。 该方法还包括使用两个图像彼此最佳对应的输入数据，以确定航空器的以下量的俯仰角，侧倾角，偏航角和三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。