Speed estimation method suitable for underwater near-bottom operation aircraft

• Main Authors: YUE CAIQIAN, WANG TINGTING, LYU XUE, LU MANMAN, DONG QUANWEI, TIAN FENG
• Format: Patent
• Language: Chinese; English
• Published: 08.06.2021
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT; MEASURING; MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION,OR SHOCK; PHYSICS; TESTING

The invention relates to a speed estimation method suitable for an underwater near-bottom operation vehicle, and belongs to the field of speed estimation of unmanned platforms. The method comprises the following steps of 1, vertically downwards mounting a camera lens on an aircraft, and calibrating the camera; 2, acquiring a water bottom image at a (t-1) moment; 3, pre-processing the image; 4, extracting the sparse ORB features from the image; obtaining a first feature point set A of the image at the (t-1) moment; 5, acquiring an image at the moment t; 6, carrying out optical flow field extraction on the image at the moment t through sparse ORB features; and 7, carrying out speed calculation according to the optical flow field. The method can provide the robust speed information during near-bottom operation of the aircraft, and has the characteristic of real-time performance. 本发明涉及一种适用于水下近底作业航行器的速度估计方法，属于无人平台的速度估计领域；步骤一、将相机镜头竖直向下安装在航行器上，进行相机标定；步骤二、t-1时刻，对水底图像进行获取；步骤三、图像预处理；步骤四、对图像提取稀疏ORB特征；获得t-1时刻图像的第一特征点集A；步