Estimation of Earth’s Central Angle Threshold and Measurement Model Construction Method for Pose and Attitude Solution Based on Aircraft Scene Matching

Abstract

To address the challenge of solving aircraft’s visual navigation results using scene matching, this paper introduces the spherical EPnP positioning posture-solving method, which incorporates the threshold value for the central angle and the construction of a measurement model. The detailed steps are as follows: Firstly, the positioning coordinate model of the Earth’s surface is constructed to ensure the expression of the three-dimensional coordinates of the Earth’s surface. The positioning is then solved by employing the EPnP positioning posture-solving algorithm on the constructed data model. Secondly, by comparing and analyzing the positioning posture values of approximate plane coordinates, the critical value is determined, which serves as a reference for plane calculations. Lastly, a theoretical measurement model for visual height and central angle is constructed, taking into account the decided central angle threshold value. The simulation experiment demonstrates that using spherical coordinates as input results in an average positioning precision that is 16.42 percent higher compared to using plane coordinates as input. When the central angle is less than 0.5 degrees and the surface area is smaller than 558502 square meters, the positioning precision of plane coordinates is comparable to that of spherical coordinates. In such instances, the sphere can be approximated as flat. The findings of this study provide important theoretical guidance for further research on scene-matching positioning posture solving. These results hold significant implications for both theoretical research and engineering applications.

Keywords

• scene matching
• EPnP
• vision navigation
• positioning solution
• measurement models