Abstract
Combined vision system is a perspective display concept to enhance a situation awareness of the pilots during aircraft landing, which integrates a real 2-D image captured from forward-looking infrared camera with a synthetic 3-D image derived by the aircraft pose and terrain database. However, the inertial measured errors significantly affect the conformal display of combined vision. This article proposes a novel method for real and synthetic images registration based on visual–inertial fusion. It includes the following key steps: (1) detect and extract the real runway features from forward-looking infrared image; (2) generate the synthetic runway features simultaneously; (3) set up vision measurement model with real and synthetic runway features; (4) integrate inertial data and visual observations in the square-root unscented Kalman filter; (5) create a synthetic 3-D scene by the filtered pose data and integrate it with a real 2-D image. The experimental results demonstrate that our method can guarantee the conformal display of combined vision system in GPS-denied and low visibility conditions.
Highlights
The landing is the most accident-prone flight stage for the fixed-wing aircrafts since it needs the aircraft to rapidly descend and brake in a narrow airspace
With the rapid development of image processing and infrared sensing, they have been applied to airborne cockpit electronic system to improve flight safety especially in GPS-denied and low visibility conditions
As a novel airborne assistant landing means, combined vision system (CVS) can provide an equivalent visual operation ability for the crew with a perspective flight scene[2] during landing. It integrates the real 2-D image captured by forward-looking infrared (FLIR) camera and the synthetic 3-D image derived from the aircraft pose and the terrain database,[3] the superimposed image is
Summary
The landing is the most accident-prone flight stage for the fixed-wing aircrafts since it needs the aircraft to rapidly descend and brake in a narrow airspace. As a novel airborne assistant landing means, combined vision system (CVS) can provide an equivalent visual operation ability for the crew with a perspective flight scene[2] during landing It integrates the real 2-D image captured by forward-looking infrared (FLIR) camera and the synthetic 3-D image derived from the aircraft pose and the terrain database,[3] the superimposed image is. The above methods have achieved remarkable progress in vision landing navigation, they cannot provide accurate aircraft pose parameters with high update rate to support registration of 2-D–3-D images in low visibility condition. We propose to use real and synthetic runway features to create vision cues and integrate them with inertial data in SR-UKF32 to estimate motion errors.
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