运动视觉平台点目标定位误差分析和平台最优运动轨迹设计

对运动视觉平台点目标定位问题进行了研究，介绍了基于视觉共线方程的目标定位方法，分析了共线方程关于视线约束的实质。在观测视线相关坐标系推导了视线方向角矢量对目标定位误差的影响规律，分析了多观测对定位误差的影响，并基于最小化目标定位误差推导了视觉平台的最优运动轨迹，利用简单明了的分析方法得到了与已有文献优化Fisher信息矩阵方法一致的结论。利用仿真和试验对定位误差和最优轨迹进行了验证，证实了定位误差理论分析和最优运动轨迹设计的正确性。
The point target location based on a moving visual platform was studied. After introducing the visual location method, the sight-line restriction of the collinear equation was analyzed. The error impact of view-line angle vector to the point target location was deduced in the view-line associated coordinate system. Multi time measurements were also analyzed in the location error analysis. Based on the minimization of the target location error, the optimal maneuver trajectory of the observer platform was designed. Using a method that is simpler and easier to understand, the results obtained from the proposed method are the same as those from the method by maximizing the determinant of the Fisher information matrix. Simulations and tests were performed, and results show that the target location error analysis and the platform optimal maneuver trajectory design are valid.