Lighthouses still play an important role today,providing important reference information during navigation and positio-ning.The traditional method usually uses UAV navigation,but due to the interference of multi-path and dynamic environment,the navigation error is large.An aerial robot lighthouse distance mapping technique based on trajectory reconstruction and Bayesian infer-ence is proposed for accurate lighthouse working range.The inertial trajectory is reconstructed by strapdown inertial navigation to in-ertial navigation of aerial robot.The light distance mapping data of the lighthouse was collected,a multi-cue visual attention model based on Bayesian inference was constructed,the significant map of the lighthouse distance was obtained,the imaging model of the aerial camera was built,and the illumination distance of the lighthouse light was calculated.The test results show that the average navigation error of this technology is only 0.132 mm,and the mapping time is short.After multiple tests,the average mapping error of lighthouse light distance is only 27.41 cm,and the overall mapping error is small.
维普
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