Remote Target High-Precision Global Geolocalization of UAV Based on Multimodal Visual Servo
Year: 2025
Type: article
Abstract: In this work, we propose a geolocation framework for distant ground targets integrating laser rangefinder sensors with multimodal visual servo control. By simulating binocular visual servo measurements through monocular visual servo tracking at fixed time intervals, our approach requires only single-session sensor attitude correction calibration to accurately geolocalize multiple targets during a single flight, which significantly enhances operational efficiency in multi-target geolocation scenarios. We design a step-convergent target geolocation optimization algorithm. By adjusting the step size and the scale factor of the cost function, we achieve fast accuracy convergence for different UAV reconnaissance modes, while maintaining the geolocation accuracy without divergence even when the laser ranging sensor is turned off for a short period. The experimental results show that through the UAV’s continuous reconnaissance measurements, the geolocalization error of remote ground targets based on our algorithm is less than 7 m for 3000 m, and less than 3.5 m for 1500 m. We have realized the fast and high-precision geolocalization of remote targets on the ground under the high-altitude reconnaissance of UAVs.
Source: Remote Sensing
DOI: 10.3390/rs17142426
Authors: Xuyang Zhou, Ruofei He, Wei Jia, Hongjuan Liu, Yuanchao Ma, Wei Sun
Institutions: Xidian University, Northwestern Polytechnical University
Language: English
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,258
OpenAlex ID: W4412389749