Vision-based vehicle navigation system and method

摘要

A system and method of determining aircraft position on an aerodrome ground surface having a centerline disposed thereon is provided. A current image of the aerodrome ground surface is captured using a camera that has a known focal length and is disposed on a vehicle at a preset pitch angle. The current image includes the centerline, which extends to a vanishing point in the captured image. The slope and intercept of at least a portion of the centerline are computed. The vertical and horizontal positions of the vanishing point are computed. An estimate of the vehicle position on the ground surface is computed using the computed horizontal and vertical positions of the vanishing point, the known focal length, and the preset pitch angle.