关键词: 地面目标定位, 无人机, 位姿信息, 控制点, 几何光学模型

Abstract: Traditional methods for ground target localization using single-frame drone images typically require at least four prior control point information.However,acquiring control points becomes increasingly challenging as their quantity increases,presenting an arithmetic growth problem.This paper proposes a ground target localization method that integrates unmanned aerial vehicle(UAV)pose information.The method combines UAV pose information with three ground control points to establish a geometric optical model.This model enables the mapping relationship between ground target points and UAV image pixels,facilitating the determination of latitude and longitude coordinates for each ground target point.Consequently,precise ground target localization based on a single-frame drone image is achieved,reducing the required number of control points and enhancing localization accuracy.The experimental results indicate that the average positioning accuracy of this method reaches 1.45 pixels,which is 4.61 pixels higher than that of the traditional PnP four-point target positioning method.

Key words: ground target positioning, UAV, position and attitude information, control points, geometric optical model