摘要
通过提取视频图像上跑道的线性特征以及利用消失点的定义来估计无人机(UAV)的三个姿态角.先对相机的三个姿态角进行估计:利用跑道底线估计出滚动角,用消失点在图像上的位置来估计偏航角,结合消失点的定义给出俯仰角的估计,同时对偏航角和俯仰角的估计进行修正,随后给出无人机的姿态角估计.仿真试验证明了所提方法的有效性,滚动角的估计误差在0.8°之内,偏航角和俯仰角的误差在0.2°之内.
In this paper, linear feature of the runway and the vanishing point are used to estimate the attitude angles of the unmanned air vehicle （UAV）. Firstly the attitude angles of the camera are given as follow, the roll is computed from the base line of the runway,the yaw （or the pitch） is gained from the position of the vanishing point in the image, and the last angle is estimated from the definition of the vanishing point, the amendment of the estimation of the yaw and pitch is proposed at the same time. Then the attitude of the UAV is estimated. Experiment shows the validity of the proposed method. the deviation of the roll is less than 0.8°, and that of the yaw and the pitch is less than 0.2°.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第6期4-7,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(10477007)
关键词
无人机
姿态角
消失点
估计
unmanned air vehicle
attitude angle
vanishing point
estimation
