摘要
在角平分线方向向量法基础上提出了一种新的基于直线特征的飞机姿态多站测量方法。首先,用角平分线方法计算飞机的中轴线及其共面垂线的方向向量,由此得到飞机参考系到经纬仪摄像机参考系的旋转矩阵。然后,提取所有测站经纬仪图像上机翼边缘的直线特征,联合经纬仪俯仰方位角等参数,推导出直线特征的目标空间共面总误差函数,并使用改进的正交迭代方法优化旋转矩阵使总误差最小。最后,分解优化后的旋转矩阵得到飞机的姿态值。仿真实验得到的四站测量精度为0.17°,图像处理速度为32frame/s,比角平分线法有了大幅的提高,另外,算法处理速度能达到实时。这些结果证明了文中方法的有效性和优越性。
A new aircraft attitude estimation algorithm by use of line features for multi-camera images was proposed based on the direction vector method of angle bisector line.First,the angle bisector method was used to get direction vectors of the central and coplanar vertical axes of the aircraft,thus the rotation matrix R from the aircraft coordinate system to the theodolite camera reference coordinate system was obtained.Then,all line edges of the wings on theodolite images were extracted,and the total spacial coplanar error equation functions of line characteristics were derived with the pitch,azimuth and other parameters of theodolite.Moreover,an improved orthogonal iteration method was presented to minimize the total error of rotation matrix R.Finally,the optimized rotation matrix R was decomposed to get the aircraft’s attitude.By a simulation experiment,the accuracy of four-camera system achieves 0.17° and the speed is 32 frame/s,which shows the accuracy is much better than that of the angle bisector method and the processing speed reaches real-time level.These results prove the effectiveness and superiority of the proposed algorithm.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2013年第7期1831-1839,共9页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.60878052)
关键词
飞机姿态
多站测量
经纬仪
直线特征
正交迭代
aircraft pose
multi-camera measurement
theodolite
line feature
orthogonal iteration
