摘要
针对少数控制点下空间后方交会的可靠性差及传统多次迭代平差结果误差累积的问题,设计了一种对无人飞艇真实位姿进行精确估计的算法.首先利用欧拉角描述旋转矩阵;然后对严格的共线条件方程进行线性化,并通过空间后方交会和立体视觉获取一组均匀分布的控制点;最后借助均匀分布点提出一种交替误差补偿的初次迭代平差方法解算飞艇位姿.实验结果表明,该算法正确可靠,对位姿初值没有要求,具有一定的收敛性且精度较高.
In order to solve the problems of poor reliability of space resection and the cumulative error of traditional repeatedly iterative adjustment in a small number of control points, an algorithm that accurately estimate the true pose of unmanned airship is designed. First, the method uses Euler angles to describe the rotation matrix; then the strict collinear equation is linearized, through the space resection and stereo vision to obtain a set of uniformly distributed control points; at last a method of initial iterative adjustment of alternating error compensation that solve the pose of airship was proposed by these points. The results show that the algorithm is correct and reliable, without requirement in the initial value of position and attitude, with a certain degree of convergence and the higher precision.
出处
《计算机辅助设计与图形学学报》
EI
CSCD
北大核心
2013年第9期1361-1367,共7页
Journal of Computer-Aided Design & Computer Graphics
基金
国家自然科学基金(41071255)
国家科技支撑计划资助项目(2012BAH31B01)
教育部新世纪优秀人才资助项目(NCET-08-0630)
关键词
位姿估计
空间后方交会
立体视觉
交替误差补偿
初次迭代平差
pose estimation
space resection
stereo iterative adjustment vision
alternating error compensation
initial
