摘要
为了满足对无人机姿态高精度测量的要求,介绍了一种新的测量系统及方法。该系统由多台经纬仪、数字摄像机、时间同步控制器及数据处理终端组成。数字摄像机安放在经纬仪上,经纬仪布置在飞机飞行轨迹的两侧,构成了一个能够在俯仰角和方位角下拍摄图像的光测机构。时间同步控制器提供同步控制信号,控制摄像机在同一时刻对飞机成像。在终端机中利用图像处理技术重构出机身和机翼的空间向量,计算出无人机的俯仰角、偏航角和翻滚角。仿真试验结果显示:采取4台经纬仪的合理布站,当图像上直线斜率的提取误差最大为0.6°时,可以将姿态角的最大测量误差控制在1°左右。
In order to satisfy the accuracy requirements of Unmanned Aerial Vehicel（UAV） attitude measurement,a new method for airplane attitude measurement is proposed.The system is made up of theodolites,cameras,computers and time synchronization control systems.The cameras are placed on the theodolites which are laid on the sides of flight path,and it can take airplane′s photos at azimuth and pitching angle.The time synchronization control system provides the time signal to control the cameras to take photos.This method uses digital image processing techniques to reconstruct the vector of the airplane.Then the pitching,yawing and roll angel are computed.This method can achieve higher accuracy with simple scheme,and can be used in the passive measurement of airplane attitude.In the simulation experiments,the accuracy of the attitude angle can be limited at 1° with the reasonable position of theodolites.
出处
《红外与激光工程》
EI
CSCD
北大核心
2008年第1期102-105,123,共5页
Infrared and Laser Engineering
基金
陕西省科技计划资助项目(2005k04-G7)
关键词
无人机姿态
光电经纬仪
双目视觉
图像处理
UAV attitude
Photoelectric theodolites
Binocular vision
Image processing
