北京航空航天大学学报 ›› 2006, Vol. 32 ›› Issue (08): 885-888.

• 论文 • 上一篇    下一篇

一种基于计算机视觉的飞行器姿态估计算法

赵世峰, 张海, 范耀祖   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2005-10-18 出版日期:2006-08-31 发布日期:2010-09-19
  • 作者简介:赵世峰(1979-), 男, 黑龙江牡丹江人, 博士生, zhaoshifeng@asee.buaa.edu.cn.

Attitude estimation method for flight vehicles based on computer vision

Zhao Shifeng, Zhang Hai, Fan Yaozu   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2005-10-18 Online:2006-08-31 Published:2010-09-19

摘要: 改进了一种基于图像统计信息的飞行器姿态估计算法.改进后的算法可以迅速地估计出飞行器的横滚角与俯仰角,减少了运算量,提高了姿态估计的实时性和鲁棒性,精度满足飞行器的姿态控制要求.将不同的算法进行了仿真比较,提出了一种应用方案,解决了姿态估计过程中横滚角与俯仰角耦合的问题.改进后的算法适用于装备以视觉系统作为导航系统的飞行器,尤其是只能装备小型视觉系统的微小型飞行器(MAV, Micro Air Vehicles).将应用该算法的视觉导航系统与微惯性测量单元(MIMU, Miniature Inertial Measurement Unit)组合使用,可以增大飞行器姿态角估计的范围,进一步提高估计精度.

Abstract: An attitude estimation method for flight vehicles based on statistic of image was improved. The method improved reduces calculation, and improves the real-time performance for attitude estimation. The bank and the pitch angle can be estimated rapidly with a higher robusticity. Its accuracy satisfies the requirement of attitude estimation to control flight vehicles. Several differentmethods were compared with simulation results, and an application was proposed, which resolved the problem of coupling between the bank and the pitch in the attitude estimation. The method improved is applicable for those which are equipped computer vision systems as navigation systems, especially for MAV(micro air vehicles) equipped only minitype computer vision systems. Range of the attitude angle to be estimated is expanded while computer vision system equipped by the method is adopted with a MIMU(miniature inertial measurement unit) assistant, and the accuracy is higher correspondingly.

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