采用自适应补偿的无人机姿态测量

根据合作目标的单站姿态测量原理，结合实际大气湍流条件下激光光束的漂移及扩展效应，提出利用补偿和定位后的激光光斑质心确定无人机外部姿态的方法. 通过计算单帧激光光斑中心提取单位时间内激光光斑质心组成的外围轮廓特征点，并将其构成多边形. 以多边形图像质心为参照，建立姿态测量自适应补偿模型. 计算结果表明，当目标距离为3 km时，采用模拟退火算法迭代解算并对结果进行自适应补偿，得到的姿态角误差最大值为0.221±，说明自适应补偿技术的姿态测量算法具有较高的姿态测量精度和收敛性.

UAV Attitude Measurement Using Adaptive Compensation Technique

A method of ascertaining UAV attitude by compensation and positioning of the laser spot center is proposed.The method uses the principle of cooperative target attitude measurement combined with wander and spreading effects of the laser beam under actual atmospheric turbulence.A polygon is formed by calculating the center of the single frame laser spot and extracting feature point of outline constituted by center of the laser spot within unit interval.The gravity center of the polygon is taken as a reference.An adaptive attitude measurement compensation model is thus established.Numerical results show that,when the target distance is 3 km,the maximum error of the attitude angle is 0.221°by using the simulated annealing algorithm in the iterative solver and adaptive compensation.This indicates that the attitude measurement algorithm with adaptive compensation has high accuracy and good convergence.