| 基于直线模型的微型飞行器姿态角计算 |
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| 引用本文： | 程序,郝群,宋勇,胡摇,张凯.基于直线模型的微型飞行器姿态角计算[J].北京理工大学学报,2010,30(7):798-802. |
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| 作者姓名： | 程序 郝群 宋勇 胡摇 张凯 |
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| 作者单位： | 北京理工大学,光电学院,北京,100081;北京理工大学,光电学院,北京,100081;北京理工大学,光电学院,北京,100081;北京理工大学,光电学院,北京,100081;北京理工大学,光电学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 利用地平线进行微型飞行器(MAV)稳定飞行控制中的姿态估计.根据地平线的直线模型,将地平线视作一条直线,依据线性摄像机成像投影关系,建立地平线在世界坐标系和图像坐标系中的位置对应关系.通过推导得出图像坐标系中地平线的直线方程参数与摄像机姿态角的对应关系,实现通过地平线的直线方程参数计算MAV的姿态角.实验验证了该方法的正确性.在对俯仰角的求取问题上,与使用占天面积比的方法进行了比较,通过仿真实验论证了该方法的优势.
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| 关 键 词： | 微型飞行器 视觉导航 姿态估计 直线模型 地平线 |
| 收稿时间： | 2009/11/30 0:00:00 |
Method for Calculating MAV Attitude Angles Based on Straight Line Model |
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| CHENG Xu,HAO Qun,SONG Yong,HU Yao and ZHANG Kai.Method for Calculating MAV Attitude Angles Based on Straight Line Model[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010,30(7):798-802. |
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| Authors: | CHENG Xu HAO Qun SONG Yong HU Yao and ZHANG Kai |
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| Institution: | CHENG Xu,HAO Qun,SONG Yong,HU Yao,ZHANG Kai(School of Optoelectronics,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | To estimate the attitude of micro air vehicles(MAVs) on utilizing the horizon for steady flying control,horizon is treated as a straight line based on straight line model.According to the linear camera imaging projection model,the relation between the horizon in the world coordinates and image coordinates is set up.After the theoretical derivation,the relation between the line equation parameters and camera attitude angles is obtained in the image coordinates.MAV attitude angles could be calculated with the... |
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| Keywords: | micro air vehicle(MAV) vision-based navigation attitude estimation straight line model horizon |
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