Airplane three-dimensional attitude computation method

Abstract

The invention provides an airplane three-dimensional attitude computation method. Firstly, preprocessing is carried out on an image to be processed by the adoption of Gaussian smooth filtering to eliminate influences of noise on follow-up algorithms; secondly, the smoothened image is segmented by the adoption of a fuzzy C-means clustering algorithm (FCM) to obtain a binary image, then Hough conversion is carried out on the binary image obtained through segmentation, a part, with obvious linear features, on a target is detected, feature points of the part, with non-obvious linear features, on the target are extracted by the adoption of a framework, and then linear fitting is carried out on the feature points on the framework to obtain a target axis; finally, the obtained axis, the actual size of the target, camera parameters and other information are combined, and a three-dimensional attitude parameter of the target under a camera coordinate system is calculated by means of projective geometry knowledge. On the basis of geometrical features capable of reflecting the structure of an object and by means of Hough conversion and framework extraction of the whole target image, the obtained axis is more accurate, and the obtained three-dimensional attitude parameter is more precise.

Description

technical field [0001] The invention relates to a method for calculating a three-dimensional attitude of an aircraft, in particular to a method for calculating the three-dimensional attitude of an aircraft by using Hough transform, skeleton extraction and projective geometry, which is mainly used for visual navigation, spacecraft docking and target tracking. Background technique [0002] Three-dimensional attitude (pitch angle, yaw angle, roll angle) is an important parameter that reflects the flight status of the aircraft in the air. Its accurate measurement has important application value for experimental analysis, target tracking and recognition, accident identification, training evaluation, etc. Relevant scholars at home and abroad have paid more and more attention to it. For the positioning, identification and track measurement of moving targets in the air, optoelectronic equipment is the most accurate instrument so far. It can track the target in real time and dynamica...

AI Technical Summary

Problems solved by technology

The model-based method can process the single-station optical measurement data to obtain the three-dimensional attitude angle of the aircraft with high accuracy, but there is an "NP problem" in the template matching process of image processing; the method based on feature correspondence needs to define some feature points on the aircraft target , line and shape, but the attenuation of feature information will bring great difficulties to establish the correspondence between features and pixels; the method based on optical flow is to estimate the instantaneous speed of aircraft movement based on the difference of multiple images, so as to estimate / Track the attitude of the aircraft, but this method is very sensitive to noise, so it is easy to introduce large errors

Images