Coded target point based UAV positioning and attitude angle measuring method

Abstract

The invention provides a coded target point based UAV positioning and attitude angle measuring method. The method comprises the following steps: shooting a plurality of coded target points which are pre-arranged at the ground through a camera which is mounted on an UAV, and obtaining and processing the shot images; calibrating the camera mounted on the UAV, and obtaining internal parameters of the camera; resolving a rotation matrix and a translation matrix of a world coordinate system relative to a camera coordinate system, the rotation matrix and the translation matrix of an UAV coordinate system relative to the camera coordinate system, and the rotation matrix and the translation matrix of the UAV coordinate system relative to the world coordinate system; and then calculating UAV attitude angles, including a pitching angle, a yaw angle and, an overturning angle, and the location coordinate of the UAV under the world coordinate system. According to the method, a binary coding cooperation points with primary points are adopted, and the coordinate transformation relation among the UAV coordinate system, the camera coordinate system and the world coordinate system are adopted, so that the algorithm is simple and easily realized, and meanwhile, the accuracy demand is met.

Description

technical field [0001] The invention belongs to the technical field of close-range photogrammetry and machine vision, and in particular relates to a method for positioning and attitude angle measurement of an unmanned aerial vehicle based on coded marker points. Background technique [0002] UAV attitude measurement technology plays a very important role in military experiments, aerospace docking, aerial photography, nautical topography, industrial measurement and other fields. Research. Among them, the attitude angle is an important parameter reflecting the motion state of the aircraft. Obtaining these parameters is of great significance for the motion analysis, aerodynamic parameter identification, optimal design, and fault analysis of the aircraft. UAV attitude angle measurement requires extremely high accuracy in UAV landing and navigation. Problems may cause irreparable losses. The measurement of UAV attitude angle has increasingly demonstrated a very important role. ...

AI Technical Summary

Problems solved by technology

However, this method has certain limitations. When the UAV is not within the target range, the UAV positioning cannot be realized; moreover, it is necessary to collect marker points and pre-stored feature information for comparison and judgment, so as to obtain the position of the UAV Information, this process takes a long time, and the position information of the drone cannot be quickly obtained

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