Method for estimating attitude of carrier aircraft in landing process based on vision guidance

Abstract

The invention discloses a method for estimating the attitude of a carrier aircraft in the landing process based on vision guidance. Feature points of two successive frames of images acquired by a carrier aircraft are first extracted and matched. According to matching point pairs and pixel coordinates thereof, the epipolar geometrical relationship of the two frames of images are calculated to obtain a basis matrix. An essential matrix is determined by the correspondence between the basis matrix and an intrinsic matrix. After the singular value decomposition of the essential matrix, a rotation matrix is solved. The obtained rotation matrix is converted into Euler angles, so as to estimate attitude information of the carrier aircraft during the descent. The method of the invention can estimate the attitude information of the carrier aircraft simply with two or more frames of observation images, and has more flexibility. Based on the visual guidance mode, the method of the invention has the advantages of low cost, high precision, and strong anti-interference ability.

Description

technical field [0001] The invention relates to a method for estimating the attitude of a carrier-based aircraft during landing based on vision, and belongs to the technical field of computer vision. Background technique [0002] The carrier-based aircraft is the main combat weapon of the aircraft carrier. The performance of carrier-based aircraft plays a decisive role in whether the aircraft carrier can exert its maximum combat power. There are still many difficulties that need to be tackled with regard to carrier-based aircraft, such as the landing of carrier-based aircraft, because of its high degree of danger, difficulty in landing, and heavy losses caused by landing accidents, therefore, guiding carrier-based aircraft to land safely has always been a key issue in the world. The focus of the research. [0003] Obtaining accurate and high-precision attitude information during the landing process is the key to the safe landing of the carrier-based aircraft, and the attit...

AI Technical Summary

Problems solved by technology

There are some problems in traditional navigation technology: inertial navigation has high requirements for inertial components, and the error will gradually increase, which will affect the navigation accuracy; the positioning accuracy of radar navigation is limited by radar, and radar recycling bins are required, which will increase the cost ; GPS navigation is currently the most widely used navigation method, but because GPS relies on satellite positioning, it is susceptible to electronic interference; and visual navigation, as a new navigation technology, is free from terrain interference, high precision, high degree of autonomy, Low cost and other advantages have attracted widespread attention

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