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

A vision-guided, carrier-based aircraft technology, applied in the field of computer vision, can solve problems that affect navigation accuracy, are susceptible to electronic interference, and increase costs

Active Publication Date: 2018-03-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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 na

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

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Embodiment Construction

[0082] According to the image sequence captured by the carrier-based aircraft’s on-board camera during the landing process, feature extraction and matching are performed on the inter-frame images, and the pixel coordinates of the matching point pairs at the same time are calculated, and then the coordinate values ​​​​of the matching point pairs in the two frames before and after are used to estimate The attitude information of the carrier-based aircraft is obtained, and then the motion control of the carrier-based aircraft is realized.

[0083] Feature point extraction and matching are performed on two consecutive frames of images captured by the carrier-based aircraft’s on-board camera. If there are few matching point pairs or no matching phenomenon, the feature point position of the current frame is predicted according to the previous frame information, and combined with the previous frame Feature point update matching point pair;

[0084] Solve the basic matrix according to...

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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...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/33G06T7/207G06T7/277G06T7/80
CPCG06T7/207G06T7/277G06T7/33G06T7/73G06T7/80
Inventor 彭聪曾聪甄子洋王新华江驹
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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