Method used for obtaining three dimensional attitude of carrier and based on horizon and polarized light
A technology of 3D attitude and acquisition method, which is applied in surveying and mapping, navigation, image data processing, measuring devices, etc., and can solve the problem of not being able to obtain the 3D attitude information of the carrier in real time
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[0048] The present invention will be further described below in conjunction with the drawings and specific embodiments.
[0049] Such as figure 1 As shown, the specific implementation steps of a method for acquiring a three-dimensional attitude of a carrier based on the horizon and polarized light of the present invention are as follows:
[0050] Step (1) Use the carrier front-view camera to obtain the horizon information, and calculate the straight line equation L of the horizon in the image coordinate system, use the straight line equation L, the height of the carrier to the ground H and the camera parameters to estimate the carrier roll angle γ and pitch angle θ;
[0051] Step (2) Obtain a set of sky polarization images using the on-board viewing polarization camera, and calculate the sky polarization information p and polarization azimuth information And extract the polarization neutral point in the sky polarization image;
[0052] Step (3) Calculate the direction vector of the p...
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