Aircraft pose measurement method based on circular features and P3P algorithm

Abstract

The invention provides an aircraft pose measurement method based on circular features and a P3P algorithm. The method comprises the following steps: S1, photographing an image of an aircraft through amonocular camera and determining coordinates of target centers of four circular targets on the aircraft in a world coordinate system; S2, performing smooth filtering on the image and performing processing to obtain a binary image; s3, screening out contours of the targets; S4, calculating coordinates of the target centers in a pixel coordinate system; S5, randomly selecting three targets and calculating a pose parameter solution set by using a P3P algorithm; S6, constructing a minimized reprojection error function and verifying the pose parameter solution set by using the coordinate information of the fourth targets to obtain a unique solution closest to the real situation; and S7, calculating attitude parameters of the aircraft and position parameters of the aircraft relative to the camera. The method has the following beneficial effects: with an active circular target with an LED lamp,feature recognition and extraction are easy to realized; and on the basis of the P3P algorithm, theunique solution is determined by introducing information of the fourth feature point, so that the algorithm running speed is fast and the accuracy is high.

Description

technical field [0001] The invention relates to the technical field of visual measurement, in particular to an aircraft pose measurement method based on a circle feature and a P3P algorithm. Background technique [0002] Visual measurement technology has a series of advantages such as strong real-time performance, high precision, and high degree of automation. It has been widely used in a series of fields such as industrial visual inspection, intelligent transportation, remote sensing image analysis, and aircraft visual navigation. The main goal of visual measurement is to realize the measurement of geometric parameters such as the size, position, and attitude of three-dimensional objects in space under the premise of meeting a certain accuracy index. The position and attitude of a space target are important parameters that reflect the properties of the target. In the assembly of industrial large-scale devices and the autonomous rendezvous and docking of aerospace vehicles, ...

AI Technical Summary

Problems solved by technology

However, the nonlinear equations are more complicated, and the positioning error is too large

Positioning based on curve features generally needs to solve complex nonlinear systems. Using coplanar curves and non-coplanar curves for positioning requires solving several high-order polynomials, and the algorithm is relatively complicated.

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