Method for measuring three-dimensional angular motion by adopting optical flow

Abstract

The invention discloses a method for measuring three-dimensional angular motion by adopting optical flow. Three or more than three optical flow sensors with non-coplanar directions are used for strapdown connection with a measured object, and a plurality of continuous two-dimensional image streams in an imaging range are obtained; corresponding optical flow measurement values are calculated according to the obtained two-dimensional image flow and the principle of similar triangles and multiplied by set coefficients to obtain corresponding angular increment proportional expressions on the x axis, the y axis and the z axis, and then the angular increment proportional expressions are converted into products of constant coefficient matrixes and optical flow measurement value matrixes to obtaincorresponding three-dimensional angular increments, and thus the measurement complexity is reduced.

Description

technical field [0001] The invention relates to the technical field of three-dimensional posture and motion measurement, in particular to a method for measuring three-dimensional angular motion by using optical flow. Background technique [0002] Aircraft flight attitude refers to the degree of pitch, roll, and yaw of the aircraft during flight, which can be quantified as pitch angle, roll angle, and yaw angle. In order to ensure the normal flight of the aircraft, it is necessary to measure and control the flight attitude of the aircraft. At present, the attitude measurement of the motion based on optical flow mainly depends on the object distance, and it also needs to be measured together with the ranging sensor and the precise moving parts. A reference plane needs to be selected, and when an optical flow sensor is used for measurement, multiple optical flow sensors are usually selected for attitude measurement, which requires solving a relatively complicated set of simulta...

AI Technical Summary

Problems solved by technology

In order to ensure the normal flight of the aircraft, it is necessary to measure and control the flight attitude of the aircraft. At present, the attitude measurement of the motion based on optical flow mainly depends on the object distance, and it also needs to be measured together with the ranging sensor and the precise moving parts. A reference plane needs to be selected, and when optical flow sensors are used for measurement, multiple optical flow sensors are usually selected for attitude measurement, which requires solving complex simultaneous equations, which increases the complexity of the measurement

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