A Method for Measuring Three-Dimensional Angular Motion Using Optical Flow

Abstract

The invention discloses a method for measuring three-dimensional angular motion by using optical flow. Three or more optical flow sensors pointing to different planes are strapped down to the measured object to obtain multiple continuous two-dimensional image flows within the imaging range. , according to the obtained two-dimensional image flow, calculate the corresponding optical flow measurement value according to the similar triangle principle, and multiply it with the set coefficient to obtain the corresponding angular increment on the x-axis, y-axis and z-axis The proportional formula is then converted into the product of the constant coefficient matrix and the optical flow measurement value matrix to obtain the corresponding three-dimensional angle increment, which reduces the measurement complexity.

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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