Visual attitude measurement device for mooring rotor platform

Abstract

The invention discloses a visual attitude measurement device for a mooring rotor platform. A camera is erected under a mooring rotorcraft to obtain an image of the rotorcraft, high-brightness point light sources are installed at any set of opposite cantilever ends of the rotorcraft to form a measurement baseline, clear point source images can be obtained under various typical outdoor environment conditions by controlling the exposure parameters of the camera, and the background is restrained to the maximum extent. The ground station camera can obtain a northbound reference based on high-precision inertial navigation, so that the included angle between the projection of the measurement baseline on a camera sensor plane and a camera coordinate system can be calculated through point source tracking with sub-pixel precision, and the attitude angle of the rotorcraft under the north-west-sky coordinate system is further calculated by combining inertial navigation attitude angle data and aerial carrier tilt angle sensor data. The device can be used for high-precision drifting-free attitude angle real-time measurement of the mooring rotorcraft.

Description

technical field [0001] The invention belongs to the technical field of visual attitude measurement, and relates to a visual attitude measurement device that obtains a baseline angle based on marker point observation, performs comprehensive analysis and processing in combination with inertial navigation and inclination sensor data, and calculates the attitude angle of a moored rotor platform. Background technique [0002] The tethered rotor platform has the characteristics of long-term space, suitable for fixed point deployment, and large load. It can be used for ground reconnaissance and ground-to-ground communication relay. It can effectively raise the line of sight, expand the reconnaissance distance, and improve communication coverage. In applications such as reconnaissance and relay, accurate attitude measurement of the carrier aircraft is an urgent technical problem that needs to be solved. Considering the cost and weight, the carrier aircraft is not suitable for install...

AI Technical Summary

Problems solved by technology

For the pure visual attitude measurement solution, since the attitude angle has three degrees of freedom of azimuth, pitch, and roll, it is difficult to effectively separate the pitch and roll from the baseline angle data obtained from the two-dimensional image, resulting in the calculated pitch, roll The measurement accuracy is very low, which is difficult to use for high-precision measurement

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