Aircraft landing relative attitude dynamic vision measurement method and system
A technology of visual measurement and relative attitude, applied in the computer field, can solve problems such as difficulty in improving accuracy, limited range of action, difficult and complex processing, etc., to achieve the effects of ensuring real-time performance, increasing computing speed, and improving accuracy
Active Publication Date: 2021-03-19
BEIHANG UNIV
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Due to the limitation of aircraft load, these algorithms are usually relatively simple, difficult to perform complex processing, difficult to improve accuracy, and limited operating distance
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[0023] It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0024] In the following description, the use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating the description of the present application and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.
[0025]In the embodiment of the present application, the dynamic visual measurement system for the aircraft's landing relative attitude includes: a zoom imaging unit, a servo unit for adjusting azimuth and / or pitch, and a visual processing unit. The zoom imaging unit includes a color industrial camera and a zoom lens. By adjusting the focal length of the zoom lens, the aircraft can occupy a reasonable part of the field of view. The zoom lens is calibrated in advance, and the corresponding lens focal length can be r...
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The invention relates to an aircraft landing relative attitude dynamic vision measurement method and system. The method comprises the steps: carrying out target tracking of an aircraft, and collectingan image; acquiring a calibration pose of the aircraft; projecting a three-dimensional model of the aircraft to a two-dimensional plane according to the calibration pose, and initializing an appearance model based on the three-dimensional model; and determining a pose corresponding to a subsequent image. The method comprises the steps of A, performing target segmentation on a current frame according to an appearance model to obtain a first segmentation result; b, setting the pose of the previous frame as the initial pose of the current frame; c, projecting the three-dimensional model of the aircraft to a two-dimensional plane according to the initial pose, and performing target segmentation to obtain a second segmentation result; e, determining a target segmentation loss according to a cross entropy loss function; f, determining a pose updating value by taking the minimized target segmentation loss as a target; and G, updating the initial pose according to a pose updating value, and returning to the step C for iterative optimization until convergence to obtain the pose of the current frame.
Description
technical field [0001] The present application relates to the field of computers, in particular to a method and system for dynamic visual measurement of aircraft landing relative attitude. Background technique [0002] Landing is the most accident-prone stage in the entire flight process of an aircraft. This process requires the aircraft to land on a runway with a total length of about 3 kilometers at an optimal speed and attitude. For special tasks such as landing on an aircraft carrier, the aircraft needs to accurately land on a landing deck with a length of about 300 meters. For fixed-wing aircraft, it needs to land in a specific attitude so that the tail hook can catch the arresting wire. This puts forward higher requirements for the accurate measurement and control of the aircraft relative to the runway during the landing process. [0003] At present, the attitude measurement of the aircraft relative to the runway or the ship is usually obtained by the cooperation of ...
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IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 魏振忠刘福林张广军
Owner BEIHANG UNIV