A method and system for dynamic visual measurement of aircraft landing relative attitude
A technology of visual measurement and relative attitude, applied in the computer field, can solve problems such as limited working distance, difficult complicated processing, difficult to improve precision, etc., to achieve the effects of increasing calculation speed, ensuring real-time performance, and improving accuracy
Active Publication Date: 2022-05-17
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 present application relates to a method and system for dynamic visual measurement of the aircraft's landing relative attitude, wherein the method includes: tracking the target of the aircraft and collecting images; obtaining the marked attitude of the aircraft; Dimensional plane, based on which the appearance model is initialized; and determine the pose corresponding to the subsequent image, including: step A, perform target segmentation on the current frame according to the appearance model to obtain the first segmentation result; step B, set the pose of the previous frame to The initial pose of the current frame; Step C, project the 3D model of the aircraft to a 2D plane according to the initial pose, and perform target segmentation to obtain the second segmentation result; Step E, determine the target segmentation loss according to the cross-entropy loss function; Step F , determine the pose update value with the goal of minimizing the target segmentation loss; step G, update the initial pose according to the pose update value, return to step C for iterative optimization until convergence, and 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