利用计算机视觉获取无人机飞行姿态角

Method to obtain UAV's flight attitude based on computer vision

计算机视觉辅助无人机自主着陆技术中,通过计算机视觉获得无人机相对于跑道的位置是很重要的。在利用图像处理技术获得跑道两条边缘线在摄像机像素坐标系下的直线方程后,提出了一种在给定无人机俯仰角的情况下获取无人机机体与跑道边缘线夹角的方法,介绍了一种利用N矢量计算摄像机外参数旋转参数的方法,和传统的方法相比,该方法在求解非线性方程组时非线性方程的数量大大减少,运算速度提高。最后提出了一种能够精确验证该算法的实验手段。实验表明:该方法算法简单、计算结果精确,完全符合无人机着陆系统对于参数的要求。

In the field of vision-based autonomous landing of unmanned aerial vehicle （UAV） , it is important to obtain the position parameters related to runway by computer vision. After gaining the equations of two edges of runway in the image pixel coordinate by image processing,the method to obtain angle between edge of runway and body of UAV is illustrated when the pitch of UAV is received. A method to obtain extrinsic rotation parameters of camera based on N vector is introduced. Compared with traditional method, this method reduces the number of nonlinear equations and raises the speed. Simulation experiment demonstrates this algorithm is simple and the result is precise and fulfils requests of UAV＇ s navigation system.