摘要
对微型飞行器高度估计问题,提出了基于针孔成像的最小二乘法。利用惯性器件测量的姿态角,建立了目标在2帧图像的4个投影方程,得到目标相对高度的最小二乘解。对该方法进行了仿真验证,结果表明当飞行器横滚角变化不大时,高度估计对姿态角误差具有较好的鲁棒性,误差在2 m以内,优于传统方法。该方法计算量小,适合微型飞行器平稳飞行时应用。
To solve height estimation problem for MAVs, a least square method based on pinhole imaging is proposed. Four project equations of object in two frames are established using inertial instruments measured attitude, then the least squared solution of relative height is deduced. Simulation results show that this method is robust to the attitude error and height estimation error is below 2m when roll angel changes are small, which is better than previous methods. This method has much smaller computation, suiting for MAVs in stable flight.
出处
《飞机设计》
2008年第4期6-9,共4页
Aircraft Design
关键词
微型飞行器
高度估计
成像模型
惯性器件
micro air vehicles
height estimation
imaging model
inertial instruments
