合作目标的飞行器姿态测量方法及其误差补偿模型的建立

Posture measurement of aircraft based on cooperation target and its error compensation

通过在飞行器表面安装X形的激光发射装置作为合作目标,采用一种屏幕光斑成像法来完成飞行器近景姿态测量。利用多方位高速摄像机拍摄记录下激光在固定屏幕上产生的光斑位置变化,对拍摄下来的光斑序列图像进行分析,建立相应的数学模型以确定飞行器的外部姿态,并对该测量系统的误差进行分析和补偿。该方法扩大了特征点的运动范围,提高了对特征点的识别精度。建立的姿态测量的数学模型形式简洁,可以有效的减小测量误差。试验证明,通过对系统误差进行补偿,使该系统的测量精度有很大的提高,测量误差不超过3.6'。

An X-shape cooperation target is installed on the aircraft to measure the attitude of an aircraft,and the light-spot position changing with aircraft attitude is synchronously recorded by high-speed cameras.The recorded image sequences of light-spots are applied to compute the aircraft attitude parameters by a presented mathematical model,and the errors of the system are analyzed and compensated.The method expands the moving range of light-spots and makes the mathematic model established is simple.The experimental results show that the measurement accuracy is not more than 3.6＇ after the light-spot position error are compensated.