无人飞行器自主着舰实时场景的仿真实现  

Software imitation for unmanned aerial vehicle landing scenes

作　　者：杨鹏[1] 王睿[1] 周富强[1] 张广军[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100083

出　　处：《北京航空航天大学学报》2005年第6期609-613,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：航空基金资助项目(03I51009)

摘　　要：为给垂直起降无人飞行器视觉自主着舰算法研究提供经济可行的解决方案,实现了无人机自主着舰场景的软件仿真以提供算法研究中所需的合格场景图片.基于机器视觉理论,通过分析无人飞行器机载摄像机在自主着舰时考虑了透镜畸变参数的针孔成像模型,给出了无人飞行器着舰靶标的成像公式,并介绍了软件仿真中畸变模型实现时出现的问题及解决办法.为了使仿真图像更逼真,综合考虑了无人飞行器着舰实时场景中所存在的主要干扰,如光照不匀,运动拖影及电气噪声和大气流动和海面悬浮颗粒造成的白噪声等,在C++和Windows环境下实现了无人飞行器自主着舰的仿真图像和数据的实时生成.最后展示了部分仿真结果.To offer a cost-effective solution to the research of vision-guide algorithm for UAV (unmanned aerial vehicle) with vertical takeoff and landing capability, the imaging principle and imitation technology of UAV landing scenes based on the theory of machine vision was employed. The pinhole camera model including lens distortion parameters was established. Moreover, a method of adjacent region search was introduced to decrease the singularities in the imitation images caused by the lens distortion. To get more veracious imitation of landing scenes, some main interferential factors of the unmanned vehicle landing, such as the blurring induced by the light amplitude non-uniformity, image motion, as well as the noise from electronic and photometric source, were also considered. The software for real time generation of scene images was developed by C++ and windows operating system. The results of simulation including images and data are presented at the end.

关 键 词：无人飞行器 着舰 场景 windows环境 真实 算法研究 软件仿真 解决方案 垂直起降 视觉理论 成像模型 畸变参数 成像公式 畸变模型 悬浮颗粒 大气流动 电气噪声 仿真结果 实时生成 无人机 摄像机 白噪声 C++ 图像 机载 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP311[自动化与计算机技术—计算机软件与理论]