一种基于图像信息的微小型飞行器姿态测量方法  

An Attitude Measurement Approach for Micro Air Vehicles Based on Image Information

作　　者：黄英东[1] 李杰[1] 范宁军[1] 

机构地区：[1]北京理工大学宇航科学技术学院,北京100081

出　　处：《弹箭与制导学报》2009年第3期9-12,16,共5页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国防基础科研基金资助

摘　　要：提出了一种基于图像信息的微小型飞行器姿态测量方法。该方法综合运用Laplacian-Gauss边缘检测、OTSU算法以及Hough变换等数字图像处理技术,从机载摄像机图像中识别出地平线或者海天线。根据得到的直线信息可以迅速地测量出飞行器的滚转角与俯仰角。实验表明,该方法可以有效地识别出复杂背景中的地平线和海天线,计算得到的滚转角与俯仰角精度满足飞行器的姿态控制要求。An attitude measurement approach for micro air vehicles （MAVs） based on image information was presented. The horizon or sea-sky-line can be recognized from the onboard image by digital image processing techniques such as Laplacian-Gauss edge detection, OTSU algorithm and Hough transform. The roll angle and pitch angle can be measured rapidly with the obtained line information. The experimental results show that the approach can be used to effectively detect horizon or sea-sky-line with complicated background, the accuracy of the calculated roll angle and pitch angle are satisfactory regarding the MAV attitude control requirement.

关 键 词：微小型飞行器 边缘检测 OTSU算法 HOUGH变换 姿态测量 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计]