直升机着舰实时目标定位姿态预测仿真  

Real-Time Attitude Prediction of Helicopter Landing Simulation

作　　者：孙建新 钟雷声 张利[1] SUN Jian-xin;ZH0NG Lei-sheng;ZHANG Li(Department of Electronic Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学电子工程系

出　　处：《计算机仿真》2019年第6期114-119,共6页Computer Simulation

基　　金：国家自然科学基金项目(61172125,61132007);国家自然科学基金-民航基金联合资助(U1533132)

摘　　要：直升机着舰需要精确定位机舰相对位置,但海浪运动和光照情况复杂,对目标的检测定位十分困难,导致直升机着舰安全性难以保证,因此对目标实现精确的实时定位姿态预测有重要作用。首先,设计易于识别检测的合作目标,保证在各种角度下有效识别,以应对复杂的海浪运动;然后采用可变阈值分割,自适应多种光照条件。之后对于单目视觉下得到的连续帧图像进行图像处理,获取特征点数据,满足实时性要求。最后利用EPnP算法进行2D-3D场景重建,为直升机着舰提供实时的相对位姿信息,并利用增强现实技术显示,帮助驾驶员准确操作。通过理论分析和计算机半实物仿真,所提方法可以在不同光照不同角度下实现精度较高的姿态预测。上述仿真为直升机着舰视觉引导提供了一种新的解决思路。Helicopter landing needs to accurately locate the relative position of a helicopter and a ship.However,the complicated situation of sea wave motion and illumination makes it difficult to detect and locate a target.As a re sult,it is hard to guarantee the safety of helicopter landing.Therefore,it is very important to get the accurate real-time attitude prediction of cooperative targets.First,to deal with the complicated sea wave motion,a cooperative tar get that is easy to identify and detect was designed to ensure the effective recognition at various angles.Then,varia ble threshold segmentation was adopted to adapt to various illumination conditions.For the continuous frame images obtained under monocular vision,the image processing was carried out to obtain the feature point data,so as to meet the real-time requirements.Finally,the EPnP algorithm was used to reconstruct the 2D-3D scene,which provides the real-time and high-precision information of relative poses for helicopter landing.The augmented reality tech nology was used to present the scenery,which helps the driver operate accurately.Through theoretical analysis and semi-physical simulation,the proposed method can conduct real-time attitude prediction in different illumination and at different angles.The simulation provides a new solution for the visual guidance of helicopter landing.

关 键 词：合作目标 姿态预测 增强现实 直升机着舰 

分 类 号：V271.[航空宇航科学与技术—飞行器设计]