基于激光投射和视觉的无人机姿态角测量方法  

Unmanned Aerial Vehicle Attitude Angle Measurement Method Based on Laser Projection and Vision

作　　者：张佳宝 傅骁[1] 段发阶[1] 蒋佳佳[1] 梁春疆 李天宇 李存军 Zhang Jiabao;Fu Xiao;Duan Fajie;Jiang Jiajia;Liang Chunjiang;Li Tianyu;Li Cunjun(State Key Laboratory of Precision Testing Technology and Instruments,Tianjin University,Tianjin 300072,China;Zhoushan Institute of Calibration and Testing for Quality and Technology Supervision,Zhoushan,Zhejiang 316000,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]舟山市质量技术监督检测研究院,浙江舟山316000

出　　处：《激光与光电子学进展》2022年第8期387-395,共9页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(61905175,51775377,61971307);国家重点研发计划(2020YFB2010800);霍英东教基金会资助(171055);中国博士后科学基金(2020M680878);广东省重点研发计划(2020B0404030001);天津市科技计划(20YDT⁃PJC01660);中国航发四川燃气涡轮研究院外委课题(GJCZ2020-0040,GJCZ2020-0041)。

摘　　要：无人机(UAV)的姿态角参数是衡量无人机飞行性能的重要参数。传统测量方法中UAV装置的各类传感器受UAV本身影响会产生较大数据误差,现有的视觉测量方法受光线影响,对标记点的识别精度有限,因而提出了一种基于激光投射和视觉的UAV姿态角测量方法。通过全站仪数据确定标记点在世界坐标系下的三维位置,并由搭载于UAV的激光发射器向前侧及左右两侧的幕布发射激光,相机实时捕捉并解算幕布上激光点的位移信息,通过激光点与标记点的几何关系及Rodrigues旋转公式求解UAV姿态角。实验结果表明,所提方法的姿态角解算误差在0.2°以下,可满足UAV姿态角度测量的精度要求。The attitude angle parameter of the unmanned aerial vehicle(UAV)is crucial for determining its flight performance.In the standard measurement method,the various sensors of the UAV device generated considerable data errors due to the influence of the UAV.As the existing visual measurement methods are affected by light and have limited recognition accuracy of marking spots,a method for UAV attitude angle measurement based on laser projection and vision is proposed.The threedimensional position of the marker point in the world coordinate system is determined via the total station data,and the laser transmitter mounted on UAV emits lasers toward the front,left,and right sides of the screen,while the camera captures and calculates the displacement of the laser point on the screen in real time.Through the geometric relationship between the laser and marking points and the Rodrigues rotation formula,the attitude angle of the UAV is determined.The experimental results indicate that the calculation error of the attitude angle of the proposed method is below 0.3°,which meets the accuracy criteria for the UAV attitude angle measurement.

关 键 词：机器视觉 姿态测量 特征点定位 Rodrigues旋转 坐标转换 

分 类 号：TN06[电子电信—物理电子学]