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为了满足对无人机姿态高精度测量的要求,介绍了一种新的测量系统及方法。该系统由多台经纬仪、数字摄像机、时间同步控制器及数据处理终端组成。数字摄像机安放在经纬仪上,经纬仪布置在飞机飞行轨迹的两侧,构成了一个能够在俯仰角和方位角下拍摄图像的光测机构。时间同步控制器提供同步控制信号,控制摄像机在同一时刻对飞机成像。在终端机中利用图像处理技术重构出机身和机翼的空间向量,计算出无人机的俯仰角、偏航角和翻滚角。仿真试验结果显示:采取4台经纬仪的合理布站,当图像上直线斜率的提取误差最大为0.6°时,可以将姿态角的最大测量误差控制在1°左右。
In order to meet the requirement of high precision UAV attitude measurement, a new measurement system and method are introduced. The system consists of multiple theodolites, digital cameras, time synchronization controller and data processing terminal. Digital cameras are placed on theodolites, and theodolites are placed on either side of the flight path of the aircraft to form a photometric mechanism capable of taking pictures at pitch and azimuth. The time synchronization controller provides a synchronization control signal to control the camera to image the aircraft at the same time. In the terminal using image processing technology to reconstruct the body and wing space vector, calculate the UAV pitch angle, yaw angle and roll angle. The simulation results show that the maximum error of the attitude angle can be controlled at about 1 ° when the error of the straight line slope on the image is 0.6 °.