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微型飞行器飞行高度是其自主飞行的重要参数之一。为了准确快速地获取微型飞行器的飞行高度参数,提出了一种利用视频图像获取微型飞行器飞行高度的鲁棒性算法。算法利用图像处理、图像分析的方法,结合光学理论和几何学理论推导出了飞行高度的计算公式。这种基于视频图像提取微型飞行器飞行高度的方法具有很好的实时性和对恶劣环境的适应能力。在主频为750Hz的地面站上,其工作频率可以达到12Hz。飞行实验表明,这种基于视频图像的飞行高度提取算法最大误差不超过10m,这一精度满足飞行器平稳飞行的需要。
The flying height of a miniature aircraft is one of the important parameters of its autonomous flight. In order to obtain the flying height parameters of the micro-aircraft accurately and quickly, a robust algorithm for obtaining the flying height of the micro-aircraft using video images is proposed. The algorithm uses the method of image processing and image analysis, and combines the theory of optics and geometry to deduce the calculation formula of flight altitude. This method based on video images to extract the flying height of a micro-aircraft has good real-time performance and adaptability to harsh environments. At a ground station clocked at 750 Hz, its operating frequency can reach 12 Hz. Flight experiments show that the maximum error of this algorithm based on video images is less than 10m, which meets the requirement of smooth flight of the aircraft.