School of Instrument Science and Opto-electronics Engineering, Hefei University of Technology, No. 193 Tunxi Road, Hefei 230009, China.
AVIC Xi'an Aeronautics Computing Technique Research Institute, Xi'an 710000, China.
Sensors (Basel). 2018 Aug 13;18(8):2655. doi: 10.3390/s18082655.
The limited load capacity and power resources of small-scale fixed-wing drones mean that it is difficult to employ internal high-precision inertial navigation devices to assist with the landing procedure. As an alternative, this paper proposes an attitude measurement system based on a monocular camera. The attitude angles are obtained from a single captured image containing five coded landmark points using the radial constraint method and three-dimensional coordinate transformations. The landing procedure is simulated for pitch angles from -15 ∘ to -40 ∘ , roll angles from -15 ∘ to +15 ∘ and yaw angles from -15 ∘ to +15 ∘ . For roll and pitch angles of approximately 0 ∘ and -25 ∘ , respectively, the accuracy of the method reaches 0.01 ∘ and 0.04 ∘ . This UAV attitude measurement system obtains an attitude angle by a single captured image, which has great potential for assisting with the landing of small-scale fixed-wing UAVs.
小型固定翼无人机的负载能力和功率资源有限，这使得内部高精度惯性导航设备难以用于协助降落过程。因此，本文提出了一种基于单目相机的姿态测量系统。该系统通过径向约束方法和三维坐标变换，从包含五个编码地标点的单个捕获图像中获取姿态角。针对俯仰角从-15 ∘ 到-40 ∘ 、滚转角从-15 ∘ 到+15 ∘ 和偏航角从-15 ∘ 到+15 ∘ 进行了降落过程模拟。对于大约为 0 ∘ 和-25 ∘ 的滚转角和俯仰角，该方法的精度分别达到 0.01 ∘ 和 0.04 ∘ 。该无人机姿态测量系统通过单个捕获图像获取姿态角，这对于协助小型固定翼无人机的降落具有很大的潜力。
