In order to detect the flight-state image edge of missile and analyze the pitch angle,binary image and contour bougie morphological filtering were adopted to preprocess the image.An improved threshold extraction method was presented according to the 3δ characteristics to binarize image with OSTU.Based on the obtained image edge of flying missile,the real axis-equation of missile in 3-dimension was reconstructed to solve pitch angle by coordinate transformation on the basis of skeleton extraction method.The edge detection and pitch-angle test show that good edges can be achieved from noise image by the detection method.The pitch angle can be solved by the coordinate transformation.%为了提取弹体飞行状态图像的边缘进而解算俯仰角,采用图像二值化、轮廓结构形态滤波对图像进行预处理.在利用OSTU进行图像二值化时,提出了根据高斯分布的＂3δ＂特性进行阈值提取的改进.在获得飞行弹体边缘轮廓的基础上,基于骨架提取中轴线法,采用坐标变换重构弹体在三维空间的真实轴线方程来解算俯仰角.边缘检测及俯仰角测试实例表明,该检测方法能够从含有噪声的图像中获得较好的图像边缘,可实现飞行弹体俯仰角的高精度解算.
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