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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Low-altitude horizon-based aircraft attitude estimation using UV-filtered panoramic images and optic flow
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Low-altitude horizon-based aircraft attitude estimation using UV-filtered panoramic images and optic flow

机译：使用紫外线过滤的全景图像和光流，基于低空地平线的飞机姿态估计

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摘要

In this paper, a novel method for real-time horizon-based attitude estimation using panoramic images is presented with results from real flight tests showing accurate attitude estimation for a rotary-wing aircraft in cluttered environments. The vision system is biologically inspired from the function of the Ocelli organ present in some insects and the fact that ultraviolet images provide better sky/ground contrast enhancement. A new method for panoramic sky/ground thresholding is proposed, consisting of a sky/ground masking and a sun-tracking system that works effectively even when the horizon line is difficult to detect by normal thresholding methods due to flares and other effects from the presence of the sun in the image. The use of optic flow to determine body rates is investigated using the panoramic image and the image interpolation algorithm. A Kalman filter is used to fuse the unfiltered measurements from inertial sensors and the vision system.
机译：在本文中，提出了一种使用全景图像进行基于地平线的实时姿态估计的新方法，并通过真实飞行测试的结果显示了在杂乱环境中旋转翼飞机的精确姿态估计。该视觉系统从生物学上受到某些昆虫中卵细胞器官功能的启发，并受到紫外线图像提供更好的天空/地面对比度增强这一事实的启发。提出了一种新的全景天空/地面阈值方法，该方法由天空/地面遮罩和太阳跟踪系统组成，即使由于耀斑和存在的其他影响而无法通过常规阈值方法检测到地平线时，该系统也可以有效工作图像中的太阳。使用全景图像和图像插值算法研究了使用光流确定体率的方法。卡尔曼滤波器用于融合来自惯性传感器和视觉系统的未滤波测量值。

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