航空科学技术2023，Vol.34Issue(12)：83-92,10.DOI:10.19452/j.issn1007-5453.2023.12.010
基于视觉的空投系统姿态获取及解算技术研究
Study on Attitude Acquistion and Solution Technology of Airdrop Cargo Platform Based on Vision
摘要
Abstract
Air landing and airdrop is the basis of air force equipment development.To guarantee the safe landing of air drop equipment for long distance delivery,the heading attitude mode data of cargo platform are needed to obtain for real time descending attitude adjustment so as to avoid landing rollover accident.The present study envisaged the development of a vision-based method for calculating the heading attitude of airdrop cargo platform,in order to accurately estimate the attitude of the airdrop cargo platform during an airdrop landing.The landing distance of airdrop system was divided into two stages:Far-ground at 160m and near-ground at 20m.Signs of different scales were designed as visual reference for different landing stages,which effectively improved the autonomous landing height of airdrop cargo platform.When the airdrop cargo platform initially landed at an altitude of 160m,and the inherent geometric properties of the cooperative target were used to identify the overall cooperative target in the environment;When it reached 20m near the ground,the central cooperation target was screened by Hu-invariant moment as ground auxiliary features,and finally the motion of the airdrop cargo platform was estimated by homography.This algorithm effectively improved the accuracy,real-time performance and the robustness of the attitude calculation technology of the airdrop cargo platform.It also met the requirements of an accurate calculation of real-time attitude of airdrop cargo platform.The results showed the significance and feasibility of the vision-based heading attitude calculation technology of airdrop cargo platform with a good application prospect.关键词
空投货台/合作目标/姿态解算/飞行器降落Key words
airdrop cargo platform/cooperation target/attitude calculation/aircraft landing分类
信息技术与安全科学引用本文复制引用
吴琼,张红英,李霞..基于视觉的空投系统姿态获取及解算技术研究[J].航空科学技术,2023,34(12):83-92,10.基金项目
航空科学基金(201929052001) Aeronautical Science Foundation of China(201929052001) （201929052001）
