为实现微型飞行器的自主飞行和姿态的自动校正,文中设计了一种基于前视摄像机成像的姿态角自动检测方法,通过图像线性判别函数的参数寻优计算,提取成像中地平线的直线方程参数,计算飞行器滚转角和俯仰角。同时文中改进和优化了寻优计算过程,大幅度减少了计算量,最后进行实际飞行图像的验证。实验表明文中方法滚转角度检测可靠、计算量小且易于硬件实现,适用于低成本无姿态测量装置的微型飞行器平台。

To realize the autonomous flight and the automatic correction of the attitude of the micro air vehicle this paper designs an automatic detection method of attitude angle based on frontview camera. Through the parameter optimization calculation of the image linear discriminant function, the linear equation parameters of the horizon in the image are extracted and the roll angle and pitch angle of the aircraft are calculated. At the same time, this paper improves and optimizes the optimization calculation process, which greatly reduces the computational complexity Finally, the experimental results are verified by the actual flight images Due to reliable roll angle detection low computational complexity and easy hardware implementation, the experiments show that the proposed method is suitable for low cost micro air vehicle platform without attitude measuring device.