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Method used for obtaining three dimensional attitude of carrier and based on horizon and polarized light

A technology of 3D attitude and acquisition method, which is applied in surveying and mapping, navigation, image data processing, measuring devices, etc., and can solve the problem of not being able to obtain the 3D attitude information of the carrier in real time

Active Publication Date: 2018-08-10
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

The published paper "Analysis of Visual Navigation Information Based on Runway" used the visual information of the horizon and runway lines to establish a three-dimensional attitude calculation model for UAVs when they landed, but this method is only applicable to UAV autonomous landing occasions , the 3D attitude information of the carrier cannot be obtained in real time when the UAV is flying autonomously

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  • Method used for obtaining three dimensional attitude of carrier and based on horizon and polarized light
  • Method used for obtaining three dimensional attitude of carrier and based on horizon and polarized light
  • Method used for obtaining three dimensional attitude of carrier and based on horizon and polarized light

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0049] Such as figure 1 As shown, the specific implementation steps of a method for obtaining a three-dimensional attitude of a carrier based on the horizon and polarized light in the present invention are as follows:

[0050] Step (1) Use the forward-looking camera of the carrier to obtain the horizon information, and calculate the line equation L of the horizon in the image coordinate system, and use the line equation L, the height H of the carrier from the ground, and the camera parameters to estimate the roll angle γ and pitch angle of the carrier θ;

[0051] Step (2) Use the apparent polarization camera on the carrier to obtain a set of sky polarization images, and calculate the sky polarization degree information p and polarization azimuth information And extract the polarization neutral point in the sky polarization image;

[0052] S...

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Abstract

The invention discloses a method used for obtaining the three-dimensional attitude of a carrier and based on horizon and polarized light. The method comprises: firstly, detecting the horizon by usinga foresight camera of a carrier, and reckoning the roll angle and the pitch angle of the carrier according to the position of the horizon in an image and the parameters of the camera; secondly, obtaining a sky polarization information image according to a polarization camera, extracting a polarization neutral point from the polarization degree image by using an ellipse fitting method, and establishing a carrier three dimensional attitude equation according to the transformational relation of the polarization neutral point between a camera coordinate system and a geographic coordinate system; and finally bringing the roll angle and the pitch angle obtained from horizon navigation to the three dimensional attitude equation to solve the course angle of the carrier, thereby obtaining the threedimensional attitude of the carrier. The method is full-autonomous and passive.

Description

technical field [0001] The invention relates to a method for acquiring a three-dimensional attitude of a carrier based on horizon and polarized light, which can be used for acquiring the three-dimensional attitude of the carrier during the entire flight process. Background technique [0002] Polarized light is formed due to the scattering of sunlight by atmospheric particles during the transmission process in the atmosphere, and the polarized light of different polarization states in the sky forms an atmospheric polarization pattern. Bionic polarized light navigation is a navigation method that relies on stable atmospheric polarization patterns. Polarized light navigation has the advantages of being passive and radiation-free, so it has been widely studied in recent years. Since a single polarized light navigation can only obtain the heading angle of the carrier, currently most of the polarized navigation and inertial devices are used to obtain the three-dimensional attitud...

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Application Information

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IPC IPC(8): G01C1/00G06T7/80
CPCG01C1/00G06T7/80G06T2207/30208
Inventor 郭雷吴煜王岩杨健
Owner BEIHANG UNIV
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