Horizontal attitude determination method based on underwater Snell window edge identification
A horizontal attitude and determination method technology, applied in the direction of image data processing, instruments, navigation calculation tools, etc., can solve the problems of high quality output speed information, affecting the concealment of submarines, application scenarios and performance limitations, etc.
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[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0056] Such as figure 1 As shown, a kind of method for determining horizontal attitude based on underwater Snell window edge recognition of the present invention is implemented in the following steps:
[0057] Step 1. Perform noise filtering and binarization processing on the acquired image, obtain an edge image according to the light intensity information in the image, and extract the coordinates [m,n] of the non-zero pixel p in the pixel coordina...
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