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1、!43"!1#!"#$$%(!"#)Vol.43No.12009$1%JournalofZhejiangUniversity(EngineeringScience)Jan.2009DOI:10.3785/j.issn.1008973X.2009.01.004.£¡Ä<ÅÆDzÈÉÊËÌa:;<,=>,?@(?@+ÅéBC®56^,?@_`310027)FG:üy,³¬Ö×rNI¤úýUoCRÒKþI89e56.̨>¬Ö×mRÒKÝlUr,4û,²ú®,épJûP]ðxÄ&rÁÖZ[¹q¤rlö.pJÁÖZ[îF§ðxP]Ä&r2OÙ3.deÏFér、â¡rë¢Ê2OÙ3,
2、¤üye,³î+h2O(SIFT)J,³tKCìàâ(RANSAC)JrÙÉÊ.ÌParýoCRÒKUÅûrab#å,R¤F§rþÖײȧoCRÒK(
3、9^îr×+Ð.HIJ:ýoCRÒK;þI;î+h2OKLMNO:U666.1;TP242.6PQ=RS:APTUO:1008973X(2009)01001805犞犻狊犻狅狀犫犪狊犲犱犿犻狀犻狌狀犿犪狀狀犲犱犺犲犾犻犮狅狆狋犲狉狆狅狊犲犪狀犱狆狅狊犻狋犻狅狀犲狊狋犻犿犪狋犻狅狀RENQinyuan,LIPing,HANBo(犐狀狊狋犻狋狌狋犲狅犳犐狀犱狌狊狋狉犻犪犾犘狉狅犮犲狊狊犆狅狀狋狉狅犾,犣犺犲犼犻犪狀犵犝狀犻狏犲狉
4、狊犻狋狔,犎犪狀犵狕犺狅狌310027,犆犺犻狀犪)犃犫狊狋狉犪犮狋:Thevisionbasedposeandpositionestimationapproachwasproposedforminiunmannedhelicopter(MUH).TherelationshipbetweenvisioninformationandMUHmovementswasanalyzed.ThehomographybetweenthesequentialimagescapturedfromMUHwasthekeyoftheapproach.Thehomographywassolve
5、daccordingtotheseriesofmatchingfeaturepointsbetweenthesequentialimages.Thescaleinvariantfeaturetransform(SIFT)featuresandamatchingstrategybasedonrandomsampleconsensus(RANSAC)algorithmwereemployedtoobtainthestableandantinoisepointsinthesameplane.Theexperimentalresultsofrealflightsverifiedth
6、attheapproachcanmeettheMUHflightprecisionneeds.犓犲狔狑狅狉犱狊:miniunmannedhelicopter(MUH);poseandpositionestimation;scaleinvariantfeaturetransform(SIFT)ýoCRÒKh³Øäÿ、ÝG、KÓéþÖ×.ëQ,ýrIMUÄ{Ì4Q&§37CUUx)3,ÌHyÍÎTxyQ##<Ì'-r>¨£,oÕdjþÞnrÖyï.Ø¿,þI¹ýoCR3æçéþÖ×.!"§¡Uxö÷,Shakernia[14]ÒK«ûBCr,4.ÅrþI¤¹;Cæ®egy¬Ö
7、×úýoCRÒK8[14]K³r4éþUÅ(globalpositioningsystem,9þIr¤.mÅrþI¤$GPS)、âÂUÅ(inertiameasureunit,IMU),,,³¬Ö×r¤xyKK³¤]KVd½Ä{ru·ÆF§RÒKrþÖ×.Nã,ä-ÿ.ëQ,
8、²¨gy¥Wí¹h³、、îHz,aoÖ×,Râ,2©y³ýoCRÒKràÿF§ùXr¡¢ÖnQ,GPSUÅoF§jþré9Ú.$%&':20071206.()*""+(!"#),-:www.journals.zju.edu.cn/eng./01:&'“863”®5678I:./01(2006AA10Z2
9、04).2345:k/(1978-),>,?@_`C,ÔEè,GHKã¬、KãCC«mBC56.Email:qyren@iipc.zju.edu.cnRSTUC:¢,>,Z[.Email:pli@iipc.zju.edu.cn(1*z{
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