【作者】 李博； 王孝通； 徐晓刚； 杨常青；

【Author】 Li Bo , Wang Xiaotong , Xu Xiaogang, Yang Changqing(Dalian Naval Academy , Dalian 116018)

【机构】 海军大连舰艇学院；

【摘要】 本文提出了一种两步直升机位置姿态参数估计方法。该方法首先随机选取助降陆标中心H型标志的四个角点(任意三点不共线),采用线性方法计算位姿参数,然后以得到的位姿参数作为初始值,由圆投影得到的椭圆的六个系数方程,构造一组非线性方程组,采用非线性最优化的方法对第一步得到的结果进行优化,从而得到位置姿态参数的最优解。数字仿真实验表明,该算法精度高、鲁棒性强,对图像检测精度要求低,特别是检测噪声为零均值的白噪声时,有着很好的抗噪性。更多还原

【Abstract】 A two-step approach for estimating position and orientation of shipboard helicopter was proposed in this paper. First of all four corner points, such that no three are collinear, of " H" landmark are selected randomly, and the parameters of position and orientation are computed by linear algorithm. Secondly, based on six coefficient equations derived from perspective projection image of the circle, nonlinear equation set is found. Using those results gotten in the first step as initialization, the method of nonlinear optimization is done to get optima of position and orientation. The experiments with simulated data show that the approach is efficient, robust and accurate. And the approach is invariant to zero mean white noise caused in image processing.更多还原