Measurements Of UAVAttitude Angle Based On Image Processing Techniques

The attitude angle of the object is a very important parameter that reflects the object's flying state. At present, there are two methods used in the attitude angle measuring. One is to use the system consisting of the gyroscope and circuit system. It measures the data of flying objects, then by this data, computer can finish the attitude angle measuring work. Another is based on the optical image. It uses many digital image processing techniques, by these techniques, the computer can calculate the attitude angle of the flying object. Because of the development of CCD, the second method will become more and more important in assisting measuring the airplane attitude angle.In this article, a method for airplane attitude angle measurement is proposed. The system is made up of theodolites, cameras, computers and time control systems. The camera is placed on the theodolite, and can take airplane's picture at azimuth and pitching angle. The theodolites are laid on the sides of flight path. The time control system provides the time signal to control the camera to take the photos. The time signal and the photos are saved in the computers for treatment. This method uses many digital image processing techniques, such as threshold segmentation, edge segmentation, Hough transform and binocular vision to reconstruct the vector of the airplane. Then the pitching, yawing and roll angel are computed by the vector of the airplane. This method could achieve a higher accuracy with simple scheme, and can be used in the passive measurement of airplane attitude angle.