Study Of Small Unmanned Helicopter Visual Attitude Measurement

In recent years, the vision measurement technology of small unmanned helicopteris widely used in the fields of military, meteorology, agriculture, geography etc. How tofind an attitude solution algorithm which can navigate quickly the attitude informationof unmanned helicopter has become the direction of people concern. In the pastprimarily navigation system and positioning system are applied in the UAV attitudemeasurement and position and attitude solution is the method of the measurement ofsmall unmanned helicopter. But the method is interrupted easily and the interferencewill affect the autonomous landing and pose solution. Aiming at the shortcoming whichmay exist in the getting information of positioning system, this passage proposes acomputer vision attitude algorithms to get attitude information of unmanned helicopterand lay foundation for application of small unmanned helicopter.In response to these problems of attitude measurement, this paper made a furtherstudy of algorithm of the small unmanned helicopter visual pose measurement afterreading a lot of books and papers. This papers focus on study two kinds of algorithms,and they are attitude algorithm of small unmanned helicopter base on RAC and fourelement method. Firstly, the camera is fixed on the pod of small unmanned helicopter,through the camera capture the cooperative target information during the flight of UAV.Secondly, the computer is installed on small unmanned helicopter in order to processimage and extract information of cooperative target for the object contour trackingalgorithm.Using two kinds of algorithms to solve the UAV relative to the cooperativetarget attitude. The simulation results show that this algorithm is correct and effective,then attitude angle estimation error in the reasonable range.