The Algorithm For The External Attitude Of Residual Ice Detection Device

In the cold winter, the complex process of de-icing of aircraft is an important reason for flight delays. The existence of residual ice which is caused by inadequate de-icing is a great risk for the safety of aircraft. Improving the efficiency and reliability of residual ice detection is an important task for the safe operation of civil aviation in the winter.With the rapid development of air transport, conventional artificial visual and tactile inspection methods cannot meet demand for the safe operation of civil aviation and efficient in the winter. Based on detection of the status quo at home and abroad, this paper proposes automatic detection and location method of residual ice. This method is based on infrared spectral region detection and attitude estimation positioning technologies. Infrared camera achieves detection of local residual ice. Positioning camera which has been established with the infrared camera relationship achieves the conversion of the scanning area by attitude estimation algorithm. Thus this method can complete the scan path planning and positioning of residual ice.Based on the structural characteristics of the aircraft, the attitude estimation algorithm is used to get the external position. CCD camera extracts the feature points of the specific parts of the aircraft. According to the relationship between these feature point's space coordinates and image coordinates to determine the relative position of the device. The relative position of the infrared camera and the locating camera has been calibrated, so getting the locating camera's position relative to the aircraft to obtain the position of infrared camera relative to aircraft. Residual ice eventually gets the position relative to the aircraft. At last, experiments prove the accuracy of the paper's theories.