浮空器姿态的单目视觉测量解析算法

利用浮空器进行俯视观测可有效提高防空反导系统的截获、跟踪目标能力。通过空中测量而为地面提供可直接用于武器控制的目标诸元，必须解决作为跟踪平台的浮空器姿态的高精度测定问题。提出了一种单目视觉测量方法：通过设置地面信标，对固定双焦CCD跟踪地面信标的视频图像进行处理，首次考虑根据浮空器姿态变化对地标的灵敏度分别计算航向角及俯仰角和横滚角，依照浮空器工作条件，提出了利用光轴和特征点之间方向余弦关系确定俯仰角和横滚角的方法，给出了姿态参数的解析解，并利用多种测量信息提高测量精度，估计误差小于1 mrad．静态精度测试实验结果表明该方法可行。

Analytic Solution for the Attitud Measurement of Aerostat Via a Single Camera

The ability of intercepting and tracking for air defense antimissile system can be effectively improved by top observation with aerostat. For providing target set data for ground weapon with aerial measurement, the high-precision measurement of the attitude of aerostat used as tracking plateform has to be solved. A novel method for the attitude measurement of aerostat via a single camera was proposed. It is the mechanism of the measurement that based on the set ground signal beacon and the processed signal beacon video image taken by double-focus CCD, the yaw is given by Euler angle and the roll and the pitch are given by direction cosine relationship taking account of the sensitivity of attitude measurement with the attitude angle variation. The measurement precision was improve by various beacon informations, the estimated error is less than 1 milliratian. The experimental results of static precision measurement show that the method is feasible.