五自由度气浮台姿态的计算机视觉辅助确定

为满足五自由度气浮台姿态确定的需要，结合实际情况，引入单目计算机视觉系统来弥补敏感器不足的缺陷，设计了一种“单目视觉+两轴倾角仪+三轴陀螺仪”的组合定姿方案。通过摄像机实时采集气浮台运动图像并识别出台上定位指示灯的计算机图像坐标，根据文中推导的坐标变换公式，可以解算出气浮台的偏航角。在图像处理过程中采用跟踪微分器预估指示灯运动速度从而可以有效减小图像处理面积，将图像处理频率从7Hz提高到12Hz。最后采用四元数方法建立气浮台的姿态确定模型，基于MEKF方式对其姿态进行状态估计，实验证明这种定姿方式能够对气浮台的姿态进行精确的估计和校正，满足系统要求。

Attitude Determination of the 5-DoF Air-bearing Testbed Aided by Computer Vision

An attitude determination system consists of monocular computer vision, triaxial fiber optic gyroscope and two-axis inclinometer is presented. It aims to meet the demand of the five degrees of freedom air-bearing testbed according to actual situation. Ground computer captures images and recognizes pixel coordinates of indicating lamps on the air-bearing testbed, and then the yaw angle can be calculated by formula which derived in this paper. Tracking differentiator is used to reduce calculation region and can improve processing frequency from 7Hz to 12Hz. Based on Multiplicative Extended Kalman Filtering technique, an attitude determination algorithm is designed by using quaternion. The experiment result proves that attitude of the air-bearing testbed can be esti-mated and corrected accurately by this system.