基于硬件Kalman滤波器的航拍云台姿态获取

航拍云台姿态获取是航空摄影中相机姿态校正的基本依据,介绍了一种基于硬件Kalman滤波器的航拍云台姿态获取的实现方法。设计中采用MPU6050作为系统的姿态传感器,它提供三轴角速度和三轴加速度数据。根据系统特征建立Kalman滤波方程对这些数据进行数据融合处理,Kalman滤波过程中的加减乘除浮点数运算由FPGA实现,外部数据的采集和时序的控制也由FPGA完成。经过对实际数据的处理实验,得出该硬件模块可以获得较为准确的航拍云台姿态,输出结果误差在-1.5°~1.5°范围内。     

A novel method for camera external parameters online calibration using dotted road line

On board camera is the most important information source for driver assistant application which is based on computer vision. One problem for on board camera is that the external parameters are easy to be changed when moving on the road. Traditional method either calibrates external parameters offline or calibrates external parameters semi-online, which both need human intervention. By observation, it is found that corner connection of dotted road lane can form two groups of parallel lines. Using this geometric characteristics and through theoretical derivation, a novel online camera external parameter calibration method is proposed which focus on the situation when vehicle is moving. The pro of this method is that it maintains relatively high calculation accuracy and more important, it does not require any human intervention in whole calibration process. Experimental and comparison results show that this method is simple and have accurate results which fully meet the requirements of practical application.     

IMAGING OF PARTICLE MOTION IN FLUID-SOLID SYSTEMS USING A GAMMA CAMERA

A new approach is presented for the characterization of particle motion in fluid-solid systems based on dynamic imaging with a gamma scintillation camera. A two-dimensional spouted bed of 200-500 micron diameter anion exchange resin beads was used as a test system. One or several beads were radiolabeled with the 140 keV gamma emitting radionuclide 99m-Tc pertechnetate, and particle velocity, panicle path, the spatial distribution of particle residence times, and local bed density were determined from the measured temporal and spatial distributions of particle activity. While care must be exercised in the interpretation of data when the scale for changes in the spatial distribution of activity approaches the limits of camera resolution, the method is quantitative, non-invasive, and well suited to the study of systems having symmetry in one spatial dimension.     

感光测定在航空摄影图像处理中的应用

阐述了感光测定曝光条件确定原理和方法,讨论了感光测定在航空摄影曝光、影像质量控制、药液补充量控制、工作药液性能检测等航空摄影过程中的应用。     

基于数字式红外传感器的姿态测量盲区补偿法

单轴红外姿态测量系统在测量小型无人机姿态角时存在盲区,通过增加一组与原轴线相垂直的红外传感器,形成双轴姿态测量系统,对盲区进行补偿。两组红外传感器一定有一组位于倾角可测区域,通过测试目标轴的输出温差的大小,判断位于可测区域的轴线,可实现对目标轴姿态角的解算。首次采用数字式输出红外热电堆传感器设计实现了180°无盲区的姿态角测量模块,经过测试,其静态误差小于2°。     

医用内窥镜微型摄像模组设计

设计了一种新型医用内窥镜微型摄像模组.该模组采用微型、高分辨率的CMOS图像传感器结合低压差分信号（LVDS）传输技术进行设计,使摄像模组直径缩减至5.0mm,并实现了图像数据的长距离高保真传输.搭建了实验平台对摄像模组的摄像功能进行了测试.结果表明：该模组图像传输距离超过2m,分辨率达到30万像素,对口腔溃疡模拟粘膜病变的识别率高达90％.其图像分辨率高,传输距离长,使其适用于内镜诊断;其直径小,能大大提高病人内镜检查的舒适性,为超细内镜诊断提供了一种极佳的解决方案.     

基于一致性的小型四旋翼机群自主编队分布式运动规划

设计一种小型四旋翼无人机群起飞后自主形成正多边形编队的分布式运动规划方法.在四旋翼无人机的串级控制系统框架下,分布式编队控制器以简化agent模型为基础,同时采用平均一致性算法和有领导一致性算法,共同产生各无人机位置与偏航角的期望轨迹.讨论了达成最终协调目标队形的拓扑条件,并给出一种基于有向Hamilton环的通信拓扑设计方案.最后通过数值仿真验证了所提出算法的有效性.     

基于SIFT算法的三维心脏表面模型重建

心脏三维模型对于心脏疾病的诊断和治疗有很重要的作用,为满足心肌缺血可视化的显示需求,提出了一种基于SIFT图像匹配算法重建三维心脏表面模型的新方法。该方法用一部标定好的数码相机围绕心脏模型拍摄一组照片,用SIFT算法完成图像间同名点的匹配,通过这些同名点求出相机的外参数,进而实现三维心脏模型的重建。实验结果表明,该方法成功地重建了三维心脏表面模型,并且成本低、效率高,重建的模型能满足心肌缺血可视化的显示需要。     

基于远程监控图像的绝缘子覆冰检测算法

提出一种基于远程监控图像的绝缘子覆冰情况检测算法。本文算法充分利用边缘检测方法和其他图像处理方法,对覆冰绝缘子侧面冰棱的边缘情况进行精确的检测。本文算法还引入了摄像头的标定参数,使其能更加准确地估计覆冰绝缘子侧面的冰棱长度。当摄像头因为外力或其他因素而产生角度偏移时,本文算法能及时地对摄像头标定参数做出修正,并利用新的标定参数重新估计绝缘子的覆冰情况。实验结果表明,本文算法对绝缘子侧面冰棱边缘检测效果显著,满足实时监控和预警报警的要求。     

On Trajectory Tracking Model Predictive Control of an Unmanned Quadrotor Helicopter Subject to Aerodynamic Disturbances

In this article a model predictive control (MPC) strategy for the trajectory tracking of an unmanned quadrotor is presented. The quadrotor's dynamics are modeled using a hybrid systems approach and, specifically, a set of piecewise affine (PWA) systems around different operating points of the translational and rotational motions. The proposed control scheme is dual and consists of an integral MPC for the translational motions, followed by an MPC scheme for the tracking of the quadrotor's attitude motions. By the utilization of PWA representations, the controller is computed for a larger part of the quadrotor's flight envelope, which provides more control authority for aggressive maneuvering. The proposed dual control scheme is able to calculate optimal control actions with robustness against atmospheric disturbances (e.g. wind gusts) and with respect to the physical constraints of the quadrotor (e.g. maximum lifting forces or fixed thrust limitations in order to extend flight endurance). Extended simulation studies indicate the efficiency of the MPC scheme, both in trajectory tracking and aerodynamic disturbance attenuation.