光电经纬仪单站空间余弦及多站面面交汇的飞机姿态测量

本文对光电经纬仪测量飞机姿态的方法进行研究。首先介绍单站经纬仪在有距离信息时测量飞机姿态的方法，采用穷举的方法，获得飞机轴线上的特征点，利用空间的位置关系获得空间姿态参数。然后介绍多站经纬仪利用面面交汇的方法获得飞机飞行姿态；首先对二维平面图像采用Hough变换拟合算法获得目标中轴线，然后计算原点到目标的中轴线的垂直距离及原点到目标的中轴线的法线与X轴的夹角，获得目标在二维平面的直线方程，目标图像的二维中轴线与摄影系统的光学中心唯一确定了一个空间平面；采用面面交汇的方法，获得空间中轴线，可以得到飞机轴线的偏航角及俯仰角。实验结果表明，两种计算方法的结果误差偏航角为0.28%，俯仰角为1.1%。本文采用的数学模型正确、算法合理，有效的提取了飞机的姿态参数。

Measurement of aircraft attitude by spatial cosine relationship in single-station and planes to intersection in multi-station of electro-optical theodolite

The paper studies electro-optical theodolite method of measuring the aircraft attitude. Firstly, Single Station theodolite was introduced in a measured distance from the aircraft posture information. An exhaustive approach was used to access to the aircraft axis of the feature points and the location in the space was used to obtain space posture parameters. Secondly, the multi-station theodolite was introduced to get the information of the aircraft flight attitude by method of using all things to the intersection. Two-dimensional image to obtain objective axis by fitting algorithm using Hough transform. And then, Calculate the vertical distance of the origin to the target of the central axis and the origin to the target of the central axis of the angle between the normal and the X-axis obtaining the linear equation in the two-dimensional plane. Two-dimensional axis of the target image and the camera system's optical center only identified a space plane. The aircraft yaw axis angle and pitch angle can be obtained by getting the space axis using things to the intersection method. Experimental results show that the two yaw angle error in the calculating method is 0.28% and the pitch angle deviation is 1.1%.In this paper, the mathematical model is correct and the algorithm is reasonable in extracting effective parameters of the aircraft's attitude