飞机三维姿态测量的角平分线方向向量法

基于交会测量提出了一种飞机三维姿态测量的新方法—角平分线方向向量法。对交会图像进行边缘检测和特征线提取,获得飞机两机翼边缘特征线上适当两点的坐标,经两次坐标转换到特定坐标系下;联合经纬仪参数及跟踪的俯仰、方位角,解算机翼边缘特征线在特定坐标系下的方向向量,利用飞机结构的对称性,在机翼特征线平面求解其两条角平分线方向向量;重构飞机中轴线及其同面垂线的方向向量;据此计算出飞机的俯仰、偏航和滚动三维姿态。利用两台光电经纬仪交会跟踪飞机的眼镜蛇机动飞行表明提出的方法稳定、实用,只要图像上机翼边缘线成像清晰,测量的姿态角误差不会超过1°。此方法不仅可为靶场光测设备跟踪图像的处理提供一种新途径,而且可为其他运动目标的姿态测量提供借鉴。

Direction vector method of angle bisector lines for measuring aircraft's 3D attitude

A new method for measuring the aircraft's 3D attitude based on intersection measurement，direction vector method of angle bisector lines, was presented. The coordinates of two suitable points in the edge character lines were acquired separately through the edge detection and character line for two digital images, then,the coordinates were transformed two times into a specific coordinate system. By combining the parameters of photoelectrical theodolite and tracked pitching and azimuth angles, the direction vectors of airfoil's edge character lines in the specific reference coordinates were determined. Furthermore,by using the aircraft's symmetry, the direction vectors of two angle bisector lines in the plane restricted by the two airfoil's edge character lines were solved, and the vectors of axial line and its vertical line were reconstructed. Depending on operation above, the pitching, yawing and roll angels of the aircraft were obtained.An example for cobra maneuver flying tracked by two sets of photoelectrical theodolites in intersection indicates that the abovementioned method is steady, valid and practicable. The error of angles can be limited within 1° if the image of airfoil's edge character lines is clear. Obtained results show that the method not only provides a new way to deal with the optical measuring images, but also gives a reference for measuring poses of other moving objects.