嵌入式助航灯具定位系统设计与实现

针对民航机场嵌入式助航灯具清洗系统灯具定位问题，设计了基于视觉的灯具定位系统。首先，依据民航嵌入式灯具安装标准、夜间发光特点及外界干扰影响，同时考虑系统可行性，建立定位系统空间几何模型并优化摄像机安装参数；然后，提出最大类间方差法Otsu的改进算法对夜间发光灯具图像进行自适应阈值分割，并结合阶距法提取灯具质心；最后，为进一步提高系统精确度，对定位系统进行误差分析并进行误差补偿。夜间环境下对嵌入式助航灯具定位系统进行实际实验，结果表明，所设计系统定位速度快，精度高，平均误差达到16.3 mm，而且环境适应性强，能有效满足嵌入式灯具定位的需求。

Design and implementation of positioning system for embedded aeronautical ground lights

To solve the lights positioning problem for the cleaning system of aviation embedded aeronautical ground lights in the civil airport, a light positioning system based on vision was designed. Firstly, according to the installation standards, characteristics of nighttime lighting and impacts of external interference, the geometric modeling of the positioning system was designed and the parameters of cameras were optimized. Furthermore, the feasibility of system was taken into account at the same time. Then an improved algorithm of maximum between-class variance method named Otsu was proposed to achieve the adaptive threshold segmentation, and the step distance method was used to calculate the centroid of aeronautical ground lights. Finally, in order to improve the system accuracy, the system was calibrated after its errors had been analyzed. The actual experiment for the positioning system of embedded aeronautical ground lights was carried out in the nighttime environment. The experimental results show that the designed system has the advantages of high positioning speed, high accuracy with average error of 16.3mm, and it also has strong environment adaptability. This visual positioning system can effectively meet the positioning demands of aviation embedded aeronautical ground lights.