CAJ | 학술논문

为了给飞控计算机的控制提供参考，本文研究并编写了一个基于单目视觉的判别风洞模型位姿的软件系统，在风洞模型中，带动力的飞机模型自主稳定飞行，通过控制律，控制模型相对于地面静止，飞机模型的六个自由度全部解开。在飞机模型上放置多个LED标记点，位于模型上方的CCD工业相机对模型进行连续拍摄，通过动态链接库访问CCD的图像数据并将图像数据实时地传回上位机处理，通过C/C++编写上位机软件，实现识别算法以及位姿解算算法来获取模型的空间位置和姿态信息。
위료급비공계산궤적공제제공삼고，본문연구병편사료일개기우단목시각적판별풍동모형위자적연건계통，재풍동모형중，대동력적비궤모형자주은정비행，통과공제률，공제모형상대우지면정지，비궤모형적륙개자유도전부해개。재비궤모형상방치다개LED표기점，위우모형상방적CCD공업상궤대모형진행련속박섭，통과동태련접고방문CCD적도상수거병장도상수거실시지전회상위궤처리，통과C/C++편사상위궤연건，실현식별산법이급위자해산산법래획취모형적공간위치화자태신식。
In order to provide a reference for later flight control computers, the study has studied and written a software system which could discriminate the position and orientation of wind tunnels model based on monocular vision. An aircraft model with driving force is able to fly stably and autonomously in the wind tunnel. By control-law, the aircraft model stays static relative to the ground, unlocking al six degrees of freedom. Multiple LED marked points are placed on the aircraft model. The CCD industrial camera model at the top of the model continuously captures the image and returns real-time image data to an upper computer with a dynamic link library. The free-flight trials system can get the spatial position and altitude information of the aircraft model through the use of upper computer software with C/C++language, achieving identification algorithms, as wel as position and orientation solver algorithms.