CAJ | 학술논문

研究了一种基于地平面算法的无人机着陆过程中姿态角估算的改进方法。通过地面坐标系到摄像机坐标系的转换矩阵、机体坐标系到摄像机坐标系的变换矩阵、机体坐标系到地面坐标系的变换矩阵求解，确定无人机的姿态信息；利用无人机着陆过程中跑道的图像地平线和跑道数据等特征提取，在获取摄像机姿态角的基础上，计算无人机的滚转角和俯仰角，用跑道特征来估算无人机偏航角；通过矩阵变换解算出无人机的姿态角，并通过仿真进行了实验验证。该方法对摄像机的安装位置没有特殊的要求，解除了传统方法对摄像机安装位置的限制，简化了无人机姿态信息的求解方法。
연구료일충기우지평면산법적무인궤착륙과정중자태각고산적개진방법。통과지면좌표계도섭상궤좌표계적전환구진、궤체좌표계도섭상궤좌표계적변환구진、궤체좌표계도지면좌표계적변환구진구해，학정무인궤적자태신식；이용무인궤착륙과정중포도적도상지평선화포도수거등특정제취，재획취섭상궤자태각적기출상，계산무인궤적곤전각화부앙각，용포도특정래고산무인궤편항각；통과구진변환해산출무인궤적자태각，병통과방진진행료실험험증。해방법대섭상궤적안장위치몰유특수적요구，해제료전통방법대섭상궤안장위치적한제，간화료무인궤자태신식적구해방법。
Studies were made for improving the estimation of attitude angles during the landing of the UAV based on a new horizon detection algorithm. We used the transfer matrixes from ground coordinate system to the camera coordinate system, body coordinate system to the camera coordinate system and body coordinate system to the ground coordinates to determine the UAV attitude. After extracting the features of horizon and the runway from the pictures and analyzing the relationships between the horizon and runway characteristics and UAV attitude angle, we estimated the UAV roll angle and pitch angle and used the characteristics of the runway to estimate the UAV yaw angle on base of acquiring the attitude an-gle of the camera. Matrix transformation is used to calculate the attitude angle of the UAV and stimulation was carried out to verify the results. It is estimated that there is no special requirements on the installation position of the camera. As a result, it is feasible to remove restrictions on the installation location of the camera and simplify the method to estimate the UAV attitude information.