An Off-Board Vision System for Relative Attitude Measurement of Aircraft

作     者：Liu, Fulin Wei, Zhenzhong Zhang, Guangjun 

作者机构：Beihang Univ Minist Educ Key Lab Precis Optomechatron Technol Beijing 100191 Peoples R China 

出 版 物：《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》 (IEEE Trans Ind Electron)

年 卷 期：2022年第69卷第4期

页      面：4225-4233页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

基　　金：National Science Fund for Distinguished Young Scholars 

主　　题：Attitude estimation computer vision monocular vision real-time system vision system 

摘      要：Aircraft attitude has always been an important technical parameter during flights, especially for stages such as aircraft take-off and landing. This article presents a monocular off-board vision system for relative attitude measurement of fixed-wing aircraft. In this system, a zoom imaging subsystem is set up to track and shoot the aircraft over a large distance range. Image sequences and corresponding servo data are transmitted to the processing computer for vision algorithms. A model-based attitude tracking algorithm, which requires the computer-aided design model of the aircraft, is performed to measure the relative attitude of the aircraft with respect to the reference platform. A 2-D visual tracking algorithm and a target detection algorithm are also employed to control the vision system. The proposed attitude tracking algorithm achieves competitive results on a publicly available dataset. The full system is validated in a real-flight experiment. The results revealed that the proposed system can run in real time on 1920 x 1080@40 Hz videos with an accuracy better than 0.5 degrees.