Measurement of Unmanned Aerial Vehicle Attitude Angles Based on a Single Captured Image

作者：Zhang, Jin; Ren, Lijun; Deng, Huaxia^*; Ma, Mengchao; Zhong, Xiang^*; Wen, Pengcheng

来源：Sensors (Switzerland), 2018, 18(8): 2655.

DOI：10.3390/s18082655

• monocular vision
• optical measurement
• attitude angle
• coordinate transformation
• coded target
• UAV

The limited load capacity and power resources of small-scale fixed-wing drones mean that it is difficult to employ internal high-precision inertial navigation devices to assist with the landing procedure. As an alternative, this paper proposes an attitude measurement system based on a monocular camera. The attitude angles are obtained from a single captured image containing five coded landmark points using the radial constraint method and three-dimensional coordinate transformations. The landing procedure is simulated for pitch angles from -15 degrees to -40 degrees, roll angles from -15 degrees to +15 degrees and yaw angles from -15 degrees to +15 degrees. For roll and pitch angles of approximately 0 degrees and -25 degrees, respectively, the accuracy of the method reaches 0.01 degrees and 0.04 degrees. This UAV attitude measurement system obtains an attitude angle by a single captured image, which has great potential for assisting with the landing of small-scale fixed-wing UAVs.

• 出版日期2018-8
• 单位合肥工业大学