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针对少数控制点下空间后方交会的可靠性差及传统多次迭代平差结果误差累积的问题,设计了一种对无人飞艇真实位姿进行精确估计的算法.首先利用欧拉角描述旋转矩阵;然后对严格的共线条件方程进行线性化,并通过空间后方交会和立体视觉获取一组均匀分布的控制点;最后借助均匀分布点提出一种交替误差补偿的初次迭代平差方法解算飞艇位姿.实验结果表明,该算法正确可靠,对位姿初值没有要求,具有一定的收敛性且精度较高.
Aiming at the problem of the poor reliability of rearward intersection of space below a few control points and the error accumulation of the traditional multiple iteration adjustment results, an accurate estimation algorithm for the true pose of UAV is designed. The Euler angle is used to describe the rotation matrix. Then, the strict collinearity equation is linearized and a set of uniformly distributed control points are obtained through spatial rear intersection and stereo vision. Finally, an iterative adjustment method of alternating error compensation is proposed to solve the problem of airship position The experimental results show that the proposed algorithm is correct and reliable, does not require any initial pose value, has certain convergence and high accuracy.