| 摘要: |
| P3P问题是机器视觉领域的经典问题,其多解的排除与唯一解的确定是研究热点。针对飞行器着陆过程中机载视觉设备跑道成像的特点,提出了一种着陆视觉导航 P3P问题唯一解的求解方法。该方法首先通过机场跑道的3条边线计算相对姿态,再根据直线方程求解相对位置,最终完成飞行器与跑道之间6个自由度参数的唯一确定。 |
| 关键词: 飞行器 视觉导航 着陆 P3P PnP |
| DOI： |
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| 基金项目:国家自然科学基金重大科研仪器研制项目(41527803);装备预研重点实验室基金项目(61425060206) |
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| A P3P Problem Solving Algorithm for Landing Vision Navigation |
| LIU Chong-liang,LIU Lei,HU Guang-feng,XU Xing-hua |
| (Beijing Institute of Automatic Control Equipment,Beijing 100074,China) |
| Abstract: |
| P3P problem is a classic issue of machine vision,the focus is on excluding multiple solutions and determining unique solution. In this paper,a P3P problem unique solution algorithm for landing vision navigation is proposed,based on the imaging features of aircraft camera. The relative attitude is acquired according to the 3 lines of the airport runway at first,then the relative position is determined by the runway line equations. Finally,the 6 DOF parameters between the aircraft and the runway are obtained. |
| Key words: Aircraft Vision navigation Landing P3P PnP |
