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通过对机载相机获取的跑道图像进行处理,估计飞机姿态和位置信息,然后根据这些信息对飞机的飞行过程进行控制.在估计过程中,仅利用跑道照明的透视图像,通过Hough变换提取三条跑道线,然后对该图形状和位置特征进行分析,借助计算机视觉的知识来估计飞机的姿态及位置.控制调整过程分三个阶段进行,利用三次样条插值方法,使各阶段平滑衔接,最终使得飞机准确着陆.试验证实上述方法计算简单,避免了传统反求飞行状态参数方法的繁琐过程,而且该调整方法也行之有效,适于对飞机着陆进行实时导航.
By processing the runway images acquired by the airborne camera, the attitude and position information of the aircraft are estimated, and then the flight process of the aircraft is controlled according to the information. During the estimation, only three perspectives of the runway lighting are extracted by using Hough transform Line, and then analyze the shape and position of the figure features, with the knowledge of computer vision to estimate the attitude and position of the aircraft.Control and adjustment process is divided into three phases, the use of cubic spline interpolation method, the smooth convergence of the various stages, and ultimately make The experiments show that the above method is simple to calculate, and avoids the cumbersome process of the traditional reverse flight state parameter method, and the adjustment method is also effective and suitable for real-time navigation of aircraft landing.