第18卷第2期 2010年2月
文章编号1004-924X(2010)02-0369-08
光学精密工程
Optics and Precision Engineering
Vol.18No.2
Feb.2010
飞机三维姿态测量的角平分线方向向量法
王习文1,2,3，马军1，陈娟"，郭劲"，尊立华1
(1.中国科学院长春光学精密机械与物理研究所，吉林长春130033；
2.中国科学院研究生院，北京100039；3.吉林大学南岭校区，吉林长春130025）
摘要：基于交会测量提出了一种飞机三维姿态测量的新方法一角平分线方向向量法。对交会图像进行边缘检测和特征线提取，获得飞机两机翼边缘特征线上适当两点的坐标，经两次垒标转换到特定坐标系下；联合经纬仪参数及跟踪的俯仰、方位角，解算机翼边缘特征线在特定坐标系下的方向向量，利用飞机结构的对称性，在机翼特征线平面求解其两条角平分线方向向量；重构飞机中轴线及其同面垂线的方向向量；据此计算出飞机的俯仰、偏航和滚动三维姿态，利用两台光电经纬仪交会跟踪飞机的眼镜蛇机动飞行表明提出的方法稳定、实用，只要图像上机翼边缘线成像清晰，测量的姿态角误差不会超过1°。此方法不仅可为靶场光测设备跟踪图像的处理提供一种新途径，而且可为其他运动目标的姿态测量提供借鉴。
关键词：三维委态测量；交会测量；边缘特征线；角平分线方向向量
中图分类号：V448.22;TP391.4
文献标识码：A
Directionvectormethodofanglebisectorlines
formeasuringaircraft's3Dattitude
WANG Xi-wen'-2.3,MA Jun',CHEN Juan',GUO Jin',CAO Li-hua(l.ChangchunInstituteofOptics,FineMechanicsandPhysics,
ChineseAcademyof Sciences,Changchun130033,China;
2.GraduateUniversity of ChineseAcademy ofSciences,Beijing 100039,China
3.NanlingCampus，JilinUniversity，Changchun130025，China)
Abstract: A new method for measuring the aircraft's 3D attitude based on intersection measurement, direction vector method of angle bisector lines, was presented. The coordinates of two suitable points in the edge character lines were acquired separately through the edge detection and character line for two digital images, then,the coordinates were transformed two times into a specific coordinate sys-tem. By combining the parameters of photoelectrical theodolite and tracked pitching and azimuth an gles, the direction vectors of airfoil's edge character lines in the specific reference coordinates were de termined. Furthermore,by using the aircraft's symmetry, the direction vectors of two angle bisector lines in the plane restricted by the two airfoil's edge character lines were solved, and the: vectors of axial line and its vertical line were reconstructed. Depending on operation above, the pitching, yawing
收稿日期：2009-10-14；修订日期：2009-11-16.
基金项目：吉林省科技厅资助项目（No,20080522)