Attitude Measurement For MUH And Its Application In The Design Of Aerial Image Correction

Mini Unmanned Helicopter(MUH) is widely used both in military and civilian areas, which has drawn much attention at home and abroad recently. Meanwhile, MUH is a good platform for controlling, navigation, path planning and target identification and tracking.Due to the characteristic of highly nonlinear, multivariable and strong coupling in MUH, a UKF(Unscented Kalman Filter) posture fusion method is designed based on the modified Rodrigues parameters algorithm. Comparing with two typical nonlinear filtering algorithms, the proposed approach, which computes helicopter posture model's parameters using the modified Rodrigo, reduces the computation time. Moreover, the deterministic sampling method is adopted in approximating the nonlinear posture models, which enhances the posture of fusion accuracy. Simulation results verify the effectiveness of the proposed method.Considering the wide applications of MUH in aerial images, this thesis first study homography matrix based image correction algorithm, based on the analysis of causes of the geometric distortion for aerial images. And then, a novel aerial image correction method is proposed by combining with posture measurement information. Experiments show that this proposed method using the estimate posture information can effectively reduce the uncertainty of image correction and the correcting difficulty of aerial images.At last, conclusions are drawn with future issues. Further improvements and extensive discussion are given from the perspective of theory and application. Key words:Mini unmanned helicopter; attitude measurement; unscented transformation; homography;...