Research On The Attitude Measuring Algorithm Of Aircraft

The3D attitudes angle of the aircraft (pitch angle, yaw angle, roll angle) are important because they reflect the status parameters of the aircraft, So accurate measurement of the3D attitudes is very important in the field of training trials and the accident analysis of the aircraft,. High-precision, non-contact and low-cost system is widely used to measure the attitude angles of the aircraft accurately. Photoelectric theodolite is one kind of this system, it can track flying targets and take their images real-time and dynamically. With the photoelectric theodolite, the researchers can analyze the3D attitude angles of the aircraft very conveniently. Now the problem is how to get the3D attitudes from the images taken by the photoelectric theodolite. The paper researched the problem of the3D attitudes, and complete of the following work:1. It researched the related work and technology development at home and abroad, and attitude algorithms were reviewed.2. It established the model of the attitude measurement, including the establishment of the coordinate system and the aircraft’s3D model, and the fulfillment of other model parameters. Then it derived the consistency of imaging principle of3D software simulation and camera imaging model principle, so as to establish a attitude measurement model of the3D aircraft.3. It improved orthogonal iteration method and angle bisector method, proposed single station and multi-station measurement orthogonal iterative algorithms of aircraft attitude based on the characteristics of straight lines. First, we calculated the initial attitudes of single station and multi stations based on lines, and then we decreased the space error of lines through orthogonal iterative algorithm to get the final attitudes.4. It built a simulation platform to simulate the proposed algorithm based on the model of the attitude measurement and got good experimental results; and it built theoretical error model of the algorithm, through the theoretical model, we can analysis the affect of different sources of error on the measurement accuracy.