摘要： 针对陀螺视轴稳定装置中陀螺的输出漂移误差影响视轴稳定性能的问题，提出一种利用视觉测量技术对陀螺信号进行实时修正的方法。通过在地面上共面设置的4个固定信标和载体上双焦CCD摄像机，组成单目视觉测量系统，应用四元数描述载体和大地直角坐标系间的变换关系，在此基础上采用Levenberg-Marquardt迭代算法和刚体运动学原理，推导出采用DLOSS装置实现陀螺信号修正的机理。仿真结果表明了该方法的有效性。

关键词: 陀螺, 计算机视觉, 姿态测量, Levenberg-Marquardt算法

Abstract: Referring to the possible problem of gyro drift effect on the line of sight stabilization performance, a method for gyro correction based on visual attitude measurement is proposed. A monocular vision system is established by four coplanar reference points on the ground and a double-focus CCD camera in the carrier. The quaternion is used to represent the transform relation between geodetic coordinate system and carrier coordinate system, and on this basis, the model of gyro correction in the DLOSS is derived by the Levenberg-Marquardt algorithm and the rigid body kinematics equation. Simulation results show that the algorithm is effective.

Key words: gyro, computer vision, attitude measurement, Levenberg-Marquardt(L-M) algorithm

中图分类号: 

• TP242.6