Abstract: The position and attitude of unmanned helicopter is the basis of autonomous flight control of helicopter. This paper calculates the three-dimension coordinates and attitude of the unmanned helicopter’s marking-points based on the principle of binocular vision, by detecting and tracking marking-points, and matching the marking-points using an algorithm called constraint of epipolar based on order of consistency. A platform based on binocular vision for taking experiment of controlling small unmanned autonomous helicopter is designed, which can be used to verify flight control model and algorithms.

Key words: unmanned helicopter, position and attitude measurement, binocular vision, flight control

摘要： 无人直升机的位置与姿态检测是直升机自主飞行控制的基础。基于双目视觉原理，对直升机标志点进行检测并跟踪，利用基于顺序一致性的极线约束匹配方法，对检测到的多个标志点进行立体匹配，计算标志点三维坐标从而得到无人直升机的位置与姿态信息。设计一个基于双目视觉的小型无人直升机空间位姿测量托架，用于飞行控制模型及飞行控制算法的研究及验证。

关键词: 无人直升机, 位姿检测, 双目视觉, 飞行控制

CLC Number: 

• TP273+.5