Title :
Line of Sight Stabilization Technology Based on Visual Attitude Estimation
Author :
Chen, Yi ; Bo, Yuming ; Lv, Ming
Author_Institution :
Coll. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China
Abstract :
Referring to the possible problem of gyro random drift effect on the Line of Sight (LOS) stabilization accuracy, a method for the LOS stabilization based on visual attitude estimation 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 the square-root unscented Kalman filter in which the current statistical model is applied to obtain the system state equations is used to estimate the attitude parameters. On this basis, the velocity interference model of the LOS is derived according to coordinate transformation and rigid body kinematics, and the method of feedforward control is adapted to isolate the influence of the LOS velocity disturbance. The simulation results indicate that the proposed method is effective in stabilizing the LOS without changing the structure of the tracking units.
Keywords :
Kalman filters; attitude measurement; computer vision; feedforward; stability; statistical analysis; attitude parameter estimation; carrier coordinate system; computer vision; coordinate transformation; double-focus CCD camera; feedforward control; geodetic coordinate system; gyro random drift effect; line of sight stabilization technology; monocular vision system; rigid body kinematics; square-root unscented Kalman filter; statistical model; system state equations; velocity interference model; visual attitude estimation; Charge coupled devices; Charge-coupled image sensors; Equations; Interference; Kinematics; Machine vision; Parameter estimation; Quaternions; State estimation; Transforms;
Conference_Titel :
Pattern Recognition, 2009. CCPR 2009. Chinese Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-4199-0
DOI :
10.1109/CCPR.2009.5344116