Jiabao Zhang, Xiao Fu, Fajie Duan, Jiajia Jiang, Chunjiang Liang, Tianyu Li, Cunjun Li. Unmanned Aerial Vehicle Attitude Angle Measurement Method Based on Laser Projection and Vision[J]. Laser & Optoelectronics Progress, 2022, 59(8): 0815007
- Laser & Optoelectronics Progress
- Vol. 59, Issue 8, 0815007 (2022)
Fig. 1. Overall layout of attitude angle measurement system
Fig. 2. Round cross target
Fig. 3. Processing flow of marking point contour
Fig. 4. Calculation process of center of gravity coordinates of laser point
Fig. 5. Distribution map of feature points
Fig. 6. Schematic diagram of attitude angle calculation
Fig. 7. Overall layout of measurement site
Fig. 8. Screen and camera layout
Fig. 9. Tolerance of attitude angle. (a) Roll angle; (b) pitch angle; (c) yaw angle
Fig. 10. Measured diagram of UAV attitude angle
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Table 1. Measured data of UAV attitude angle
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