Attitude reference transfer method for moving-base based on correlated frames

Abstract

When the monocular visual measurement method is adopted, the initial alignment precision of the moving base tends to be easily interrupted by the surrounding environment. In order to solve this problem, in this study, the authors suggest an initial attitude reference transfer method for moving base based on correlated frames of images. This method utilizes the advantage of inertial reference, namely, high precision of relative attitude measurement within a short time period, transforms the multi-frame sequence images of the planar target to the coordinate system of the initial moment, and averagely reduces noise interruption through more than one image, so that the attitude-calculating precision could be promoted. Simulation research shows that: The attitude reference method based on correlated frames, which is put forward in this study, could effectively reduce random noise interruptions. Within the rotation scope of -1° to 1°, the precision of attitude alignment angles in three directions is better than that of 45''.