基于天际线检测算法的多旋翼无人机姿态解算

为给无人机的姿态角解算提供冗余的数据支撑，介绍一种天际线检测算法。确定天际线提取区域及天际线检测梯度阈值，对图像中各列的天际线进行检测，消除检测出的天际线奇异点值，解算出天际线与无人机图像水平线的夹角，作为姿态解算的数据源。结果表明：用该方法设计出的智能图像处理模块，可实时有效地检测出图像的天际线，并解算出无人机姿态角，控制无人机稳定飞行。

Attitude Solution of Multi-rotor UAV Based on Skyline Detection Algorithm

In order to provide redundant data support for attitude angle calculation of UAV, a skyline detection algorithm is introduced. A skyline extraction area and a skyline detection gradient threshold are determined, the skylines of each column in the image are detected, the detected skyline singular point values are eliminated, and the included angle between the skyline and the horizontal line of the unmanned aerial vehicle image is calculated as a data source for attitude calculation. The results show that the intelligent image processing module designed by this method can effectively detect the skyline of the image in real time, calculate the attitude angle of the UAV, and control the UAV to fly stably.