Pose Measurement for Unmanned Aerial Vehicle Based on Rigid Skeleton

Pose measurement is a necessary technology for UAV navigation. Accurate pose measurement is the most important guarantee for a UAV stable flight. UAV pose measurement methods mostly use image matching with aircraft models or 2D points corresponding with 3D points. These methods will lead to pose measurement errors due to inaccurate contour and key feature point extraction. In order to solve these problems, a pose measurement method based on the structural characteristics of aircraft rigid skeleton is proposed in this paper. The depth information is introduced to guide and label the 2D feature points to eliminate the feature mismatch and segment the region. The space points obtained from the marked feature points fit the space linear equation of the rigid skeleton, and the UAV attitude is calculated by combining with the geometric model. This method does not need cooperative identification of the aircraft model, and can stably measure the position and attitude of short-range UAV in various environments. The effectiveness and reliability of the proposed method are verified by experiments on a visual simulation platform. The method proposed can prevent aircraft collision and ensure the safety of UAV navigation in autonomous refueling or formation flight.