A Fast Pose Estimation Method of Four-Rotor Aircraft

摘要

In order to solve the inaccuracy and slowness of four-rotor aircraft pose estimation, a fast method is proposed. It uses FPGA+DSP as the hardware processing platform to reduce the overhead time and adopts the theory of Harris corner detection to gain the corner points' coordinate and gray values. Then the pose of four-rotor aircraft can be calculated. The result of experiment shows that the method could estimate the pose of four-rotor aircraft accurately.