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Title:
ATTITUDE ESTIMATION DEVICE, ATTITUDE ESTIMATION METHOD, AND OBSERVATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/208424
Kind Code:
A1
Abstract:
An attitude estimation device (30) is provided with: a data acquisition unit (32) which acquires observation data; a ranging point coordinates calculation unit (33A) which, using positioning data, ranging data, actual attitude data, and an estimated value of an unknown parameter indicating the attitude of a flying object, calculates the geodetic coordinates of a ranging point in a geodetic coordinate system; an image coordinates calculation unit (33B) which calculates projection point coordinates by subjecting the geodetic coordinates to projection transformation from the geodetic coordinate system to an image coordinate system; an image matching unit (34) which performs image matching between a first captured image and a second captured image selected from a captured image group and detects the image coordinates of the ranging point that appears in the first captured image; and an attitude estimation unit (35) which corrects the estimated value so that the magnitude of difference between the projection point coordinates and the image coordinates becomes smaller.

Inventors:
HINO, Momoyo (7-3 Marunouchi 2-chome, Chiyoda-k, Tokyo 10, 〒1008310, JP)
MAEHARA, Hideaki (7-3 Marunouchi 2-chome, Chiyoda-k, Tokyo 10, 〒1008310, JP)
TAIRA, Kenji (Limited 1-13-5, Kudankita, Chiyoda-k, Tokyo 73, 〒1020073, JP)
KATO, Sumio (Limited 1-13-5, Kudankita, Chiyoda-k, Tokyo 73, 〒1020073, JP)
Application Number:
JP2016/066444
Publication Date:
December 07, 2017
Filing Date:
June 02, 2016
Export Citation:
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Assignee:
MITSUBISHI ELECTRIC CORPORATION (7-3 Marunouchi 2-chome, Chiyoda-ku Tokyo, 10, 〒1008310, JP)
International Classes:
G01C15/00; B64C27/28; B64C39/02; B64D47/08
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (Akasaka Sanno Center Bldg. 5F, 12-4 Nagata-cho 2-chome, Chiyoda-k, Tokyo 14, 〒1000014, JP)
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