METHOD FOR DETERMINING, IN A FIXED 3D FRAME OF REFERENCE, THE LOCATION OF A MOVING CRAFT, AND ASSOCIATED COMPUTER PROGRAM AND DEVICE

摘要

Method for locating, in a fixed frame of reference (RG), a moving craft from the craft, comprising two characteristic points, the rolling and pitching of the craft in the fixed frame of reference having been determined, so as to determine the yawing and/or the coordinates of the craft in the fixed frame of reference: a/ a local frame of reference (Rn) comprising an axis deviating from the yaw axis of the fixed frame of reference by a known angle resulting from a rotation about a first axis of the first local frame of reference dependent on the roll (R) and a rotation dependent on the pitch (P) is defined; b/ the coordinates of each characteristic point (P1, P2) in said local frame of reference being equal, to within an unknown common factor, to the multiplying of a matrix defining said succession of rotations by a matrix of intrinsic image capture parameters and by the coordinates of a pixel corresponding to the characteristic point in an image captured from the craft, the values adopted by the quotients relating said coordinates are determined; c/ said coordinates of the characteristic points are expressed in said local frame of reference as a function of the distance between these characteristic points and of the quotients determined.