METHOD FOR IDENTIFYING BENCHMARKS WHEN SOLVING THE P4P PROBLEM IN AVIATION OPTOELECTRONIC POSITIONING SYSTEMS WITH A SINGLE CAMERA Russian patent published in 2021 - IPC G01B11/26 G01S5/16 

FIELD: optics.

SUBSTANCE: invention relates to methods for optical determination of the position and orientation of an object using an optical device and determination of angular directions on light-emitting or light-reflecting marks rigidly fixed to the object - reference marks. The method for identifying benchmarks is used to solve the Р4Р problem in aviation optoelectronic positioning systems with a single camera. In this case, the reference clusters of the optoelectronic positioning system are tetrahedrons with a base in the form of a regular triangle. After exiting the standby mode of the positioning system, in which the number of observed benchmarks of the cluster is n <4, the benchmarks are lit in pairs. For this, the 4 reference points of the cluster are divided into two pairs: left (L) - right (R) and upper (U) - lower (L). To identify the cluster frames, they are included in pairs - at first the first L-R pair, then the second U-L pair, and the determination of the correspondence between the numbers and spatial coordinates of the frames and the pixel coordinates of their projections in the image plane is performed according to certain rules using uniform pixel coordinates of the centers of the projections of the frames estimated with subpixel accuracy for frames with images of the first and second pairs of cluster frames, respectively.

EFFECT: increasing the speed of optical determination of the position and orientation of the object.

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