The present study envisages the development of an improved line features method to accurately estimate the attitude of the airdrop cargo platform during airdrop landing. Therefore, this article uses the geometric characteristics of the line features to improve the traditional line features extraction and removes the locally dense line features in the image, which greatly reduces the number of line features in the image. Then, the improved random sample consensus is used to remove the mismatching of line features, which improves the real-time performance of the algorithm and the accuracy of the attitude angle, and makes up for the problem of difficult extraction of point features or low matching accuracy in the airdrop environment. Finally, a constraint equation is established for the line features that are successfully matched, and using homography to obtain attitude of the airdrop cargo platform. This article also meets the requirements of accurate calculation attitude of airdrop cargo platform. The experiment shows the significance and feasibility of the airdrop cargo platform heading and attitude calculation technology based on the line feature, and it has a good application prospect.

中文翻译：

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基于线特征的空投货运平台航向姿态求解研究

本研究设想开发一种改进的线特征方法，以准确估计空投货物平台在空投着陆期间的姿态。因此，本文利用线特征的几何特征对传统的线特征提取进行改进，去除图像中局部密集的线特征，大大减少了图像中线特征的数量。然后，利用改进的随机样本一致性去除线特征的不匹配，提高了算法的实时性和姿态角的准确性，弥补了点特征提取困难或匹配度低的问题空投环境中的准确性。最后对匹配成功的线特征建立约束方程，并利用单应性获得空投货运平台的姿态。这篇文章也满足了空投货运平台准确计算姿态的要求。实验表明了空投货平台航向和基于线路特征的姿态计算技术的意义和可行性，具有良好的应用前景。