Calculating Attitude from Horizon Vision

Abstract

Summary: The horizon angle is calculated as a function of the average coordinates for the ground and sky classes and a measure of the aircraft pitch is determined by the displacement of the horizon from the centre of the view. A prototype camera and image processing system has been built and used to test and validate the procedures. Trials of the system in simulation and real flights in a remote controlled glider have been carried out. The results are given and discussed.