Pose Estimation of Unmanned Airship of Alternating Error Compensation

In order to solve the problems of poor reliability of space resection and the cumulative error of traditional repeatedly iterative adjustment in a small number of control points, an algorithm that accurately estimate the true pose of unmanned airship is designed.First, the method uses Euler angles to describe the rotation matrix;then the strict collinear equation is linearized, through the space resection and stereo vision to obtain a set of uniformly distributed control points;at last a method of initial iterative adjustment of alternating error compensation that solve the pose of airship was proposed by these points.The results show that the algorithm is correct and reliable, without requirement in the initial value of position and attitude, with a certain degree of convergence and the higher precision.