TL;DR: In this paper, a real-time high-precision measuring method for relative and absolute horizon reference swaying quantity of a platform is proposed, where a high-resolution camera fixed in inertial space is used for simultaneous imaging of an absolute horizon and a cooperation sign on an unstable platform.
Abstract: The invention provides a real-time high-precision measuring method for relative and absolute horizon reference swaying quantity of a platform The method is as follows: a high resolution camera fixed in inertial space is used for simultaneous imaging of an absolute horizon reference and a cooperation sign on an unstable platform; pose relationship between a relative horizon reference and an absolute horizon reference of a coordinate system of the cooperation sign on the unstable platform is obtained by using pose estimation algorithm; since the cooperation sign and the unstable platform are in fixed connection, pose parameters of relative and absolute horizon references of the unstable platform can be determined therefrom