The limited load capacity and power resources of small-scale fixed-wing drones mean\nthat it is difficult to employ internal high-precision inertial navigation devices to assist with the\nlanding procedure. As an alternative, this paper proposes an attitude measurement system based\non a monocular camera. The attitude angles are obtained from a single captured image containing\nfive coded landmark points using the radial constraint method and three-dimensional coordinate\ntransformations. The landing procedure is simulated for pitch angles from.....\nroll angles\nfrom....... and yaw angles from....For roll and pitch angles of approximately.....respectively, the accuracy of the method reaches....This UAV attitude\nmeasurement system obtains an attitude angle by a single captured image, which has great potential\nfor assisting with the landing of small-scale fixed-wing UAVs.
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