其次，本文提出了一套图像处理算法，该算法能够较好地检测出着陆场地地平线和跑道的边缘线；
Secondly, an algorithm of image processing is introduced which can detect horizon of airfield and edges of runway commendably.
文中给出了地平线判别准则及相应的算法和姿态角变换公式。
After analysed recognition criteria, an horizon detection algorithm and transform formula for attitude Angle are attained.
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