实现了图像的灰度化并进一步用于视频监视控，部分实现了追踪测速迭代松弛算法，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Achieve a grayscale image and further control for video surveillance, Partially achieved tracking speed iterative relaxation algorithm, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle.