激光投影成像式运动目标位姿测量与误差分析

发布时间：2018-01-22 13:14

本文关键词： 视觉测量位姿测量合作目标激光投影误差传递　出处：《光子学报》2017年09期 　论文类型：期刊论文

【摘要】：为了实现室内运动目标位姿的高精度测量,建立了一套激光投影成像式位姿测量系统.该系统利用两两共线且交叉排列在同一平面上的点激光投射器作为合作目标捷联在运动目标上,通过与光斑接收幕墙的配合共同组成运动目标位姿测量基线放大系统,利用高速摄像机实时记录幕墙上投影光斑的位置,利用摄像机标定结果求解投影光斑的世界坐标,利用投影光斑之间构成的单位向量建立运动目标位姿解算模型.最后,根据测量原理推导了图像坐标提取、摄像机外部参数标定、光束直线度与目标位姿解算结果之间的误差传递函数.实验结果表明,当摄像机的视场范围为14 000mm×7 000mm时,测量系统的姿态角测量精度为1′(1δ),位置测量精度为5mm,且误差大小与目标位姿测量误差传递函数理论计算值一致,验证了本文提出的目标位姿测量方法与测量误差传递模型的准确性,能够满足目标位姿测量高精度的要求.
[Abstract]:In order to realize the high precision measurement of the position and pose of indoor moving object. A laser projection imaging position and attitude measurement system is established, in which the point laser projector, which is collinear and intersected on the same plane, is used as a cooperative target to strapdown the moving target. By cooperating with the spot receiving curtain wall, a base line amplification system for measuring the position and attitude of moving object is formed, and the position of projection spot on the curtain wall is recorded in real time by high speed camera. Using the camera calibration results to solve the world coordinates of the projection spot, using the unit vector between the projection spot to establish the motion target pose solution model. Finally, according to the measurement principle, the image coordinate extraction is derived. The error transfer function between the beam straightness and the target position and attitude solution is obtained by calibrating the external parameters of the camera. The experimental results show that when the field of view of the camera is 14 000 mm 脳 7 000 mm. The measurement accuracy of attitude angle and position is 1 / 1 未 and 5 mm respectively, and the error is in agreement with the theoretical calculation of the transfer function of the target position and attitude measurement error. The accuracy of the target pose measurement method and the measurement error transfer model proposed in this paper is verified, which can meet the requirement of high accuracy of target pose measurement.
【作者单位】：哈尔滨工业大学电气工程及自动化学院电气工程系;哈尔滨工业大学航天学院控制与仿真中心;
【基金】：国家自然科学基金(No.61473100)资助~~
【分类号】：TN249;TP391.41
【正文快照】： 1-1002190(1δ),the position is 5mm,and the target pose measurement error transfer function calculation.To verifythe accuracy of the target pose measurement method proposed in this paper and the error transfer model,it can satisfy the target pose high pre

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