Canny边缘检测和轴线矢量靶场目标姿态测量

Attitude measurement of target in range based on Canny edge detection and axis vector

对于靶场飞行目标的姿态测量问题,提出一种基于Canny边缘检测与Hough直线检测的靶场目标图像轴线提取方法,并利用成像平面交会获得旋转锥形载体的轴线,实现目标轴线的姿态测量的目的。靶场试验一般有多台光学测量设备采集目标图像,对采集到图像首先应用Canny算子检测目标边缘,对边缘图像适用Hough直线检测算法提取到成像平面上的目标轴线,进而可以得到测站和目标轴线所在的空间平面,利用面面相交原理获得目标轴线矢量的姿态角。该测量方法是基于Canny边缘检测和Hough直线检测的轴线提取方法,在仿真试验中对应用不同参数提取的轴线角度误差在0.3°左右,在实际试验中对目标的轴线提取误差在-0.7°~0.6°之间。实验表明该方法提取出的目标轴线的姿态角能够满足试验需求。

For the attitude measurement of the flying target in the range,a method of extracting the axis of the target image in the range based on Canny edge detection and Hough line detection is proposed.And the axis of the rotating conical carrier is obtained by the intersection of imaging planes to achieve the attitude measurement of the target axis.Generally,multiple optical measuring devices are used to collect target images in the range test.Canny operator is applied to detect the edge of the target.Hough straight line detection algorithm is applied to the edge image to extract the target axis on the imaging plane.And then the space plane where the measuring station and the target axis are located can be obtained.The attitude angle of the target axis vector is obtained by using the principle of surface intersection.This measurement method is based on the axis extraction method of Canny edge detection and Hough straight line detection.In the simulation test,the axis angle error extracted by applying different parameters is about 0.3°,and in the actual test,the axis extraction error of the target is between–0.7°and 0.6°.The experiment shows that the method can accurately extract the yaw angle and pitch angle of the target axis,which can meet the requirements of the range test.The experiment shows that the attitude angle of the target axis extracted by this method can meet the requirements of the experiment.