光学测量的飞行器空间姿态测量方法

Optical measurement of aircraft attitude

针对飞行器近景实验中的三维运动姿态参数测量,提出了一种基于序列图像的屏幕光斑成像法的数学模型.通过安装在飞行器表面的激光发射装置向屏幕上投射激光光斑的方法,首先用激光跟踪仪对实验场地内的多方位高速摄像机和固定屏幕进行全局标定并建立各坐标系间的转换关系,利用高速相机同步拍摄记录下屏幕上随飞行器姿态变化而变化的光斑位置,并对拍摄下来的光斑序列图像进行分析以确定飞行器的姿态参数.该方法避开了飞行器运动过程中因喷火等特性对拍摄图像的影响,同时将飞行器的姿态变化进行有效放大,从而使整体测量精度得到提高.实验数据表明,在一定转动范围内,该方法的测量精度不超过0.03°.

An imaging method using sequential screen-spot images generated by close-range optical tracking is proposed for test bed measurement of 3-D aircraft attitude parameters. With this method, laser emitters installed on the skin of an aircraft cast laser spots on stationary screens. First, a laser tracker is used to globally calibrate multi-directional high-speed cameras and the fixed screens, establishing a transform relationship between the various coordinates. Then the cameras shoot and store changes in the spots＂ positions as changes of aircraft attitude are reflected on the screens. Finally, the image sequences are analyzed to determine the aircraft＇s attitude parameters. This method eliminates loss of data due to overexposure of image sequences caused by flames from propulsion; moreover it increases the effect of changes in aircraft attitude so that total measurement accuracy improves substantially. Our experimental results indicated that errors in this method are not more than 0. 03° within the measurable range of rotation.