基于摄影测量法的头盔运动姿态测量技术

The Technology of Helmet Pose Measurement Based on Photogrammetry

针对头盔瞄准具精度鉴定系统设计要求,需要精确测量头盔瞄准具活动范围、最大视场角以及相对瞄准线的方位、俯仰、滚转偏差等参数。本文利用加装在座舱内的两个摄像机,获取到两个不同视角的头盔运动影像。采用角锥体法、空间后方交会算法以及基于外方位元素分解的姿态解算算法,推导出了头盔姿态解算的数学模型,实现基于单视角影像的头盔运动姿态测量;进一步对两组不同视角的头盔运动姿态数据进行融合处理,最终获得一组头盔运动姿态数据的最优解。

Considering the requirement of system design on evaluating the accuracy of Helmet Mounted Sight （HMS）,it is necessary to determine the attitude of a helmet in 6 Degree of Freedom （DOF）.All parameters regarding to the helmet characteristics such as activity range,maximal Field of View （FOV）,position and direction of sight line,relevant attitude variations,etc,need to be calculated accordingly.Two cameras are mounted in the cabin of a helicopter,and images acquired from different directions are processed simultaneously.A mathematical model is derived and a monocular measurement method is implemented through the introduction of pyramid principle,space resection algorithm and attitude detection method based on exterior orientation elements.Based on the data fusion of multi-Sensor,optimal solutions are obtained by means of the further studies on processing the helmet pose data.