基于6自由度机械臂的景像匹配半实物仿真

Scene matching semi-physical simulation system based on 6 degree of freedom manipulator

为克服传统景像匹配半实物仿真系统的不足,提出了一种机载景像匹配半实物仿真系统实现方案.该方案采用6自由度机械臂的运动和屏幕投影运动模拟飞行器的运动状态,利用摄像机采集大屏幕模拟实时图获取过程,通过多线程控制和网络控制实现多个子系统的信息同步,利用高精度摄像机标定场实现系统的相对和绝对定位.该系统具有良好的扩展性,可缩短景像匹配系统的研发周期,降低研发成本.系统应用后,已节约试飞实验经费超过1 000万元人民币.

In order to overcome the limitations of traditional scene matching semi-physical simulation system,a new scheme of the semi-physical simulation system was proposed for airborne scene matching.The aircraft motion state has been simulated by using motion of 6 degree of freedom manipulator and large screen projection system,the process of real-time image obtained was simulated by captured real-time image for large-screen simulation.Information synchronization of the multiple subsystems was realized by using multi-threaded control and network control.The relative and absolute positioning was completed by using high-precision calibration field.The system has good scalability which can shorten development cycles,reduce development cost for scene matching system.More than 10 million RMB is saved after the system was applied.