大量程高精度三维姿态角测量系统设计

Design of large FOV high precision three-dimensional attitude angle measurement system

基于针孔成像和双矢量定姿原理,设计一种使用单图像传感器实现大量程高精度三维姿态角测量的方法。根据系统要求设计双基准平行光源,采用FPGA单芯片实时实现图像传感器的驱动成像、光斑的分割与质心定位及与USB之间的快速通信,通过光斑质心坐标计算得到双基准平行光源的方向矢量,根据双矢量定姿原理计算姿态敏感器的旋转矩阵,得到三维姿态角;根据针孔成像模型,建立姿态敏感器的内外参数统一标定模型,对测量系统进行标定,标定结果和测量实验表明,三维姿态角测量系统的视场范围达到19.6°×19.6°,俯仰角、偏航角、滚动角的精度达到9.9″、9.3″、80.2″。

Based on pinhole imaging and TRIAD principles, a new method of large FOV （field of view） high preci- sion three-dimensional attitude angle measurement was designed using a single CMOS image sensor. The dual parallel collimation light source is designed according to the demand of the measurement system. A single FPGA is used to implement image sensor imaging, spot segmentation, spot centroid positioning and rapid communication with the USB. The direction vectors of two parallel collimation beams are calculated according to the centroid coordinates of the spots. The rotation matrix of the attitude sensor is calculated based on TRIAD theory and the 3D attitude angle is ob- tained. According to the pinhole imaging model, the internal and external parameter united calibration model of the attitude sensor is established, and the measurement system is calibrated. Calibration and experiment measurement re- suits show that the field of view of the 3D attitude angle measuring system is 19.6° × 19.6° and the preeisions of the pitch,yaw and roll angles of the measurement system are 9.9″,9.3″and 80.2″,respectively.