一种改进的火炮身管指向视觉测量方法

An Improved Vision Measurement for the Pose of Cannon Barrel

身管指向测量是实现自行高炮火控系统精度闭环测试中的一个难点,为解决这一难题提出了一种改进的火炮身管指向的视觉测量方法,将视觉测角方法推广到工程实际;首先介绍了火炮身管指向的视觉测量方法的基本原理;然后运用旋转矩阵描述了标志物与火炮身管之间的相对位置关系,由此定义了3个偏差角参数,并根据身管与标志物之间的相对位置关系及其运动规律推导了高低角、方位角与外参矩阵满足的约束方程,进而解出了这两个角度;最后进行了偏差角补偿实验,实验结果表明该方法有效解决了工程实际中偏差角导致的解算不准确的问题,其高低角测量精度可达0.05°,方位角测量精度可达0.1°。

The pose measurement of cannon barrel is a difficulty in the closed--loop precision analysis of SPAAG fire control system. To solve this problem, this paper presents an improved vision measurement for the pose of cannon barrel, and spread this vision method to the engineering practice. Firstly, give the theory of the vision measurement for the pose of cannon barrel. Secondly, describe the relative position of the maker and the barrel with the rotation inatrixes; define three deviation parameters, and then according to the motion model of cannon barrel and the position relative to the marker, derive the constraint equations between extrinsic parameter and vertical angle and azimuth an- gle, then figure out the two angles. Finally, give the experiments. Results show that the method this paper proposed is effective to the prac- tical engineering problem of inaccurate. The vertical angle precision of this method can reach 0. 05°, and the azimuth angle precision can reach 0.1°.