基于光束向量的空间运动目标姿态测量

Attitude Measurement of Spatial Moving Object Based on Vectors of Light Beams

为了实现空间运动目标姿态参数的高精度测量,采用一种基于光束向量的姿态参数测量系统.该系统在运动目标上安装直线光束作为合作目标,利用高速摄像机记录光束投影光斑在接收平面上的位置.基于平面单应性原理,通过光斑接收平面上9个原始特征点构造柔性标定靶标,实现高速摄像机的高精度标定.进而根据摄像机标定结果获得光束在世界坐标系中的方向向量,而光束在目标体坐标系中的方向向量可根据其安装位置获得.然后,根据光束在世界坐标系和目标体坐标系中的方向向量实现对目标姿态参数的高精度求解.实验结果表明,本文测量系统满足姿态参数测量误差小于1′(1σ)的要求,能够实现对空间运动目标姿态参数的高精度测量.

In order to achieve the high precision measurement for the attitude of spatial moving object, a measuring system based on the vectors of light beams is presented. In this system, light beams are mounted on the moving object as the cooperation target, and their projective spots on the reception planes are recorded by high speed cameras. To achieve the accurate calibration of the high speed camera, flexible calibration target is constructed with 9 original feature points on the reception plane based on planar homography. According to the calibration results, the vectors of light beams in world coordinate system are acquired, while the corresponding vectors in object coordinate system can be obtained by their installation sites on the object. Then the attitude parameters of the moving object are calculated with the vectors of light beams in world coordinate system and object coordinate system. The experiments results show that the measuring errors of the attitude parameters are within 1＇（1σ）. As a result, the system in this paper can realize the hiuh orecision measurement for the attitude of spatial moving object.