基于双目视觉的战斗机武器系统校靶方法研究

Research on Boresight Method of Fighter Plane Weapon System Based on Binocular Vision

针对战斗机制造、装配过程中测量任务繁重,以及现有战斗机武器系统校靶时普遍存在的设备笨重、效率低下等问题,提出一种基于双目视觉测量原理的战斗机武器校靶方法。设计了一种由红外LED构成的光电标靶,并通过转接架与战斗机各工位连接。双目相机拍摄所有光电标靶,进而获取LED点的三维坐标。利用基于最小二乘法的空间坐标转换原理解算出双目相机与各光电标靶的相对姿态关系,并结合坐标系传递原理最终求得各待测工位轴线相对于战斗机基准工位轴线的水平、垂直偏差角度,以完成校靶操作。根据校靶原理搭建3D仿真环境,分析了在校靶的过程中可能存在的误差源,并利用蒙特卡洛方法对校靶算法进行了仿真分析。仿真结果表明,相机标定误差对水平、垂直偏差角测量精度影响最大,标准差分别为0.0397°和0.0268°。该校靶方法能适用于战斗机武器校靶,同时可提高装配与测量过程中的工作效率与可靠性。

Aiming at the heavy measurement task in the process offighter manufacture and assemble,as well as the problems of heavy equipment and low efficiency in the existing methods of boresight for fighter plane weapon,a new method of boresight forfighter plane weapon based on the measurement principle of binocular vision is proposed.A photoelectric target composed of infrared LEDs is designed,which is connected with calibration station of thefighter through the adapter.The binocular cameras take pictures of all photoelectric targets,and then obtains the three-dimensional coordinates of the LED points.Then,the relative attitude parameters between the binocular cameras and each photoelectric target will be calculated by using the principle of space coordinate transformation based on least square method.And the horizontal/vertical deviation angles of the stations axes to be measured relative to the axis of thefighter’s reference station can befinally obtained by combining the coordinate system transfer,and the boresight operation will be completed.Based on the principle of boresight,a 3D simulation environment is built,the possible error sources in the process of boresight are analyzed,and the boresight algorithm is simulated using Monte Carlo method.The simulation results show that the cameras calibration error has the greatest impact on the measurement accuracy of horizontal/vertical deviation angles,with the standard deviation of 0.0397°and 0.0268°,respectively.This proposed method can be applied to the boresight for fighter plane weapons,which can also improve the work efficiency and reliability in the process of assembly and measurement.