论文部分内容阅读
用同心圆做靶面标志,将同心圆靶平行于舵轴固定在舵面上,用单目视觉法实时测出方向舵转动前、后同心圆的位置姿态求转角,取同心圆平行于像面的直径为特征直径。取与特征直径垂直的直径为辅助特征直径,证明了它的像与同心圆透视投影的两个椭圆中心和圆心像点共线,根据共线四点交比不变可求圆心像点。图像处理求出圆心像点位置和两种特征直径的像和它们的原像,可求出靶面的位置姿态和转角。仿真测量结果:测量范围±85°;加标准偏差为2像素的高斯噪声时测角位移的RMS误差小于0.04°。该方法抗噪声能力强;能修正靶面与转轴不平行导致的测量误差,使测量设备安装调节简单。可在停机场实时标定飞机方向舵、升降舵等的角位移传感器。
Concentric circles are used as target mark, the concentric target is fixed on the rudder surface parallel to the rudder axis, and the position and attitude of the concentric circles before and after the rudder turns are measured by monocular vision method in real time. The concentric circle is parallel to the image plane The diameter of the characteristic diameter. Taking the diameter perpendicular to the feature diameter as the auxiliary feature diameter, it is proved that its image is collinear with the two oval center and the circle center point of the perspective projection of the concentric circle. Image processing to find the center of the image point and the two characteristics of the diameter of the original image and their images can be obtained from the target surface position and attitude. Simulation results: Measurement range ± 85 °; RMS error of angular displacement when Gaussian noise with standard deviation of 2 pixels is less than 0.04 °. The method has strong anti-noise ability; can correct the measurement error caused by the non-parallel orientation of the target surface and the rotating shaft, and make the measurement equipment easy to install and adjust. Real-time calibration at the airport airport rudder, elevator and other angular displacement sensor.