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飞机飞行试验前需标定其方向舵等的角位移传感器。采用单目视觉方法进行标定。用一个圆周做靶面的主要标志,用2直线段的交点标明其圆心位置。测试靶基本上平行于舵轴固定在舵面上。用一台位置固定的数码相机对靶面拍照。设计了亚像素精度的处理方法用来处理数字照片,求出圆心像点位置和像面椭圆的方程以及椭圆短轴端点位置。设计了一套算法用来求出靶面的平面方程。方向舵的角位移可用靶面的角位移表示。未计入相机成像误差进行的仿真实验,不加噪声时,角位移误差小于0.001°;给像面椭圆添加μ=0,σ=2像素的高斯噪声时,角位移误差小于0.06°.靶面与舵轴不平行导致的测量误差可以修正,使测试靶容易安装。该方案可用于现场标定飞机升降舵、方向舵等的角位移。
Aircraft flight test before calibration of the rudder and other angular displacement sensor. Monocular visual method for calibration. With a circle to do the main target of the target surface, with the intersection of two straight lines indicate its center position. The test target is essentially fixed to the rudder surface parallel to the rudder shaft. Take a picture of the target with a fixed digital camera. The processing method of sub-pixel precision was designed to deal with the digital photos, and the equation of the center point of the circle image and the ellipsoid of the image plane and the position of the end point of the ellipse short axis were obtained. An algorithm is designed to find the plane equation of the target. The angular displacement of the rudder can be expressed as the angular displacement of the target surface. The error of angular displacement is less than 0.001 ° when no noise is included in the camera imaging error. When the Gaussian noise with μ = 0 and σ = 2 pixels is added to the image plane ellipse, the angular displacement error is less than 0.06 °. The measurement error caused by non-parallel with the rudder axis can be corrected to make the test target easy to install. The program can be used for on-site calibration of the aircraft elevator, rudder and other angular displacement.