基于特征圆单目视觉的飞机舵面角位移标定技术

提出了一种基于特征圆单目视觉的非接触式飞机舵面角位移标定技术。用一台数码摄像机对固定在飞机舵面上的特征圆进行拍照,经数字图像处理后确定五个特征点的坐标,利用针孔成像和射影变换原理建立物像空间坐标解算模型,计算出特征圆的法线相对方向和圆心的相对位置,舵面角位移由该圆的法线方向确定。仿真结果表明,该方法具有标定过程简单、实时、快速和准确的特点,标定精度可达到0.1°。该技术也可用于航天器上实时测量交会对接时的相对位姿参数。

The calibration technology of the angular rotation of airplane rudders based on characteristic circle in monocular vision

A kind of contactless calibration technology of the angular rotation of airplane rudders based on a characteristic circle in monocular vision is put forward.By using a digital camera to take pictures of a specific circular target(characteristic circle),which was fixed on the surface of one of the airplane rudders to be measured,doing digital image information processing to find the coordinates of five characteristic image points,a model resolving coordinates between object plane and image plane could be deduced out on the basis of the principle of pinhole imaging and projective change,the relative direction of the target surface normal and the relative position of the circle center could be found,and the angular rotation of the airplane specific rudder could be fixed by the relative angle change of the target surface normal.The simulation result shows that the method have some features such as simple,timesaving and quick calibration process,and better accuracy.The calibration precision of rudder can reach 0.1 degree.It can also be used to measure the relative position and attitude parameters of rendezvous and docking spacecrafts in real time.