一种针对高速小目标的偏航角测算方法

射弹偏航角是影响电磁轨道发射装置发射精度的关键参数，为实时、高精度测量射弹偏航角，提升电磁轨道发射装置发射精度，基于双目视觉原理提出一种无需目标速度的射弹偏航角测算方法。利用高速射弹轨迹图像，通过构建像机线性成像模型解算高速射弹图像坐标，实现目标偏航角的测量。分析了光学系统参数对测量精度的影响，理论误差约为14.5 μrad。偏航角测量实验结果表明该方法能够实时、准确测算射弹偏航角，测算量偏差平均值为0.58 mrad。

Yaw angle calculation method for high-speed small target

The yaw angle of projectile is a key parameter that affects the launch accuracy of the electromagnetic rail launcher. In order to measure the yaw angle of the projectile timely and precisely, and to improve the launch accuracy of the electromagnetic rail launcher, a method based on binocular vision theory without target velocity was proposed. Utilizing the high-speed projectile trajectory images and establishing the camera linear imaging model to solve the high-speed projectile image coordinates, the measurement of the target yaw angle was realized. According to the proposed method, the influences of the optical system parameters on the measurement accuracy were also analyzed, with a theoretical error of approximately 14.5 μrad. The experiment of the yaw angle measurement shows that this method can calculate the yaw angle of the projectile with accuracy and timeliness, and the average of the calculated deviation is 0.58 mrad.