基于视觉测量的飞行器舵面角位移传感器标定

提出一种基于计算机单目视觉的飞行器副翼、襟翼、方向舵和升降舵角位移传感器的非接触标定方法.用共面的两个特征圆组成一标定靶固定在飞行器舵面上,用一台定焦数码摄像机对标定靶拍照,获得特征圆数字图像.经图像分析确定特征圆圆心及直径在像面上的透视投影位置和长度,根据透视投影逆变换原理建立物和像空间坐标关系的解算模型,进而导出靶面平面方程.飞行器舵面角位移则由标定靶面的法线方向余弦来表示.仿真结果表明,该方法具有标定过程快速、简单和准确的特点.不需事先标定摄像机内外部参量,其标定准确度优于0.2°.

Calibration of Angular Displacement Sensor of Vehicle Rudders Based-on Vision Measurement Technology

A non-contact calibration method for angular displacement sensor of aileron,flap,rudder and elevator for vehicle based on computer monocular vision is proposed.A calibration target,made up of double feature circle of co-plane,was attached on the airplane′s rudder.The digital image was acquired by using a digital camera to take pictures of the double-circle calibration target,The position and length of perspective projection for center of circle and diameter of the feature circle were identified by digital image processing.A set of coordinates calculation equations between the object space and the image space were set up according to reverse perspective projection transformation, and equation of plane of the calibration target was educed.So,the angular displacement of the vehicle′s rudder was expressed by direction cosine of the target′s plane.Simulation and experiment were carried out to verify the method,the result shows that the method have some benefits as time-saving,operation-simple and with high accuracy,and free from calibrating interior and exterior parameter in advance.The error of angle displacement calibration is less than 0.2°.