CCD摄像机交汇测量目标脱靶量布站分析

分析线列CCD摄像机交汇测量的原理,以空间虚拟的光电靶代替实特靶来实现对弹丸目标脱靶量的实时获取。在分析了CCD摄像机测你精度与布站方式等影响交汇测量精度的因素后,对光电靶面上不同位置点的CCD摄像机交汇坐标测量精度进行了计算,给出测量精度与布站的关系。     

交汇测量系统线阵相机标定方法

为了提高大靶面交汇测量系统的测量准确度,分析了交汇测量原理,推导出脱靶量坐标公式.根据脱靶量公式分析其各项参量,利用几何关系建立像元坐标与偏移角度之间的映射模型.根据映射模型,利用光栅尺设计了一种针对线阵相机的标定方法,该方法不考虑相机参量,将整个光学系统看作一个整体,基于整体参量直接对像元坐标和它所对应的偏移角进行标定.实验结果表明,标定后的交汇测量系统在1.4m处的平均测量误差为0.4mm,最大测量误差优于0.6mm.该方法简单高效,可提高系统标定的速度,且标定误差满足系统交汇测量准确度的要求.     

CCD电视经纬仪测角精度的室内检测及其误差源分析

用于多目标炸点坐标实时测量的CCD电视经纬仪是一种高精度的靶场测量设备,其测角精度等级优于1’,而高精度的测试设备又对检测方法和检测条件提出了更加严格的要求。本文简述了GK-312炸点坐标测量系统中CCD电视经纬仪测角精度的室内检测方法,分析了影响测量和检测精度的主要的误差因素。     

基于数据配准提高光电经纬仪的测量精度

研究了目标相对于视场中存在相对运动时,光电经纬仪测量精度下降,且下降程度与目标相对运动速度的大小相关的现象。基于电视曝光原理分析了这种现象产生的原因,讨论了提高光电经纬仪事后处理精度的新方法。提出了基于目标脱靶量与编码器位置信息的数据配准方法,并对该算法实际操作的可行性进行了分析。实验结果表明,此算法可以使光电经纬仪测量精度改善20%～30%,即CCD像素分辨率从1/2提高到了1/3。     

基于多视场拼接光电经纬仪的成像系统指向校正方法

分析了传统光电经纬仪脱靶量修正模型和多视场拼接光电经纬仪的特点,基于坐标变换原理,推导了成像系统具有大照准差和零位差的光电经纬仪脱靶量修正公式。依据上述脱靶量修正公式和目标模拟器指向,逆向推导了大照准差和零位差的光电经纬仪脱靶量计算公式,结合实际成像系统脱靶量信息,解算成像系统的指向校正系数。经实验验证表明,该方法突破了传统畸变修正模拟的局限性,适用于多视场拼接光电经纬仪的成像系统指向校正。针对大照准差为11.26°和大零位差为18.08°的2×3外拼接阵列测量系统,采用多成像模块外拼接型光电经纬仪系统的指向校正方法,得到水平和垂直的指向误差均小于1/5 pixel。     

光电经纬仪实时引导的实现

在由四台光电经纬仪与雷达组成的测量网络中,为了提高光电经纬仪实时捕获跟踪空间目标的能力,建立基于目标位置估计的实时引导系统.利用滑窗式最小二乘法将光电经纬仪实时交汇数据和雷达的实测数据进行互联,解算出目标的瞬时位置,经时延补偿后获得目标的位置估计,经坐标转换后实现光电经纬仪的实时引导.实时引导系统充分利用了所有测量站的测量信息,可提高引导数据的引导准确度和可靠性.试验结果表明,该方法快速提供的平滑引导数据,不仅能准确将目标引入光电经纬仪的视场,亦可为其他测量设备提供参考数据.     

高速摄像实现高精度矢量脱靶量测量方法研究

讨论了如何利用高速摄像系统，完成某型导弹虚拟立靶脱靶量测量的可行性、测量方法和测量精度分析，力求利用较简单固定指向的高速电视摄像系统完成该型号导弹脱靶量测量任务.     

光电经纬仪测角精度分析

测角精度是影响光电经纬仪定位功能的重要因素。为了进一步提高光电经纬仪的测角精度,对测角误差进行详细分析是必要的。从光电经纬仪的总体设计出发,找出了影响测量数据获取、转换、合成中的各项误差源,并详细分析了它们的大小和性质。通过分析光电经纬仪工作原理及结构找出了主要误差源。对机架系统的误差、测角单元误差、电气系统误差、脱靶量误差、大气折射修正误差等主要误差源进行分析计算,并对各单元进行了误差分配。最后,计算了光电经纬仪投影测角精度的均方根值。分析计算结果显示:通过精心设计、加工、检测,修正可使一部分误差减小甚至忽略,但机架系统的误差、测角单元误差、脱靶量误差对测角精度的影响仍很显著;在当前工艺水平下,光电经纬仪事后空间指向精度可以达到2。     

多个CCD交汇测量系统的理论研究

本文介绍了采用多个线阵ＣＣＤ 组成交汇测量系统的基本原理,导出了测量坐标的计算公式,并利用有关的误差理论对该方法的测量精度进行了详细分析。研究结果表明,多个ＣＣＤ 交汇测量系统能够得到较高的目标捕获几率,同时还能有效地提高坐标测量精度。对大靶面、高速小目标物体的精密测量具有重要意义     

高速电视姿态测量系统室内目标姿态模拟与标定测量

介绍了利用高速电视姿态测量系统对目标姿态进行交汇测量的原理,使用检测架、平行光管以及图形板（刻有不同角度的目标刻线）室内模拟无穷远目标姿态.用高准确度经纬仪对模拟的无穷远目标姿态进行标定、测量结果与采用高速电视姿态测量系统对室内模拟目标的测量结果比较,可知高速电视测量系统姿态角的测试准确度.推导了目标姿态角计算公式,对经纬仪对无穷远目标姿态进行标定的方法进行了准确度分析,得出经纬仪目标姿态角标定的最大误差,并且经过实验进行了验证.     

Object location fire precision test technology by using intersecting photoelectric detection target

To improve four across screens system measurement precision on flying projectile location, the new method that adds two incline screens to four intersecting screens system to form six intersecting screens was put forward and the flying object coordinate test model was set up. This method not only gains object coordinate but also measures object's pitching and azimuth angle that can amend coordinates and improve measurement precision. The differential methods were used to analyze their measure errors, which came from the angle of intersection screen, the thick of screen, the time and distance of measuring, and give out measure errors distributing. The experimental result shows the new measure method can improve measurement precision that meets test demand.     

多幕光学法测量弹丸炸点坐标及误差分析

针对飞行弹丸对空中目标近炸炸点位置测量,提出了多幕光学法测量技术。根据试验特点,分析了多光幕交汇测量弹丸炸点位置存在的问题,研究了采用侧向相机辅助多光幕交汇测量技术。通过相机采集到的炸点图像,建立相机、模拟目标和多光幕交汇光幕阵列空间几何计算模型。利用弹丸的飞行轨迹和弹丸炸点图像平面坐标,研究了弹丸炸点侧向空间坐标的计算方法和多光幕交汇测量系统二维坐标修正原理,给出了弹丸炸点坐标计算函数。利用微分法从交汇光幕夹角、光幕幕厚、测时和测距等方面分析测量误差。经计算分析,模拟目标中心高度小于50m时,炸点三维坐标的误差小于40mm。     

机载光电平台目标交会定位

根据直线交会测量原理,构建了机载光电平台目标定位数学模型。首先建立5个坐标系,确定了坐标系之间的变换关系,在地心直角坐标系下,根据光电平台观测目标的方位和俯仰角度参数,结合飞机的位置和姿态测量参数,通过坐标变换确定从光电平台到目标之间的观测直线方程。选择一组目标观测直线建立目标交会测量目标函数,根据最小二乘原理,建立关于直线交会点坐标的线性方程组。解出直线交会点的三维坐标并根据从地心直角坐标系到大地地理坐标系的变换关系,计算目标的大地经纬度和高程坐标,通过样本数据进行交会定位精度实验。实验结果表明,本文方法定位结果和实际测量数据接近,经度误差为0.65",纬度误差为0.82",高程误差为5 m,验证了本文方法的准确性。本文方法有效可行,对机载光电平台目标定位具有实用价值。     

3D coordinate measurement based on inverse photogrammetry and fringe analysis

A method based on inverse photogrammetry and fringe analysis is presented for 3D coordinate measurement. Measurement system mainly consists of a micro-camera fixed on one end of a measuring rod, a measuring probe on the other end and a liquid crystal display screen for displaying 2D fringe pattern in the measurement. In the measurement process, the probe contacts the surface of the measured object, and the CCD camera captures the stripes image on displays screen. The coordinates of camera principal point in the world coordinate system may be determined by the phase information carried in the fringe pattern. The coordinate relations between the principal point of the camera and the measuring probe can be determined with a least square optimization technique in camera coordinate system. This method has the advantage of large measurement range, good flexibility, and portable, which is suitable for field measurement. A result of our method is compared with that of the Coordinate Measuring Machine (CMM), which shows that the measurement accuracy of this method can meet accuracy requirement of the field measurement in large dimension.     

Research on an amendments measurement method on projectile burst location

In shooting range, projectile burst location is an important indicator. To solve the question that multi-screens across measure method cannot gain projectile proximity fuze burst location parameters when projectile close to simulation object at high altitude, the method of lateral camera assistant multi-screens across was proposed to amend the coordinates of four screens across system and realize projectile proximity fuze burst three-dimensional coordinates. The principle and existed question of four screens across system in measuring projectile burst coordinate were analyzed, and according to their measure shortcomings, the calculation model of lateral camera assistant four screens across system was set up, its amendment arithmetic was educed and analyzed, at last, the amendment three-dimensional coordinates of projectile burst location was give out based on their space geometry relation, and the measure errors were analyzed. Through experiment, the amendment measure projectile proximity fuze burst three-dimensional coordinates arithmetic was validated, and the results show the amendments measurement method is scientific and feasible.     

基于双目视觉的空间脱靶量测量技术研究

为了测量飞行目标的空间脱靶量,采用在指定区域附近放置凝视等待式双目相机,测量飞行目标位置、速度等参数,得到空间脱靶量信息。在建立数学模型后,设计了运动目标测量系统,并对系统误差进行了分析。实验和结果分析表明,该系统对运动小球的测量相对误差小于2%,验证了系统设计的可行性。     

基于机载光电平台的双机交会定位方法

根据现有无人机光电定位方法对动态目标定位的局限性,借鉴光电经纬仪角度交会定位方法,提出改进的基于机载光电平台的双机交会定位系统.介绍了交会定位系统的构成及其工作原理,构建辅助坐标系,对视轴向量进行齐次坐标转换,建立双机交会定位模型.研究了交会定位中载机相对目标位置对定位精度的影响,给出了理想的测量位置,得到最优定位位置,最优交会角为69.984°.最优位置下,当目标距离双机基线20km时,定位均方根误差为38.043 4m.分析了卡尔曼滤波对定位结果的影响,建立合适的滤波模型,滤波后的定位均方根误差减小到13.584 2m.     

外视场拼接测量系统的视场拼接和交汇测量算法及其实现

基于2台外视场拼接高速电视测量仪原型样机（硬件）提出了一种将交汇测量和拼接处理相结合的算法。根据需要对地球质心和光电测量系统建立了5个坐标系,介绍了坐标系的定义及其它们之间的变换过程,给出了目标轨迹交汇测量和视场拼接的实例。用2台高速电视测量仪拼接的8台测量相机同时对同一运动目标进行测量,对获得的测量数据进行交汇和视场拼接处理,结果显示提出的拼接算法是正确、有效的,可以得到唯一解;地球曲率半径和地球子午线收敛两项影响因素得到了完全修正,表明交汇测量算法完全可以推广到其它光电测控仪器的交汇测量。     

Constructing feature points for calibrating a structured light vision sensor by viewing a plane from unknown orientations

To calibrate a structured light vision sensor, it is necessary to obtain at least four non-collinear feature points that fall on the light stripe plane. We propose a novel method to construct non-collinear feature points used for calibrating a structured light vision sensor with a planar calibration object. After the planar calibration object is moved freely in the range of measuring of the structured light vision sensor at least twice, all the local world coordinates of the feature points falling on the light stripe plane can be readily obtained in site. The global world coordinates of the non-collinear feature points in the local world coordinate frame can be computed through the three-dimensional (3D) camera coordinate frame. A planar calibration object is designed according to the proposed approach to provide accurate feature points. The experiments conducted on a real structured light vision sensor that consists of a camera and a single-light-stripe-plane laser projector reveal that the proposed approach has high accuracy and is practical in the vision inspection applications. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure. It advances structured light vision inspection one step from laboratory environments to real world use.