一种无公共视场相机位置关系的求解方法

多相机系统的标定是立体视觉测量中的一个重要问题。而当各相机间公共视场较小或无公共视场时,标定参照物不能同时出现在所有相机的公共视场,因此无法求解系统中多相机的相对位置关系。针对该类问题,论文在二维靶标标定法的基础上,提出了一种基于两轴转台的无公共视场相机位置关系的求解方法。将待标定系统固定在转台上,利用转台转动确定靶标坐标系与转台坐标系之间的相对关系;通过转动转台使二维靶标依次进入每个相机视场以分别确定转动后每个相机在靶标坐标系中的位置,并记录转动的角度;最后,结合靶标坐标系与转台坐标系关系,求解各相机之间的相对位置关系。实验结果表明,该方法具有可操作性,解算误差在0.5%以内,可较准确地确定多个光轴之间角度较大的非共视场相机位置关系。     

单轴光纤陀螺寻北仪四位置寻北误差分析

基于光纤陀螺寻北仪误差模型和光纤陀螺的误差特性,从理论上对光纤陀螺寻北仪寻北误差进行了分析,提出寻北仪主要包括系统误差和器件误差两个方面的误差源,并分别对不同误差源引起的寻北误差进行推导,得到光纤陀螺寻北仪寻北精度主要受陀螺零偏漂移、安装误差和转台测角精度决定的结论。对光纤陀螺寻北仪各误差源引起的寻北误差进行仿真实验,在考虑系统误差的条件下,0.01°/h精度的光纤陀螺寻北误差最大可达0.045°,实验结果证明了理论分析的正确性。     

光纤陀螺在转台测试中的应用

光纤陀螺是一种速率陀螺,其适合用来对转台作低速测试.根据转台所用编码器的参数,分析了转台不同角速率下光纤陀螺所需的数据刷新率及陀螺零偏稳定性对测量结果的影响.用光纤陀螺测量了转台以1°/s角速率转动时的角速率波动,对陀螺输出数据作了功率谱分析,并与示波器直接测量的结果进行了对比,结果表明光纤陀螺的测量结果是正确的;应用光纤陀螺对转台以(0.05°/s,1°/s)范围内固定角速率转动时的角速率波动进行了测量,通过对测量结果的分析表明:光纤陀螺可以用于转台的测试,它能测量出转台低速转动时的角速率波动;最后给出了光纤陀螺对转台角速率测试的下限.     

精密角度基准下的多相机定位系统高精度标定

在视觉定位测量领域中的大尺寸测量、运动追踪、三维重建、视觉定位中,针对多相机定位系统中相机之间无公共视场或公共视场较小时系统标定困难、方法繁琐、精度低等问题,提出了一种基于精密二轴转台的多相机定位系统一体化标定方法。利用二轴转台提供角度基准,当转台一次转过所有相机视场时,各个相机依次拍摄标定图片,求解出各个相机内参以及各相机到转台的外参,利用转台坐标系中转计算相机之间的外参。整个标定过程由程序控制,实现了多相机系统采图标定的集成化、自动化,降低了标定工作量。分析了多相机定位系统的标定原理,并进行了实验验证。两相机内参重投影误差在0.17 pixel以内,系统定位精度在1 mm以内。结果表明,所提方法切实可行,精度较高,可操作性强,可应用于各种无公共视场或公共视场较小的多相机定位系统标定过程。     

基于锯齿波偏频的谐振式光纤陀螺标度因数测试

针对转台测试谐振式光纤陀螺标度因数时存在的测试精度受限于转台性能影响的问题,提出一种基于锯齿波等效输入的陀螺标度因数测试方法.通过在相位调制器上叠加锯齿波偏频信号用于模拟角速度输入,分析了实际转台输入和模拟角速度输入下谐振式光纤陀螺闭环传递函数,推导了偏频锯齿波信号参数与实际输入角速度的对应关系,理论证明了其技术可行性.搭建了基于锯齿波偏频的陀螺标度因数测试系统,对研制的陀螺样机进行了标度因数及非线性度测试,基于锯齿波偏频方法测得的陀螺标度因数与实际转台测试结果基本一致,且标度因数非线性度从0.42%优化到0.26%.研究表明基于锯齿波偏频的谐振式光纤陀螺标度因数快速标定测试方法不仅可以精确测得标度因数,还可有效抑制转台振动等环境干扰引入的测量误差.     

陀螺冗余安装在机载光电系统中的设计与应用北大核心CSCD

陀螺是光电系统瞄准线稳定的重要元器件,介绍了一种基于光电系统的光纤陀螺冗余安装方法。在冗余安装陀螺数量确定的前提下,考虑到工程实际应用的安装空间、体积、重量和成本等因素,设计了4个陀螺的八边形金字塔冗余安装方式,对此冗余安装方式的精度和可靠性进行了分析和仿真,并与无冗余安装进行了对比。同时,该安装方式可用于陀螺与磁流体动力学角速率传感器的冗余安装。结果表明,该方法使角速度测量的噪声标准差下降约25.3%,可靠性提升约1.75倍。该方法能有效解决某光电系统受安装空间限制而陀螺精度不够的问题,提升了光电系统可靠性;同时也可应用于三轴陀螺稳定光电系统中,对工程应用有一定的指导作用。     

基于光束向量的空间运动目标姿态测量

为了实现空间运动目标姿态参数的高精度测量,采用一种基于光束向量的姿态参数测量系统.该系统在运动目标上安装直线光束作为合作目标,利用高速摄像机记录光束投影光斑在接收平面上的位置.基于平面单应性原理,通过光斑接收平面上9个原始特征点构造柔性标定靶标,实现高速摄像机的高精度标定.进而根据摄像机标定结果获得光束在世界坐标系中的方向向量,而光束在目标体坐标系中的方向向量可根据其安装位置获得.然后,根据光束在世界坐标系和目标体坐标系中的方向向量实现对目标姿态参数的高精度求解.实验结果表明,本文测量系统满足姿态参数测量误差小于1′(1σ)的要求,能够实现对空间运动目标姿态参数的高精度测量.     

基于温度激励的光纤陀螺光纤环瞬态特性检测

光纤陀螺基于萨尼亚克效应测量垂直于光纤环平面的敏感轴方向上的旋转分量。光纤环是光纤陀螺的核心部件,光纤环的缠绕质量直接影响着光纤陀螺的整体性能,对光纤环的缠绕质量全面检测十分必要。针对目前光纤环检测手段的局限性,提出了一种基于温度激励的光纤陀螺光纤环瞬态特性检测方法,全面表征了光纤环的缠绕质量。建立了光纤环柱面坐标三维计算模型,采用有限元方法定量分析光纤环不对称度和局部温度激励位置精度对光纤环瞬态响应的影响,同时开展了光纤环温度激励相应实验,实验结果与光纤环三维物理模型数值计算结果相一致,在理论和实验上验证了光纤环瞬态特性检测方法的可行性。     

基于时分复用技术的三轴光纤陀螺光路噪声及抑制技术研究

光纤陀螺小型化是光纤陀螺发展的一个重要方向,提出了一种基于时分复用技术的三轴光纤陀螺光路结构,通过复用一个光源和一个探测器大大减少了器件数量,有效地降低了成本,减小了体积。针对三轴光纤陀螺单信道多信号传感理论进行分析,给出了一种有效的信号提取方案,最后对光路串扰噪声进行了研究,提出一种噪声抑制技术并进行了实验验证。测试结果表明,噪声抑制技术效果良好,陀螺精度满足工程应用要求。     

一种机器人视觉系统非接触式手眼标定方法

针对传统机器人视觉系统手眼标定方法存在人工定位特征点误差大和标定过程耗时长的问题,提出了一种机器人视觉系统非接触式手眼标定方法。采用圆锥体作为标定块,通过3D视觉传感器采集标定块图像,基于Halcon编写上位机程序对图像进行处理计算,自动获取3D视觉传感器坐标系下标定块特征点坐标,同时导入机器人基坐标系下的坐标,计算手眼关系变换矩阵,完成机器人视觉系统手眼关系标定。实验表明:此方法平均标定操作时间为6.47min,平面定位误差最大值为0.39mm,空间定位误差最大值为0.478mm,缩短了标定操作时间并提高了标定精度。     

光纤陀螺数字闭环控制系统模型实验研究

数字闭环光纤陀螺的动态性能受控制系统设计的影响.根据光纤陀螺数字闭环检测过程,建立了控制系统的数学模型.为在全频带内对模型进行验证,提出了基于Faraday效应的光纤陀螺频率响应测试方法,对该测试方法与角振动台测试方法的等效性进行了分析.设计了频率响应测试系统,测试范围大于50 kHz,波形失真小于0.1%.实测了采用一阶积分控制算法的数字闭环光纤陀螺频率响应.实验结果表明模型误差小于8%.     

Simplified method for polarization-sensitive optical coherence tomography

We report a method for extracting the birefringence properties of biological samples with micrometer-scale resolution in three dimensions, using a new form of polarization-sensitive optical coherence tomography. The method measures net retardance, net fast axis, and total reflectivity as a function of depth into the sample. Polarization sensing is accomplished by illumination of the sample with at least three separate polarization states during consecutive acquisitions of the same pixel, A scan, or B scan. The method can be implemented by use of non-polarization-maintaining fiber and a single detector. In a calibration test of the system, net retardance was measured with an average error of 7.5 degrees (standard deviation 2.2 degrees ) over the retardance range 0 degrees to 180 degrees , and a fast axis with average error of 4.8 degrees over the range 0 degrees to 180 degrees .     

Accurate calibration for drift of fiber optic gyroscope in multi-position north-seeking phase

This paper presents an accurate calibration method for drift of fiber optic gyroscope (FOG) in multi-position north-seeking phase. To avoid the effect of the rate of change of accelerometer bias on the drift estimate of FOG, north-seeking by coarse-alignment is performed in multi positions and the north-seeking results are used to compute the drift of FOG. The laboratory test results prove that the proposed method can not only achieve multi-position north-seeking, but also accurately calibrate the drift of FOG. The comparison with the traditional method highlights the superior performance of the proposed method.     

Modeling of magnetic Barkhausen noise in single and dual easy axis systems in steel

Angular dependent magnetic Barkhausen noise (MBN) signals measured on plate steel, and on the inside and outside surfaces of sections of seam welded and spiral welded 2% Mn steel pipe are modeled by considering a system of dipole moments. The relative orientation of dipole moments is fixed within the material, but their magnitude grows in the presence of an applied field. Growth of the moments is proportional to the magnetic field projected along a particular moment axis. A single easy axis material consists of an isotropically aligned population of moments, giving the background, upon which is superimposed a population of moments with relative orientations that result in a net moment within the sample. A dual easy axis system is proposed to consist of: (i) a second population of moments with orientations resulting in a net moment with orientation different from that of the first and (ii) interactions, possibly quadrupolar in nature, that occur between the individual moments of each population. The model is used to explain differences in the angular-dependent MBN signal between the seam welded pipe, with a single easy axis, and the spiral welded pipe, with a dual easy axis. The source of the dual easy axis system in the spiral welded pipe, which is different on the two pipe surfaces, is considered in terms of the asymmetric manufacturing processes, relative to the pipe axis, applied during its production.     

A theoretical model for the evaluation of measurement uncertainty of a sound level meter calibration by comparison method in an anechoic room

A theoretical model for the evaluation of measurement uncertainty of a sound level meter (hereafter as `SLM') calibration by comparison method in an anechoic room was developed. Through this model, the uncertainties in the semi-automatic calibration and that in the full-automatic calibration were estimated for the recently developed SLM calibration system. In order to estimate the standard uncertainty against the SLM positioning, which is a significant uncertainty component, the sound field curve-fitting formulae were adopted. The validity of the curve-fitting method was proven by the similarity of the spatial distributions of radiation sound field produced by the plane circular piston source and that by the cone shape source. A linear equation was used to fit the measurements of the sound field distribution along the radiation axis. A quadratic equation was used to fit the measurements along the radial axis normal to the radiation axis. The fitting parameters gave us the sensitivity coefficients of the propagation of the uncertainty. In addition, one of the quadratic fitting parameters was found to be a positional uncertainty itself. Using this model, the expanded uncertainties were evaluated for the semi-automatic and full-automatic calibration of SLM.     

光电校靶中捷联惯导轴线的表征校准方法

光电校靶采用捷联惯导系统,需将惯导轴线用光电自准直系统表征捷联,用于对设备轴线的测量。光电自准直系统所表征的轴线与惯导轴线的一致性是影响校靶精度的重要因素,为提高光电校靶系统测量精度和效率,提出了一种惯导轴线的光电表征和校准方法。该方法是在分析测量结果偏差与一致性关系的基础上,采用实验数据拟合的方式得到自准直系统光轴与惯导轴之间的角度偏差值,用于系统修正,从而实现高精度校准。通过试验,将传统光机校正法和光电校准法结合使用,可大幅度提高系统校正效率,同时得到惯导与光轴一致性精度在15″以内。试验结果表明,与传统光学平晶引出的光机校正法相比,该方法的表征准确度和校准精度更高,适用于高精度惯性测量系统。     

Y波导调制器残余强度调制研究

为提高Y波导调制器调制性能从而提高光纤陀螺的整体性能,分析了用于光纤陀螺的Y波导相位调制器残余强度调制产生的机理,即存在波导缺陷以及基底杂散光反射;阐述了残余强度调制对光纤陀螺系统特性的影响,残余强度调制主要影响光纤陀螺的标度因素;测试了不同Y波导残余强度调制的波形特性和它的线性分量及干涉分量大小,不同Y波导残余强度调制大小差异较大,性能好的Y波导残余强度调制大小可以控制在1‰以内;测试了温度对残余强度调制波形特性的影响,残余强度调制受温度影响较大,极端温差下残余强度调制大小波动可达20%;根据残余强度调制的产生机理和线性干涉分量比的大小,提出改进Y波导制作工艺的措施,以期提高Y波导的调制性能。     

Space radiation effect on fibre optical gyroscope control circuit and compensation algorithm

The process of a γ-irradiation experiment of fibre optical gyroscope （FOG） control circuit was described, in which it is demonstrated that the FOG control circuit, except for D/A converter, could endure the dose of 10krad with the protection of cabin material. The distortion and drift in D/A converter due to radiation, which affect the performance of FOG seriously, was indicated based on the elemental analysis. Finally, a compensation network based on adaptive neuro-fuzzy inference system is proposed and its function is verified by simulation.