一种基于双目视觉的箭体晃动在线监测方法

为监测液体运载火箭箭体长期储存状态下的晃动情况,保证产品的安全稳定,提出一种基于双目视觉测量的箭体晃动在线监测方法.利用全站仪等设备对像机内、外参数进行高精度标定;测量在箭体坐标系下同一标识点不同时刻的精确坐标;通过不同时刻标识点的坐标变化及约束条件构建方程组并求解位姿变换参数,进而得到实时箭体晃动量.实验验证结果表明...

On-line monitoring method of rocket body sloshing based on binocular vision measurement

For monitoring the sloshing of the rocket body for liquid launch vehicle on long-term duty, and ensuring the safety and stability of the product, an on-line monitoring method of rocket body sloshing based on binocular vision measurement was proposed. Firstly, the internal and external parameters of the camera were calibrated with high precision by total station and other devices. Secondly, the precise coordinates of the same marked point at different time were measured. Finally, a set of equations were constructed to solve the parameters of pose transformation through the coordinate changes of the marked points at different times and the constraint conditions, and then the amount of rocket body sloshing was obtained. The results show that the maximum measurement error and total deviation of single marked point are 0.026 mm and 0.079 mm respectively, which can effectively meet the actual needs of on-line monitoring of rocket body sloshing.