光电经纬仪姿态测量精度室内检测方法
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摘要
为实现光电经纬仪等靶场光测姿态测量设备测量精度的室内测试和评价,介绍了光电经纬仪对空间轴对称目标的姿态交会测量的原理。利用检测架、平行光管、目标轮廓靶及光源室内模拟不同姿态角的无穷远目标。建立了利用目标特征点的方位角、俯仰角计算目标姿态角的精确数学模型。用高精度经纬仪对目标上的多个特征点进行测量,用最小二乘法按该数学模型对目标姿态进行拟合,得到模拟目标的姿态,经验证该方法的标定精度可达0.05°。以该标定结果为模拟目标姿态的真值,光电经纬仪对同一模拟目标姿态进行动态测量,将测量结果与真值进行比较,可确定光电经纬仪的姿态测量精度。
In order to realize indoor test and evaluation of attitude measurement accuracy of range optical attitude measurement equipment,some research work has been done.The principle of intersection surveying the attitude of spatial axisymmetric target with photoelectric theodolites is introduced.The device is introduced to simulate the attitude of infinite object indoor,which is composed of measurement rack,collimator,light source,and targets with different angles.Precise mathematical model is established,which is relation with target attitude angle and azimuth and elevation of target feature points.Firstly,several feature points on the target are measured with high precision theodolite.Secondly,according to the above mathematical model,the target attitude is fitted by using the least square method,then,the target attitude angle is got.It has been proved that the calibration precision can reach0.05°.Consider the calibration results as true value of the target attitude angle,dynamic measurements are performed on the same target by using photoelectric theodolite and attitude measurement error of the theodolite can be obtained in comparsion with two measurement results.
In order to realize indoor test and evaluation of attitude measurement accuracy of range optical attitude measurement equipment,some research work has been done.The principle of intersection surveying the attitude of spatial axisymmetric target with photoelectric theodolites is introduced.The device is introduced to simulate the attitude of infinite object indoor,which is composed of measurement rack,collimator,light source,and targets with different angles.Precise mathematical model is established,which is relation with target attitude angle and azimuth and elevation of target feature points.Firstly,several feature points on the target are measured with high precision theodolite.Secondly,according to the above mathematical model,the target attitude is fitted by using the least square method,then,the target attitude angle is got.It has been proved that the calibration precision can reach0.05°.Consider the calibration results as true value of the target attitude angle,dynamic measurements are performed on the same target by using photoelectric theodolite and attitude measurement error of the theodolite can be obtained in comparsion with two measurement results.
引文
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13 Li Jing,Yuan Feng,Hu Yinghui.Attitude measurement of space objects based on multi-linear CCD and multi-point cooperation target[J].Optics and Precision Engineering,2013,21(6):1635-1641.李晶,袁峰,胡英辉.基于多点合作目标的多线阵CCD空间物体姿态测量[J].光学精密工程,2013,21(6):1635-1641.
14 Jiang Guangwen,Chao Zhichao,Fu Sihua,et al..Study on deformation measurement of position and attitude based on monocular vision[J].Journal of Optoelectronics·Laser,2009,20 (6):775-778.姜广文,晁志超,付思华,等.基于单摄像机的物体位置和姿态变形测量研究[J].光电子·激光,2009,20(6):775-778.
15 Dai Dongkai,Wang Xingshu,Hu Chunsheng,et al..Camera calibration and attitude measurement technology based on astronomical observation[J].Acta Optica Sinica,2012,32(3):0312005.戴东凯,王省书,胡春生,等.基于天文观测的相机标定及姿态测量技术研究[J].光学学报,2012,32(3):0312005.
16 Xu Yunxi,Jiang Yunliang,Chen Fang.Generalized orthogonal iterative algorithm for pose estimation of multiple camera systems[J].Acta Optica Sinica,2009,29(1):72-77.许允喜,蒋云良,陈方.多摄像机系统位姿估计的广义正交迭代算法[J].光学学报,2009,29(1):72-77.
17 Ai Lili,Yuan Feng,Ding Zhenliang.An exterior attitude measurement system for spatial object based on linear CCD[J].Optics and Precision Engineering,2008,16(1):161-165.艾莉莉,袁峰,丁振良.应用线阵CCD的空间目标外姿态测量系统[J].光学精密工程,2008,16(1):161-165.
18 Chao Zhichao,Fu Sihua,Jiang Guangwen.Mono camera and laser rangefinding sensor position-pose measurement system[J].Acta Optica Sinica,2011,31(3):0312001.晁志超,伏思华,姜广文.单目摄像机-激光测距传感器位姿测量系统[J].光学学报,2011,31(3):0312001.
19 Gao Xuehai,Xu Kejun,Zhang Han.Position-pose measurement algorithm based on single camera and laser range-finder[J].Chinese Journal of Scientific Instrument,2007,28(8):1479-1485.高学海,徐科军,张瀚.基于单目视觉和激光测距仪的位姿测量算法[J].仪器仪表学报,2007,28(8):1479-1485.
2 Yu Qifeng,Sun Xiangyi,Qiu Zhiqiang.Approach of determination of object′s 3Dpose from mono-view[J].Optical Technique,2002,28(1):77-82.于起峰,孙祥,邱志强.从单站光测图像确定空间目标三维姿态[J].光学技术,2002,28(1):77-82.
3 Zhao Lirong,Liu Yuhan,Zhu Wei,et al..Measurement of aircraft attitude by spatial cosine relationship in single-station and planes to intersection in multi-station of electro-optical theodolite[J].Optics and Precision Engineering,2009,11(17):2786-2793.赵立荣,柳玉晗,朱玮,等.光电经纬仪单站空间余弦及多站面面交汇的飞机姿态测量[J].光学精密工程,2009,11(17):2786-2793.
4 Peng Xiaodong,Zhou Sizhong,Liu Bo,et al..Application of ellipse of inertia in measuring the object′s 3Dpose from monoview[J].Acta Photonica Sinica,2007,36(3):568-573.彭晓东,周泗忠,刘波,等.惯量椭圆法在单站光测目标三维姿态测量中的应用[J].光子学报,2007,36(3):568-573.
5 He Zhaocai,Hu Baoan.Optical Measurement System[M].Beijing:National Defence Industry Press,2002:267-276.何照才,胡保安.光学测量系统[M].北京:国防工业出版社,2002.267-276.
6 Hao Gangtao,Du Xiaoping.Advances in optical measurement of position and pose for space non-cooperative target[J].Laser&Optoelectronics Progress,2013,50(8):080028.郝刚涛,杜小平.空间非合作目标位姿光学测量研究现状[J].激光与光电子学进展,2013,50(8):080028.
7 Chao Zhichao,Fu Sihua,Jiang Guangwen,et al..Mono camera and laser rangefinding sensor position-pose measurement system[J].Acta Optica Sinica,2011,31(3):0312001.晁志超,伏思华,姜广文,等.单目摄像机—激光测距传感器位姿测量系统[J].光学学报,2011,31(3):0312001.
8 Fu Sihua,Yu Qifeng,Wang Mingzhi,et al..Railway geometric parameters measurement system based on videometrics[J].Acta Optica Sinica,2010,30(11):3203-3208.伏思华,于起峰,王明志,等.基于摄像测量原理的轨道几何参数测量系统[J].光学学报,2010,30(11):3203-3208.
9 Wang Xiaoming,Qiao Yanfeng,Song Liwei,et al..Measurement of three-dimensional attitude by single optoelectrical and radar integration instrument[J].Optics and Precision Engineering,2011,19(8):1779-1786.王晓明,乔彦峰,宋立维,等.用单站光电雷达一体化系统测量目标三维姿态[J].光学精密工程,2011,19(8):1779-1786.
10 Chen Peng,Hu Guangda,Liu Xiaojun.Camera pose estimation based on virtual control points[J].Chinese J Lasers,2012,39(11):1108003.陈鹏,胡广大,刘晓军.基于虚拟控制点的像机姿态测量算法[J].中国激光,2012,39(11):1108003.
11 Sun Nan,Zhang Liyan,Ye Nan,et al..Calibration of binocular stereo measurement system based on calibration cross[J].Acta Optica Sinica,2012,32(4):0412001.孙楠,张丽艳,叶楠,等.基于十字靶标的双目立体测量系统标定[J].光学学报,2012,32(4):0412001.
12 Wen Qingchuan,Da Feipeng,Fang Xu.Calibration for gaze tracking system based on binocular stereo vision[J].Acta Optica Sinica,2012,32(10):1015002.温晴川,达飞鹏,方旭.基于双目立体视觉的视线跟踪系统标定[J].光学学报,2012,32(10):1015002.
13 Li Jing,Yuan Feng,Hu Yinghui.Attitude measurement of space objects based on multi-linear CCD and multi-point cooperation target[J].Optics and Precision Engineering,2013,21(6):1635-1641.李晶,袁峰,胡英辉.基于多点合作目标的多线阵CCD空间物体姿态测量[J].光学精密工程,2013,21(6):1635-1641.
14 Jiang Guangwen,Chao Zhichao,Fu Sihua,et al..Study on deformation measurement of position and attitude based on monocular vision[J].Journal of Optoelectronics·Laser,2009,20 (6):775-778.姜广文,晁志超,付思华,等.基于单摄像机的物体位置和姿态变形测量研究[J].光电子·激光,2009,20(6):775-778.
15 Dai Dongkai,Wang Xingshu,Hu Chunsheng,et al..Camera calibration and attitude measurement technology based on astronomical observation[J].Acta Optica Sinica,2012,32(3):0312005.戴东凯,王省书,胡春生,等.基于天文观测的相机标定及姿态测量技术研究[J].光学学报,2012,32(3):0312005.
16 Xu Yunxi,Jiang Yunliang,Chen Fang.Generalized orthogonal iterative algorithm for pose estimation of multiple camera systems[J].Acta Optica Sinica,2009,29(1):72-77.许允喜,蒋云良,陈方.多摄像机系统位姿估计的广义正交迭代算法[J].光学学报,2009,29(1):72-77.
17 Ai Lili,Yuan Feng,Ding Zhenliang.An exterior attitude measurement system for spatial object based on linear CCD[J].Optics and Precision Engineering,2008,16(1):161-165.艾莉莉,袁峰,丁振良.应用线阵CCD的空间目标外姿态测量系统[J].光学精密工程,2008,16(1):161-165.
18 Chao Zhichao,Fu Sihua,Jiang Guangwen.Mono camera and laser rangefinding sensor position-pose measurement system[J].Acta Optica Sinica,2011,31(3):0312001.晁志超,伏思华,姜广文.单目摄像机-激光测距传感器位姿测量系统[J].光学学报,2011,31(3):0312001.
19 Gao Xuehai,Xu Kejun,Zhang Han.Position-pose measurement algorithm based on single camera and laser range-finder[J].Chinese Journal of Scientific Instrument,2007,28(8):1479-1485.高学海,徐科军,张瀚.基于单目视觉和激光测距仪的位姿测量算法[J].仪器仪表学报,2007,28(8):1479-1485.