动态仿真目标的空间位置精度测量
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摘要
我国开展光电跟踪测量设备的研制工作已经有50多年了,并建立了针对该领域产品的检测体系,可以实现对光电跟踪测量设备大部分战技指标的过程检验和最终检验。由于光电跟踪测量设备以动态应用为主,因此研制了可以提供动态仿真目标的光学动态靶标,用来在室内检测光电跟踪测量设备的动态性能。
光电跟踪测量设备的主要动态性能指标是动态跟踪精度和动态测量精度,由于目前缺失动态目标空间位置精度的测量技术和方法,不能给出光学动态靶标的仿真目标在动态工作状态下的空间位置精度,所以该光学动态靶标一直作为跟踪靶标,而不能作为测量靶标使用,不仅没有发挥光学动态靶标初始设计的测量功能,也使我国光电跟踪测量设备的动态测量性能一直处于无法度量的状态。
本文针对光学动态靶标在高速运动状态下,动态仿真目标空间位置精度的不确定提出了一种高速图像测量方法。该方法利用计算机视觉技术,将高速摄像机对客观世界反射或透射的物质能量在空间分布的记录用于对整个视场中空间运动目标的特性进行测量。结合该测量方法建立了一套空间目标位置测量系统,该系统包括高速图像录取分系统、时间基准同步分系统、数据分析处理系统及相应的软件支持,并与我所研制的光学动态靶标组成测量网络。
通过分析动态仿真目标与高速摄像机的空间关系,给出动态仿真目标与高速摄像机的空间关系模型,对该模型进行了仿真及实验验证;给出摄像机外部状态参数的测量方法,并对该方法进行了精度分析。
分析了影响空间目标位置测量系统测量精度的各种误差源,对光学镜头进行了几何畸变的测量,并给出了测量方法。提出高速摄像机图像时序的检测方法并给出检测结果、讨论了图像亚像素定位算法并进行了精度分析。
对高速图像测量方法的应用进行了扩展,实现了对某型号高精度低速转台角速率的测量。对该测量方法测量角速率的原理进行了阐述并对测量误差进行了分析,试验数据表明该方法完全可以用于高精度转台的角速率测量。
本文主要研究了测量动态仿真目标空间位置精度的方法,建立了一套空间目标位置测量系统,通过对光学动态靶标目标实际测量结果的分析,完成了对光学动态靶标的初步动态标定,为进一步解决光电跟踪测量设备动态测量精度的检测难题奠定了基础,填补了光电跟踪测量设备动态检测领域的空白。
The equipment of photoelectric tracking and measurement has been developed for more than 50 years. Testing system in this field has been established. Most technical indexes of process inspection and final inspection of the photoelectric tracking and measurement equipment have been realized. The photoelectric tracking and measurement equipment is mainly used for dynamic application, so the optical dynamic target which provides a dynamic simulation target has been developed. The optical dynamic target is a kind of indoor measuring device which is used for testing photoelectric tracking and measurement equipment dynamic performance.
The dynamic tracking accuracy and the dynamic measurement precision are main technical indexes of photoelectric tracking and measurement equipment. Because of the lack of dynamic target position precision measuring technique, the space position precision of the optical dynamic target cannot get in the dynamic work condition. So the optical dynamic target has to be used as a tracking targets not a measurement target. This not only results in apart from the initial design of optical dynamic target measurement functions, but also makes the dynamic measurement performance of photoelectric tracking and measurement equipment cannot be measured.
In this paper introduce a high-speed image processing measurement method, which is used for measuring the accuracy of the target position when the optical dynamic target is in the state of high-speed movement. Computer vision technology is applied to this method. High-speed video camera is used to record the reflection or transmission of energy in the spatial distribution of a substance in the objective world, and this point is used for measuring the characteristics of moving target in the entire field of view. Based on this measurement method, a set of spatial target position measurement system has been established, which includes a high-speed image measurement sub-system, a temporal reference synchronization sub-system, a data analysis and processing system and some other related software. And a measurement network with the optical dynamic target and the spatial target position measurement system has been built.
By analyzing the relationship between the spatial simulation target and high-speed cameras, get the target and high-speed camera spatial movement relationship model. The model has been simulated and the simulation results verify that the model is correct. Recommend the calibration method of state parameters of the high-speed camera, and analyze of the precision of the method.
Analyze and summarize the various error sources which influence measure precision of the system, including the optical system errors, the synchronization error, algorithm error, shaft shaking error and other errors etc. The internal parameters of the camera system have been calibrated, and the calibration method was given. Measure the optical lens distortion, and give the measurement method. Discuss the measurement method of the high-speed camera image sequence and test results were given. Discuss the algorithm of subpixel image and conducted accuracy analysis.
Extend the application of spatial target position measurement system. The angular rate of the test table has been measured by this measurement system. This method made use of the angular relationship between the measuring equipment and testing equipment to establish a space model. The principle of this method has described and analyzed the measurement error. Measure a high-precision low-speed test table’s angular rate with this method, and analyzed the data. The test data show that this method can be used for high-precision turntable's angular rate measurement.
This paper mainly researched the method of dynamic simulation target space position precision measurement. Establish a set of spatial target position measurement system. The real value of spatial angular position of dynamic simulation target can be got in the dynamic working condition with this measurement system. It makes a foundation for solving the problem of dynamic metrical precision of the photoelectric tracking and measurement equipment at a step further. Fill the blank of dynamic testing field of photoelectric tracking and measurement equipment.
光电跟踪测量设备的主要动态性能指标是动态跟踪精度和动态测量精度,由于目前缺失动态目标空间位置精度的测量技术和方法,不能给出光学动态靶标的仿真目标在动态工作状态下的空间位置精度,所以该光学动态靶标一直作为跟踪靶标,而不能作为测量靶标使用,不仅没有发挥光学动态靶标初始设计的测量功能,也使我国光电跟踪测量设备的动态测量性能一直处于无法度量的状态。
本文针对光学动态靶标在高速运动状态下,动态仿真目标空间位置精度的不确定提出了一种高速图像测量方法。该方法利用计算机视觉技术,将高速摄像机对客观世界反射或透射的物质能量在空间分布的记录用于对整个视场中空间运动目标的特性进行测量。结合该测量方法建立了一套空间目标位置测量系统,该系统包括高速图像录取分系统、时间基准同步分系统、数据分析处理系统及相应的软件支持,并与我所研制的光学动态靶标组成测量网络。
通过分析动态仿真目标与高速摄像机的空间关系,给出动态仿真目标与高速摄像机的空间关系模型,对该模型进行了仿真及实验验证;给出摄像机外部状态参数的测量方法,并对该方法进行了精度分析。
分析了影响空间目标位置测量系统测量精度的各种误差源,对光学镜头进行了几何畸变的测量,并给出了测量方法。提出高速摄像机图像时序的检测方法并给出检测结果、讨论了图像亚像素定位算法并进行了精度分析。
对高速图像测量方法的应用进行了扩展,实现了对某型号高精度低速转台角速率的测量。对该测量方法测量角速率的原理进行了阐述并对测量误差进行了分析,试验数据表明该方法完全可以用于高精度转台的角速率测量。
本文主要研究了测量动态仿真目标空间位置精度的方法,建立了一套空间目标位置测量系统,通过对光学动态靶标目标实际测量结果的分析,完成了对光学动态靶标的初步动态标定,为进一步解决光电跟踪测量设备动态测量精度的检测难题奠定了基础,填补了光电跟踪测量设备动态检测领域的空白。
The equipment of photoelectric tracking and measurement has been developed for more than 50 years. Testing system in this field has been established. Most technical indexes of process inspection and final inspection of the photoelectric tracking and measurement equipment have been realized. The photoelectric tracking and measurement equipment is mainly used for dynamic application, so the optical dynamic target which provides a dynamic simulation target has been developed. The optical dynamic target is a kind of indoor measuring device which is used for testing photoelectric tracking and measurement equipment dynamic performance.
The dynamic tracking accuracy and the dynamic measurement precision are main technical indexes of photoelectric tracking and measurement equipment. Because of the lack of dynamic target position precision measuring technique, the space position precision of the optical dynamic target cannot get in the dynamic work condition. So the optical dynamic target has to be used as a tracking targets not a measurement target. This not only results in apart from the initial design of optical dynamic target measurement functions, but also makes the dynamic measurement performance of photoelectric tracking and measurement equipment cannot be measured.
In this paper introduce a high-speed image processing measurement method, which is used for measuring the accuracy of the target position when the optical dynamic target is in the state of high-speed movement. Computer vision technology is applied to this method. High-speed video camera is used to record the reflection or transmission of energy in the spatial distribution of a substance in the objective world, and this point is used for measuring the characteristics of moving target in the entire field of view. Based on this measurement method, a set of spatial target position measurement system has been established, which includes a high-speed image measurement sub-system, a temporal reference synchronization sub-system, a data analysis and processing system and some other related software. And a measurement network with the optical dynamic target and the spatial target position measurement system has been built.
By analyzing the relationship between the spatial simulation target and high-speed cameras, get the target and high-speed camera spatial movement relationship model. The model has been simulated and the simulation results verify that the model is correct. Recommend the calibration method of state parameters of the high-speed camera, and analyze of the precision of the method.
Analyze and summarize the various error sources which influence measure precision of the system, including the optical system errors, the synchronization error, algorithm error, shaft shaking error and other errors etc. The internal parameters of the camera system have been calibrated, and the calibration method was given. Measure the optical lens distortion, and give the measurement method. Discuss the measurement method of the high-speed camera image sequence and test results were given. Discuss the algorithm of subpixel image and conducted accuracy analysis.
Extend the application of spatial target position measurement system. The angular rate of the test table has been measured by this measurement system. This method made use of the angular relationship between the measuring equipment and testing equipment to establish a space model. The principle of this method has described and analyzed the measurement error. Measure a high-precision low-speed test table’s angular rate with this method, and analyzed the data. The test data show that this method can be used for high-precision turntable's angular rate measurement.
This paper mainly researched the method of dynamic simulation target space position precision measurement. Establish a set of spatial target position measurement system. The real value of spatial angular position of dynamic simulation target can be got in the dynamic working condition with this measurement system. It makes a foundation for solving the problem of dynamic metrical precision of the photoelectric tracking and measurement equipment at a step further. Fill the blank of dynamic testing field of photoelectric tracking and measurement equipment.
引文
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[2]王建立,光电经纬仪电视跟踪、捕获快速运动目标技术的研究,长春光学精密机械与物理研究所博士论文,2002.7
[3]何照才,胡保安.光电测量.北京:国防工业出版社,2002
[4]张波.可编程动态靶标的研究.长春光学精密机械与物理研究所硕士论文,2003.05
[5]张波,贺庚贤,沈湘衡等.可编程动态靶标标定方法[J].光学精密工程.2003,2:176-180
[6]郭平平.光学动态靶标精度的自准直检测方法研究,长春光学精密机械与物理研究所硕士论文,2005.1
[7]蔡文贵,李永远,许振华. CCD技术与应用.[M].北京:电子工业出版社,1992
[8]贺和好.轴系晃动与动态靶标测角精度关系研究,长春光学精密机械与物理研究所硕士论文,2007.1
[9]李清军.快速视频判读方法的研究. [J].光学精密工程,2000,4:321-324
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