直升机着舰六自由度测量算法及数字图像处理实验
摘要
本论文以国防科技十五项目为背景，概要地介绍了国内外直升机着降和光电引导装置的最新发展状况,对机载CCD电视传感器的信标测量算法进行系统分析和深入研究，对图像处理进行了讨论，提出了具有创新意义的机载红外CCD视景增强系统设计。
本文对光电助降系统前端的视频信号处理算法进行了研究。分析了双摄影测量算法和单摄影测量算法，选用了适合于机载CCD的信标点像平面坐标提取算法和单摄影算法——六自由度测量算法。对六自由度算法进行了仿真和误差分析，提出了要满足小于10cm的系统图像处理要求，挂钩位置误差必须小于一个像素点的误差。
设计制作了实验硬件系统。设计了适当摄影测量算法的信标点平面，采用了红外波段的CCD，以DSP为核心器件设计了信标点像平面位置坐标提取的硬件电路。对设计的实验系统进行了具体的调试，证明所设计的硬件电路能正常工作。
结合图像处理算法和信标点像平面坐标提取算法，完成了验证六自由度摄影测量算法实验，通过实验数据分析，分析了CCD畸变引起的误差，对数据拟合后，得到了满足系统设计的误差小于10厘米的要求，为研制实际的直升机着降系统提供了重要的参考价值。
Based on the background of the "Ten-Five" Technology Project ，we introduced the last development of helicopter's landing devices and optolelectronic guiding equipments. This paper describes the study of beacons-based algorithms of CCD TV sensor, discusses the imaging processing, design the infrared vision-enhanced system.
In this dissertation, first of all, we have made a systemic analysis and study of algorithms of video signal processing, analysed single-CCD photogrammetry and double-CCD photogrammetry, for helicopter's landing system， adopted properly the photogrammetry，photogrammetry of six parameters. We simulated algorithms of six parameters on computer and analysed the error, for demand of 10cm departure, the distance departure on imaging plane is less than one pixel.
We designed and made the experimentation system. We designed the beacons plane, used proper infrared CCD and designed real hardware circuite based on the DSP, which can be used to simulate and experiment on precision positioning algorithm by computer. We tested the whole system and proved that the hardware circuit could work normally.
In the end, according to imaging algorithms and the photogrammetry, results experimentation proved that the photogrammetry of six parameters is available. We make a Polynomial evaluation, the linear evaluated result of the experiment meet the system demand of 10cm departure.all of done offers the important referenced value to develop the actual helicopter landing system.
本文对光电助降系统前端的视频信号处理算法进行了研究。分析了双摄影测量算法和单摄影测量算法，选用了适合于机载CCD的信标点像平面坐标提取算法和单摄影算法——六自由度测量算法。对六自由度算法进行了仿真和误差分析，提出了要满足小于10cm的系统图像处理要求，挂钩位置误差必须小于一个像素点的误差。
设计制作了实验硬件系统。设计了适当摄影测量算法的信标点平面，采用了红外波段的CCD，以DSP为核心器件设计了信标点像平面位置坐标提取的硬件电路。对设计的实验系统进行了具体的调试，证明所设计的硬件电路能正常工作。
结合图像处理算法和信标点像平面坐标提取算法，完成了验证六自由度摄影测量算法实验，通过实验数据分析，分析了CCD畸变引起的误差，对数据拟合后，得到了满足系统设计的误差小于10厘米的要求，为研制实际的直升机着降系统提供了重要的参考价值。
Based on the background of the "Ten-Five" Technology Project ，we introduced the last development of helicopter's landing devices and optolelectronic guiding equipments. This paper describes the study of beacons-based algorithms of CCD TV sensor, discusses the imaging processing, design the infrared vision-enhanced system.
In this dissertation, first of all, we have made a systemic analysis and study of algorithms of video signal processing, analysed single-CCD photogrammetry and double-CCD photogrammetry, for helicopter's landing system， adopted properly the photogrammetry，photogrammetry of six parameters. We simulated algorithms of six parameters on computer and analysed the error, for demand of 10cm departure, the distance departure on imaging plane is less than one pixel.
We designed and made the experimentation system. We designed the beacons plane, used proper infrared CCD and designed real hardware circuite based on the DSP, which can be used to simulate and experiment on precision positioning algorithm by computer. We tested the whole system and proved that the hardware circuit could work normally.
In the end, according to imaging algorithms and the photogrammetry, results experimentation proved that the photogrammetry of six parameters is available. We make a Polynomial evaluation, the linear evaluated result of the experiment meet the system demand of 10cm departure.all of done offers the important referenced value to develop the actual helicopter landing system.
引文
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(4)Richard E.Reason, Woodland park, airport and runway laser lighting method, U.S.patent,
(5)C.Kirk nance, Arlington, aircraft vertical landing guidance method and system, U.S.patent,
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(7)Cui yanmei puyian niguoqiang zhongyanli lixiying, image fusion with high-speed DSP, SPIE Vol. 3561.
(8) Vector J. Norris, Robert S. Evans, performance comparision of visual, infrared, and ultraviolet sensors for landing aircraft in fog. SPIE Vol. 3691
(9) M.I. Smith G. Rood, image fusion of II and IR data for helicopter pilotage, SPIE Vol.4126
(10)黄玉明。航天器位姿光学测量。中国空间科学技术，1993，8。
(11)江海标，陈宗基。一种基于知识的3D位姿参数识别方法。航空计测技术。1997，18卷，1。
(12)国澄明，李铁盘。用TMS320C50DSP实现图像的直接捕获与显示。信号处理。第12卷，1。
(13)迟泽英,李坤宇,李武森,陈文建，高速ＤＳＰ视频图像数字处理电路几个关键问题的研究分析，红外技术，2001，3
(14)张雪松，倪国强，周立伟，金伟其，带有DSP芯片的新型实时数字图像处理系统，光学技术，1997，4
(15)王宇，李洪弟，徐顺江，王昆，王砚方，一种基于DSP的高速数据获取及处理系统，核电子学与探测技术，1998，4
(16)于起峰，陆宏伟，刘肖琳，基于图像的精密测量与运动测量，科学出版社
(17)李刚，数字信号微处理器的原理及其开发应用，天津大学出版社2000
(18)苏涛，蔺丽华，卢光跃，张林让，DSP实用技术，西安电子科技大学出版社2002
(19)赵秀丽，国外舰载直升机，现代舰船 ，1995，12
(20)TMS320C54X Assembly Language Tools，TEXAS INSTRUMENT
(21)郑红，吴冠，TMS320C54X DSP 应用系统设计，北京航空航天大学出版社，2002
(22)王庆有，CCD应用技术，天津大学出版社，2000
(23)彭启琮，《TMS320C54X实用教程》，电子科技大学出版社 ，2000
(24)唐荣锡等，《计算机图形学教程》，科学出版社，1991
(25) http://www.21ic.com
(26) http://www.ti.com
(26) http://www.dspdsp.com/
(2) david salt. an electro-optic precision approach and landing system, SPIE Vol.2463,1995
(3)Tsai R Y & Huang T S. Uniqueness and estimation of three-dimensional motion parameter of a rigid plannar patch from three perspective views. IEEE conference on acoustic, speech and signal processing, 1982.
(4)Richard E.Reason, Woodland park, airport and runway laser lighting method, U.S.patent,
(5)C.Kirk nance, Arlington, aircraft vertical landing guidance method and system, U.S.patent,
(6)Duzhenlin Zhangyulan Wengjingyang, calculation of binary image centroin by using TEM320C25, SPIE Vol.3561
(7)Cui yanmei puyian niguoqiang zhongyanli lixiying, image fusion with high-speed DSP, SPIE Vol. 3561.
(8) Vector J. Norris, Robert S. Evans, performance comparision of visual, infrared, and ultraviolet sensors for landing aircraft in fog. SPIE Vol. 3691
(9) M.I. Smith G. Rood, image fusion of II and IR data for helicopter pilotage, SPIE Vol.4126
(10)黄玉明。航天器位姿光学测量。中国空间科学技术，1993，8。
(11)江海标，陈宗基。一种基于知识的3D位姿参数识别方法。航空计测技术。1997，18卷，1。
(12)国澄明，李铁盘。用TMS320C50DSP实现图像的直接捕获与显示。信号处理。第12卷，1。
(13)迟泽英,李坤宇,李武森,陈文建，高速ＤＳＰ视频图像数字处理电路几个关键问题的研究分析，红外技术，2001，3
(14)张雪松，倪国强，周立伟，金伟其，带有DSP芯片的新型实时数字图像处理系统，光学技术，1997，4
(15)王宇，李洪弟，徐顺江，王昆，王砚方，一种基于DSP的高速数据获取及处理系统，核电子学与探测技术，1998，4
(16)于起峰，陆宏伟，刘肖琳，基于图像的精密测量与运动测量，科学出版社
(17)李刚，数字信号微处理器的原理及其开发应用，天津大学出版社2000
(18)苏涛，蔺丽华，卢光跃，张林让，DSP实用技术，西安电子科技大学出版社2002
(19)赵秀丽，国外舰载直升机，现代舰船 ，1995，12
(20)TMS320C54X Assembly Language Tools，TEXAS INSTRUMENT
(21)郑红，吴冠，TMS320C54X DSP 应用系统设计，北京航空航天大学出版社，2002
(22)王庆有，CCD应用技术，天津大学出版社，2000
(23)彭启琮，《TMS320C54X实用教程》，电子科技大学出版社 ，2000
(24)唐荣锡等，《计算机图形学教程》，科学出版社，1991
(25) http://www.21ic.com
(26) http://www.ti.com
(26) http://www.dspdsp.com/