本文關(guān)鍵詞： 視覺測量 位姿測量 合作目標(biāo) 激光投影 誤差傳遞　出處：《光子學(xué)報》2017年09期 　論文類型：期刊論文

【摘要】：為了實現(xiàn)室內(nèi)運動目標(biāo)位姿的高精度測量,建立了一套激光投影成像式位姿測量系統(tǒng).該系統(tǒng)利用兩兩共線且交叉排列在同一平面上的點激光投射器作為合作目標(biāo)捷聯(lián)在運動目標(biāo)上,通過與光斑接收幕墻的配合共同組成運動目標(biāo)位姿測量基線放大系統(tǒng),利用高速攝像機實時記錄幕墻上投影光斑的位置,利用攝像機標(biāo)定結(jié)果求解投影光斑的世界坐標(biāo),利用投影光斑之間構(gòu)成的單位向量建立運動目標(biāo)位姿解算模型.最后,根據(jù)測量原理推導(dǎo)了圖像坐標(biāo)提取、攝像機外部參數(shù)標(biāo)定、光束直線度與目標(biāo)位姿解算結(jié)果之間的誤差傳遞函數(shù).實驗結(jié)果表明,當(dāng)攝像機的視場范圍為14 000mm×7 000mm時,測量系統(tǒng)的姿態(tài)角測量精度為1′(1δ),位置測量精度為5mm,且誤差大小與目標(biāo)位姿測量誤差傳遞函數(shù)理論計算值一致,驗證了本文提出的目標(biāo)位姿測量方法與測量誤差傳遞模型的準(zhǔn)確性,能夠滿足目標(biāo)位姿測量高精度的要求.
[Abstract]:In order to realize the high precision measurement of the position and pose of indoor moving object. A laser projection imaging position and attitude measurement system is established, in which the point laser projector, which is collinear and intersected on the same plane, is used as a cooperative target to strapdown the moving target. By cooperating with the spot receiving curtain wall, a base line amplification system for measuring the position and attitude of moving object is formed, and the position of projection spot on the curtain wall is recorded in real time by high speed camera. Using the camera calibration results to solve the world coordinates of the projection spot, using the unit vector between the projection spot to establish the motion target pose solution model. Finally, according to the measurement principle, the image coordinate extraction is derived. The error transfer function between the beam straightness and the target position and attitude solution is obtained by calibrating the external parameters of the camera. The experimental results show that when the field of view of the camera is 14 000 mm 脳 7 000 mm. The measurement accuracy of attitude angle and position is 1 / 1 未 and 5 mm respectively, and the error is in agreement with the theoretical calculation of the transfer function of the target position and attitude measurement error. The accuracy of the target pose measurement method and the measurement error transfer model proposed in this paper is verified, which can meet the requirement of high accuracy of target pose measurement.
【作者單位】： 哈爾濱工業(yè)大學(xué)電氣工程及自動化學(xué)院電氣工程系;哈爾濱工業(yè)大學(xué)航天學(xué)院控制與仿真中心;
【基金】：國家自然科學(xué)基金(No.61473100)資助~~
【分類號】：TN249;TP391.41
【正文快照】： 1-1002190(1δ),the position is 5mm,and the target pose measurement error transfer function calculation.To verifythe accuracy of the target pose measurement method proposed in this paper and the error transfer model,it can satisfy the target pose high pre

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