本文選題：視覺測(cè)量 + 地面試驗(yàn)��； 參考：《哈爾濱工業(yè)大學(xué)》2016年博士論文

【摘要】：飛行器地面試驗(yàn)是飛行器研制過程中不可或缺的一部分,通過飛行器地面試驗(yàn)可以有效提高飛行器的可靠性,并降低研制成本、縮短研制周期。在飛行器地面試驗(yàn)中,試驗(yàn)飛行器的位置、姿態(tài)等參數(shù)是運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)研究中的基本參數(shù),可用于飛行器試驗(yàn)鑒定、事故分析以及工業(yè)設(shè)計(jì)等多個(gè)方面。視覺測(cè)量是目前廣泛使用的一種運(yùn)動(dòng)參數(shù)測(cè)量方法。本文針對(duì)飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)的高精度、大范圍測(cè)量問題,在傳統(tǒng)的運(yùn)動(dòng)參數(shù)視覺測(cè)量方法基礎(chǔ)上,進(jìn)一步探討研究一種基于光束向量的運(yùn)動(dòng)參數(shù)測(cè)量方法,并對(duì)運(yùn)動(dòng)參數(shù)視覺測(cè)量系統(tǒng)研制過程中涉及的視覺測(cè)量系統(tǒng)的優(yōu)化、大視場(chǎng)攝像機(jī)的標(biāo)定、合作目標(biāo)光束投影光斑的跟蹤識(shí)別等問題進(jìn)行研究。首先,對(duì)運(yùn)動(dòng)參數(shù)視覺測(cè)量系統(tǒng)的優(yōu)化問題進(jìn)行了研究。視覺測(cè)量系統(tǒng)的優(yōu)化可以為系統(tǒng)的設(shè)計(jì)提供理論依據(jù)。在介紹了基于光束向量的飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)測(cè)量原理及系統(tǒng)方案的基礎(chǔ)上,充分考慮測(cè)量過程中的干擾因素,建立了以測(cè)量精度和測(cè)量范圍為優(yōu)化目標(biāo)的測(cè)量系統(tǒng)多目標(biāo)優(yōu)化模型,并提出了一種基于多層次信息交互的多目標(biāo)粒子群優(yōu)化算法,給出了測(cè)量系統(tǒng)優(yōu)化的Pareto最優(yōu)解集,在規(guī)避干擾因素的同時(shí),滿足了系統(tǒng)不同測(cè)量精度和測(cè)量范圍的設(shè)計(jì)需求,增強(qiáng)了系統(tǒng)的擴(kuò)展性。其次,對(duì)大視場(chǎng)攝像機(jī)的現(xiàn)場(chǎng)標(biāo)定問題進(jìn)行了研究。為了滿足飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)視覺測(cè)量系統(tǒng)中大視場(chǎng)攝像機(jī)的高精度、快速、現(xiàn)場(chǎng)標(biāo)定需求,分析了攝像機(jī)標(biāo)定的相關(guān)理論基礎(chǔ),提出了一種基于平面單應(yīng)性的大視場(chǎng)攝像機(jī)現(xiàn)場(chǎng)標(biāo)定方法,該方法主要由基于平面單應(yīng)性的大視場(chǎng)攝像機(jī)柔性標(biāo)定與基于先驗(yàn)信息的標(biāo)定參數(shù)現(xiàn)場(chǎng)校正兩部分組成。上述方法僅通過靶標(biāo)平面上少數(shù)特征點(diǎn)便實(shí)現(xiàn)了對(duì)大視場(chǎng)攝像機(jī)的現(xiàn)場(chǎng)標(biāo)定,提高了標(biāo)定效率,并且標(biāo)定精度與傳統(tǒng)攝像機(jī)標(biāo)定方法相當(dāng),保證了標(biāo)定精度。接著,對(duì)合作目標(biāo)光束投影光斑的跟蹤識(shí)別問題進(jìn)行了研究。在測(cè)量過程中,為了獲得合作目標(biāo)光束的方向向量,需要對(duì)每條光束對(duì)應(yīng)的投影光斑進(jìn)行辨識(shí),這一問題可通過對(duì)合作目標(biāo)光束投影光斑跟蹤識(shí)別來解決。在闡述了特征點(diǎn)跟蹤識(shí)別問題以及傳統(tǒng)的特征點(diǎn)跟蹤識(shí)別方法(包括統(tǒng)計(jì)性方法和確定性方法)基礎(chǔ)上,提出了一種基于多源信息的合作目標(biāo)光束投影光斑跟蹤識(shí)別方法。在跟蹤識(shí)別過程中,該方法充分利用了光束投影光斑的位置預(yù)測(cè)信息、運(yùn)動(dòng)約束信息以及測(cè)量系統(tǒng)相關(guān)信息等多源信息,對(duì)光束投影光斑進(jìn)出視場(chǎng)情況進(jìn)行了有效處理,實(shí)現(xiàn)了合作目標(biāo)光束投影光斑的準(zhǔn)確跟蹤識(shí)別。最后,對(duì)飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)的大范圍測(cè)量問題進(jìn)行了研究。為了實(shí)現(xiàn)飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)的高精度、大范圍測(cè)量,在基于光束向量的運(yùn)動(dòng)參數(shù)測(cè)量方法基礎(chǔ)上,增加合作目標(biāo)以及合作目標(biāo)中直線光束的數(shù)目,并提出了一種基于多合作目標(biāo)的運(yùn)動(dòng)參數(shù)大范圍測(cè)量方法。該方法有效地解決了運(yùn)動(dòng)參數(shù)大范圍測(cè)量時(shí)彈體坐標(biāo)系中合作目標(biāo)光束方向向量的求取、參與運(yùn)動(dòng)參數(shù)解算的合作目標(biāo)光束的選擇以及旋轉(zhuǎn)矩陣到歐拉角轉(zhuǎn)換的奇異性等問題。同時(shí),對(duì)運(yùn)動(dòng)參數(shù)測(cè)量過程中涉及的坐標(biāo)系進(jìn)行了分析,并給出了相應(yīng)的坐標(biāo)系標(biāo)定及數(shù)據(jù)轉(zhuǎn)換方法。最后,對(duì)本文飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)視覺測(cè)量系統(tǒng)進(jìn)行了測(cè)試,測(cè)試結(jié)果表明本文飛行器地面試驗(yàn)運(yùn)動(dòng)參數(shù)視覺測(cè)量系統(tǒng)能夠?qū)崿F(xiàn)對(duì)試驗(yàn)飛行器運(yùn)動(dòng)參數(shù)的高精度、大范圍測(cè)量。
[Abstract]:The ground test of aircraft is an indispensable part of the development process of the aircraft. The ground test of the aircraft can effectively improve the reliability of the aircraft, reduce the development cost and shorten the development cycle. In the ground test of the aircraft, the parameters of the aircraft's position and attitude are the basic parameters in the research of kinematics and dynamics. It can be used in many aspects, such as aircraft test identification, accident analysis and industrial design. Visual measurement is a widely used measurement method of motion parameters at present. This paper aims at the high precision and large range measurement of the motion parameters of the aircraft ground test. On the basis of the traditional visual measurement method of the motion parameters, the research is further studied and studied. A method of measuring the motion parameters based on the beam vector is studied, and the optimization of the visual measurement system involved in the development of the visual measurement system of the motion parameters, the calibration of the large field of view camera and the tracking and recognition of the beam projection of the cooperative target are studied. First, the optimization of the visual measurement system of the motion parameters is carried out. The optimization of the visual measurement system can provide a theoretical basis for the design of the system. On the basis of introducing the principle and system scheme of the measurement of the motion parameters of the aircraft ground test based on the beam vector, the interference factors in the measurement process are fully considered, and the measurement system with the measurement precision and the measurement range as the optimal target is set up. A multi-objective particle swarm optimization algorithm based on multi-layer information interaction is proposed, and a Pareto optimal solution set for the optimization of the measurement system is given. At the same time, it meets the design requirements of different measurement precision and measurement range of the system, and increases the expansibility of the system. Secondly, the large field video camera is improved. In order to meet the high accuracy, rapid and field calibration requirements of the large field video camera in the visual measurement system of the aircraft ground test motion parameters visual measurement system, the theoretical basis of the camera calibration is analyzed, and a field calibration method for large field video camera based on plane single stress is proposed, which is the main method. It is composed of two parts, which are flexible calibration of large field camera based on plane homography and calibration parameter field correction based on prior information. The above method realizes the field calibration of large field video camera by only a few feature points on the target plane, and improves the calibration efficiency, and the calibration accuracy is equivalent to the traditional camera calibration method. The calibration accuracy is guaranteed. Then, the tracking recognition problem of the beam projection of the cooperative target is studied. In the process of measuring the direction vector of the target beam, it is necessary to identify the projection spot corresponding to each beam. This problem can be solved by the tracking recognition of the target beam projection light spot. On the basis of the traditional feature point tracking recognition and traditional feature point tracking identification (including statistical method and deterministic method), a multi source information based spot tracking recognition method for target beam projection is proposed. In the process of tracking recognition, this method makes full use of the position prediction letter of the beam projection spot. The multi source information such as interest, motion constraint information and the related information of the measurement system have been effectively processed, and the accurate tracking and recognition of the beam projection spot of the cooperative target is realized. Finally, the large range measurement of the motion parameters of the aircraft ground test is studied. On the basis of the measurement method of motion parameters based on the beam vector, the number of linear beams of the cooperative target and the cooperative target are increased on the basis of the method of measuring the motion parameters based on the beam vector. A large range measurement method based on the multi cooperative target is proposed. This method effectively solves the large range measurement of the motion parameters. The direction vector of the cooperative target beam in the projectile coordinate system is obtained, the selection of the cooperative target beam and the singularity of the rotation matrix to the Euler angle transformation are involved. Meanwhile, the coordinate system involved in the measurement of the motion parameters is analyzed, and the corresponding coordinate calibration and data conversion side are given. In the end, the visual measurement system of the ground test motion parameters of the aircraft is tested. The test results show that the visual measurement system of the ground test motion parameters of the aircraft can achieve high precision and wide range measurement for the motion parameters of the test aircraft.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：V216.8;TP391.41

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