指向精度对光学姿态测量精度的影响分析

胡小丽; 唐明刚; 蔡文泽; 张玉伦; 张思琪; 张三喜

指向精度对光学姿态测量精度的影响分析

1.
中国华阴兵器试验中心，陕西华阴 714200
2.
西安现代控制技术研究所，陕西西安 710065

基金项目: 军内科研项目（012016018200A22304）

详细信息

作者简介:
胡小丽（1979—），女，硕士，工程师，主要从事光学姿态测量及数据处理方面的研究。E-mail：scu993@163.com

中图分类号: TN06;TP394.1
计量
- 文章访问数: 42
- HTML全文浏览量: 19
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2022-03-04
- 修回日期: 2022-09-14
- 网络出版日期: 2022-11-11

Influence of optical axis pointing error on optical pose measurement accuracy

1.
Huayin Ordnance Test Center, Xi'an 714200, China
2.
Xi'an Institute of Modern Control Technology, Xi'an 710065, China

摘要

摘要: 为验证光轴指向误差对光学姿态测量精度的影响程度，并为后续实况类设备实现姿态测量提供理论依据，以中轴线法为依据，对算法步骤进行拆分，并对光轴指向误差的影响进行溯源，得出指向误差影响姿态处理结果可从两个方面进行分析。同时对模型内交会算法的直接影响和模型外动态基准的间接影响进行推导分析，以仿真计算和实测数据进行结合验证，获取了在典型中长远光学姿态测量中指向误差200″对姿态角误差不超过0.1°的结论，为现有姿态测量可靠性分析以及后续靶场设备能力拓展奠定了理论基础。
- 指向误差 /
- 姿态测量 /
- 动态测量基准 /
- 可靠性分析
Abstract: To verify the influence of optical axis pointing error on optical pose measurement accuracy and provide a theoretical basis for subsequent real-time equipment to realize pose measurement, through splitting the algorithm steps and tracing the influence of the optical axis pointing error based on the central axis method, a conclusion is drawn that the pointing error can affect the pose processing results, which is divided into two parts. The direct influence of the model intersection algorithm and the indirect influence of the dynamic benchmark outside the model are deduced and analyzed, through the combination of simulation calculation and measured data, the conclusion that pose angle error is no more than 0.1° in typical medium and long-term optical pose measurement in the situation 200" pointing error of is obtained.through the combination of simulation calculation and measured data, the conclusion that pose angle error is no more than 0.1° in typical medium and long-term optical pose measurement in the situation 200" pointing error of is obtained. It lays a theoretical foundation for the capacity expansion of subsequent range equipment.
- pointing error /
- pose measurement /
- dynamic measurement datum /
- reliability analysis

HTML全文

图 1 测量基准固定下的指向误差示意图

Fig. 1 Pointing error under fixed X reference

下载: 全尺寸图片幻灯片

图 2 动态基准变化下的指向误差示意图

Fig. 2 Pointing error under dynamic reference X′

下载: 全尺寸图片幻灯片

图 3 指向误差对姿态角测量影响的仿真与实测对比分析（高度为1 200 m）

Fig. 3 Influence of pointing error on pose comparison between simulation and measurement −1 200 m

下载: 全尺寸图片幻灯片

下载: 全尺寸图片幻灯片

图 4 指向误差对姿态角测量影响的仿真与实测对比分析（高度为1 550 m）

Fig. 4 Influence of pointing error on pose comparison between simulation and measurement −1 550 m

下载: 全尺寸图片幻灯片

图 5 指向误差对姿态角测量影响的仿真与实测对比分析（高度为2 000 m）

Fig. 5 Influence of pointing error on pose comparison between simulation and measurement − 2 000 m

下载: 全尺寸图片幻灯片

图 6 非平飞状态下指向误差对姿态角测量的影响

Fig. 6 Influence of pointing error on pose measurement - non level flight

下载: 全尺寸图片幻灯片

参考文献(15)

[1]	于起峰, 孙祥一, 陈国军. 用光测图像确定空间目标俯仰角和偏航角的中轴线法[J]. 国防科技大学学报,2000,22(2):15-19. YU Qifeng, SUN Xiangyi, CHEN Guojun. A new method of measure the pitching and yaw of the axes symmetry object through the optical image[J]. Journal of National University of Defense Technology,2000,22(2):15-19.
[2]	王鲲鹏. 靶场图像目标检测跟踪与定姿技术研究[D]. 长沙: 国防科学技术大学, 2010. WANG Kunpeng. Researches on auto target detection, tracking and 3-D pose measurement for imagery of shooting range[D]. Changsha: National University of Defense Technology, 2010.
[3]	冯文灏. 近景摄影测量[M]. 武汉: 武汉大学出版社, 2002: 142-150. FENG Wenhao. Close-range photogrammetry[M]. Wuhan: Wuhan University Press, 2002: 142-150.
[4]	张广军. 视觉测量[M]. 北京: 科学出版社, 2008. ZHANG Guangjun. Vision measurement[M]. Beijing: Science Press, 2008.
[5]	张三喜, 姚敏, 孙卫平. 高速摄像及其应用技术[M]. 北京: 国防工业出版社, 2006: 27-34. ZHANG Sanxi, YAO Min, SUN Weiping. High-speed photogrammetry and application[M]. Beijing: National Defence Industry Press, 2006: 27-34.
[6]	张三喜. 弹道特征参数摄像测量[M]. 北京: 国防工业出版社, 2014. ZHANG Sanxi. Ballistic characteristic parameters of vision measurement[M]. Beijing: National Defense Industry Press, 2014.
[7]	傅丹. 基于直线特征的空间目标三维结构重建和位姿测量方法研究[D]. 长沙: 国防科学技术大学, 2008. FU Dan. Researches on three-dimensional structure reconstruction and pose measurements based on line feature for space targets[D]. Changsha: National University of Defense Technology, 2008.
[8]	高嵩, 白礼卓. 基于单目相机的三点式激光器测距及位姿估计方法研究[J]. 光学学报,2021,41(9):166-178. GAO Song, BAI Lizhuo. Monocular camera-based three-point laser pointer ranging and pose estimation method[J]. Acta Optica Sinica,2021,41(9):166-178.
[9]	胡小丽, 唐明刚, 吴海英. 一种特征直线交会求解的姿态处理方法[J]. 激光与光电子学进展,2020,57(9):103-108. HU Xiaoli, TANG Minggang, WU Haiying. A pose information acquisition method based on characteristic line intersection analysis[J]. Laser and Optoelectronics Progress,2020,57(9):103-108.
[10]	HARALICK B M, LEE C N, OTTENBERG K, et al. Review and analysis of solutions of the three point perspective pose estimation problem[J]. International Journal of Computer Vision,1994,13(3):331-356. doi: 10.1007/BF02028352
[11]	OBERKAMPF D, DEMENTHON D F, DAVIS L S. Iterative pose estimation using coplanar feature points[J]. Computer Vision and Image Understanding,1996,63(3):495-511. doi: 10.1006/cviu.1996.0037
[12]	KNEIP L, SCARAMUZZA D, SIEGWART R. A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation[C]//CVPR 2011. Colorado Springs: IEEE, 2011: 2969-2976.
[13]	张世杰, 曹喜滨, 张凡, 等. 基于特征点的空间目标三维位姿单目视觉确定算法[J]. 中国科学:信息科学,2010,40(4):591-604. doi: 10.1360/zf2010-40-4-591 ZHANG Shijie, CAO Xibin, ZHANG Fan, et al. 3D position and pose determination method of spatial targets based on feature points from mono-view[J]. Scientia Sinica (Informationis),2010,40(4):591-604. doi: 10.1360/zf2010-40-4-591
[14]	苏国中. 基于光电经纬仪影像的飞机姿态测量方法研究[D]. 武汉: 武汉大学, 2005. SU Guozhong. Research on the method of aircraft pose surveying from image sequences obtained by photoelectric theodolite[D]. Wuhan: Wuhan University, 2005.
[15]	赵学颜, 李迎春. 靶场光学测量[M]. 北京: 国防大学出版社, 2001: 168-230. ZHAO Xueyan, LI Yingchun. Optical measurement in shooting range[M]. Beijing: National Defence University Press, 2001: 168-230.