Yaw angle calculation method for high-speed small target

The yaw angle of projectile is a key parameter that affects the launch accuracy of the electromagnetic rail launcher. In order to measure the yaw angle of the projectile timely and precisely, and to improve the launch accuracy of the electromagnetic rail launcher, a method based on binocular vision theory without target velocity was proposed. Utilizing the high-speed projectile trajectory images and establishing the camera linear imaging model to solve the high-speed projectile image coordinates, the measurement of the target yaw angle was realized. According to the proposed method, the influences of the optical system parameters on the measurement accuracy were also analyzed, with a theoretical error of approximately 14.5 μrad. The experiment of the yaw angle measurement shows that this method can calculate the yaw angle of the projectile with accuracy and timeliness, and the average of the calculated deviation is 0.58 mrad.