CN101762262B - Pose measuring method in head tracing system - Google Patents
Pose measuring method in head tracing system Download PDFInfo
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- CN101762262B CN101762262B CN2009101850125A CN200910185012A CN101762262B CN 101762262 B CN101762262 B CN 101762262B CN 2009101850125 A CN2009101850125 A CN 2009101850125A CN 200910185012 A CN200910185012 A CN 200910185012A CN 101762262 B CN101762262 B CN 101762262B
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Abstract
The invention discloses a pose measuring method in a head tracing system, which includes the steps as follows: at least two groups of luminous sources are distributed on a helmet; each group of luminous source consists of four point light sources; three of the point light sources form one equilateral triangle; the fourth point light source is arranged on the plane of the triangle formed from the three point light sources; the fourth point light source is on the normal passing through a gravity center point on the equilateral triangle; a camera is fixed behind the helmet to aim at the positions of the luminous sources; in each moment, at least one group of luminous sources is completely imaged on the imaging sensor of the camera through the optical device of the camera; and the camera transmits the image information recorded on the imaging sensor to a computer to process. The pose measuring method in the head tracing system has the advantages that the precision is higher; the method is suitable to be installed on planes, has no interferences on other parts of the planes, and cannot add more weights to the hamlet; and the cost is not high and the method is suitable for broad application; meanwhile, the safety and stability are good.
Description
[technical field]
The present invention is the pose measuring method in the method, particularly finger portion tracker of boresight direction when calculating aircraft flight person's run-home in the helmet aiming measuring system.
[background technology]
Research head tracking technology is significant in aviation firepower control field, in modern war " enemy finds earlier; the enemy opens fire earlier ", modern guided missile generally is to adopt to launch from axle, need the pilot guidance aircraft to go run-home, from finding target during this period of time to the guided missile blip steady, the pilot may need to do the motor-driven aircraft that makes of big load and aim at the mark, this is not a test to pilot's physiology still, and the time of the target of intercepting and capturing is long, bungles the chance of winning a battle easily, and modern opportunity of combat utilizes pilot's head to go run-home, just helmet sight can accomplish to see which effect which play.
The technological means that head tracking is realized has several different methods, can be divided into Mechanical Method, electromagnetic method, photoelectric method, supercritical ultrasonics technology etc. by the type of transmission medium, and the Mechanical Method head tracing system has bigger physiological effect to user's head, has been eliminated at present; Electromagnetic method is a kind of method that is widely used, its ultimate principle is at first to set up a specific magnetic fields zone, utilize magnetic sensors to obtain Magnetic Field then, calculate the coordinate system of inductor position and the Relation Parameters between the reference frame according to gained information at last.Shortcoming is the interference that is subjected to magnetic metal, electromagnetic field level earth magnetism easily, and stability is bad.Supercritical ultrasonics technology is based on the ultrasonic measuring distance technology of pulse transit time, in the ultrasound wave tracker, all factors that can influence the velocity of sound all can influence the performance of system, and can not block between transmitter and the receiver, bigger delay has then further limited the use of system.Photoelectric method is present more advanced tracking, utilizes photodetector (CCD, PSD, photoelectric tube) that certain radiation source (infrared, visible light etc.) is carried out position and measurement of angle, and then obtains attitude, the location parameter of testee.In this tracker, three infrarede emitting diodes are housed on pilot's the helmet, form triangle.Two scanning systems are housed in the passenger cabin, the very narrow and rotation in opposite directions in the instantaneous optics visual field of each scanning system, has only the inswept diode in moment visual field, the photoelectric device that its radiation just can be scanned in the system receives, be used for measuring instantaneous field of view and sweep to the angle that each diode turns over by reference position, the spacing of cooperation scanning system and the known parameters such as spacing of diode just can be obtained the normal direction on diode plane.The characteristics of photo-electric head-tracker are that anti-electromagnetic capability is strong, in case stationkeeping, its precision can guarantee.There is occlusion issue exactly in shortcoming.
[summary of the invention]
Technical matters to be solved by this invention is to provide the pose measuring method in a kind of simple to operate, head tracing system that precision is higher.
The present invention solves the problems of the technologies described above by the following technical programs: 1, the pose measuring method in a kind of head tracing system is characterized in that: may further comprise the steps:
Step 1: at least two group light emitting sources are distributed on the helmet, each group light emitting source is made up of four pointolites, wherein three pointolites are formed an equilateral triangle, the 4th pointolite places described three points to form on the leg-of-mutton plane, make not coplane of equilateral triangle that the 4th pointolite and described three pointolites form, and the 4th pointolite crossed on the described equilateral triangle on the normal of focus point;
Step 2: video camera is fixed on the rear of the helmet, and facing to the position of light emitting source, video camera comprises optical devices and imaging sensor, and is instantaneous at each, has at least one group of light emitting source by above-mentioned layout all to be imaged on the imaging sensor by optical devices;
Step 3: video camera sends to computing machine with the image information that writes down on the imaging sensor and handles.
Described pointolite adopts LED.Can launch very strong Infrared when it is lighted,,, not disperse, can well improve the precision of measurement so regard pointolite as because the LED luminous component is very little.
Described imaging sensor adopts CCD (Charge-coupled Device, charge coupled cell) imageing sensor.
Computing machine is used for handling the view data of sending from the lens imaging device, measures the calculating of boresight.
The advantage of the pose measuring method in a kind of head tracing system of the present invention is: one, precision is higher; Two, suitable installation aboard is to the not interference of miscellaneous part of aircraft; Three, can not increase too many weight, thereby reduce pilot's burden to the helmet; Four, owing to only be to use the LED lamp to add that CCD positions, suitable widely-used so cost is not high relatively, security simultaneously and stability are fine.
[description of drawings]
The invention will be further described in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is a helmet boresight measuring system synoptic diagram;
Fig. 2 is the imaging synoptic diagram of pointolite on camera sensor;
Fig. 3 is a pyramid reconstruct synoptic diagram;
Fig. 4 is that pyramid model resolves the model synoptic diagram in detail;
Fig. 5 is a sensor plane coordinate system synoptic diagram;
Fig. 6 is the camera coordinate system synoptic diagram.
[embodiment]
The helmet boresight measuring system of using in the pose measuring method in the head tracing system of the present invention comprises the helmet 1, at least two group light emitting sources 2, video camera 5, and computing machine 6.Wherein light emitting source 2 is arranged on the helmet 1, and video camera 5 is arranged in the rear of the helmet 1, and facing to the position of light emitting source 2, this video camera 5 comprises optical devices 3 and imaging sensor 4, and optical devices 3 are lens.
Each group light emitting source 2 is made up of four pointolites, wherein three pointolites are formed an equilateral triangle, the 4th pointolite places described three points to form on the leg-of-mutton plane, make not coplane of equilateral triangle that the 4th pointolite and described three pointolites form, and the 4th pointolite crossed on the normal of focus point on the described equilateral triangle.
Instantaneous at each, have at least one group of pointolite all to be imaged on the imaging sensor 4 by optical devices 3 by above-mentioned layout.Image on the imaging sensor 4 is corresponding one by one with luminous pointolite.Computing machine 6 receives image and the processing that video camera 5 transmits, and therefrom extracts corresponding point source image coordinate.Can directly export the image coordinate of corresponding point light source on imaging sensor 4 if use intelligent camera from video camera.Computing machine 6 also is responsible for measuring pilot's boresight and is measured calculating.
Optical devices 3 are positioned in a fixing position, and this position is relevant with the aircraft main body with imaging sensor 4, and keep static relatively.Therefore, 4 distance remains constant from optical devices 3 to imaging sensor.But the pointolite on the helmet 1 will change along with moving of pilot's helmet 1 to the distance of optical devices 3, in this case, not require the diode image that produces a sharp keen focusing on imaging sensor 4.
Imaging sensor 4 is a kind of 2 D photoelectric photograph components, the image of the pointolite on the helmet 1 just is imaged on the imaging sensor 4, the image of pointolite is made up of four specks, wherein arranges by leg-of-mutton three summits for three, and one group of luminous on four specks and the helmet 1 pointolite is corresponding.The purpose that each group light emitting source 2 is arranged in the above described manner is, when having only three point-sourcre imagings on imaging sensor 4, can not guarantee that by computing machine 6 calculating aiming always has unique result, therefore arranged the 4th pointolite, it can get rid of this uncertainty of separating, and in the time of guaranteeing that each one group of light emitting source is imaged on the imaging sensor 4, has only unique boresight result.
Pointolite on the helmet 1 is selected infrared LED for use, be because it is a microdevice, can be used as pointolite when luminous and handle that it can send highdensity Infrared besides, can reduce the interference of surround lighting, thereby better adapt to the application of aircraft flight person's helmet boresight measuring system.
If on the helmet 1, only assemble one group of light emitting source 2,, may exist the helmet 1 image formation by rays that optical devices 3 can not send pointolite when moving to certain position on imaging sensor 4 because optical devices 3 and imaging sensor 4 are fixed on the aircraft main body.For avoiding the possibility of this " blind spot ", multi-group light-emitting source 2 is installed on the helmet 1, make it to be distributed on the helmet 1, as Fig. 1,, have at least one group of light emitting source 2 on imaging sensor 4, to form piece image for any position of the helmet 1.
See also Fig. 2, the Measurement Algorithm principle basis of helmet boresight measuring system is described in detail below in conjunction with Fig. 2.In Fig. 2, the 8th, for the helmet of pilot's customization,, set up a helmet reference frame for convenience of calculation, its initial point is O
H, the Di Kaer coordinate axis is defined as (X
o, Y
o, Z
o).What be more suitable for should be with helmet reference frame initial point O
HConsistent with the cross star on the safety goggles.And the mode with spherical coordinates is represented.10,11,12 and 13 is the one group of infraluminescence LED that installs on the helmet 8, and 10,11 and 12 by the vertex of a triangle distribution, and the 4th point 13 is outside triangle projective planum.To this group pointolite, set up the local coordinate system of this group pointolite, initial point is O
L, the Di Kaer coordinate axis is defined as (X
1, Y
1, Z
1).
The 14th, optical devices are installed between the helmet 8 and the imaging sensor 15, and the 16th, the center of these optical devices 14.One group of pointolite generates piece image by optical devices 14 on imaging sensor 15, this group in the image of pointolite 10,11,12 and 13 on imaging sensor 14 corresponding to bright spot 10a, 11a, 12a and 13a.
In the above in the model of Xing Chenging, pointolite 10,11, the picture point 10a that 12 light that send form, 11a, 16, four at 12a and optical devices center constitute a pyramid model that intersects at optical devices center 16.Add the distance (needing to demarcate) at known imaging sensor 15 and optical devices center 16, computing machine can calculate boresight.Here, the relative position relation of this group pointolite 10,11,12 and 13 in the space that is distributed on the helmet 8 is known.
The computerized algorithm of this calculating boresight at first reconstructs above-mentioned pyramid model, by the triangle length of side that pointolite constitutes, is predetermined according to their position on the helmet 8.Therefore, second of the computerized algorithm step was to constitute the leg-of-mutton length of side by known pyramid model calculation level light source 10,11,12.But, only by picture point 10a, 11a, 16, four at 12a and optical devices center constitute a pyramid model that intersects at optical devices center 16 can not calculate one unique by pointolite 10,11, the 12 triangle length of sides that constitute.
As shown in Figure 3, by by 10a, 11a, the pyramid that 12a and optical devices center 16 constitute reconstruct two same triangles (10,11,12) and (10`, 11`, 12`).The 4th pointolite 13 is exactly for fear of this uncertainty, and it has illustrated that be correct at 13 by reconstruct.Just triangle (10,11,12) is the triangle of correct reconstruct.
The process of resolving that the reconstruct pyramid model is detailed as shown in Figure 4.O is the center of optical devices 14, Aa, Ba, Ca are one group of pointolite 10 of triangular arrangement, 11,12 picture point that on imaging sensor 15, form, A, B, C be pointolite emission light by the A point and with pointolite 10, the intersection point that the parallel Plane intersects of 11,12 triangles of being formed forms.Therefore, the normal direction that calculates plane ABC has just equaled to try to achieve the direction of the determined boresight of this pointolite.In fact, triangle ABC and pointolite 10,11,12 determined triangles are similar, pointolite 10,11, and 12 determine that the leg-of-mutton length of side is known, and three limits equate.
According to Fig. 4, establishing OA length is that a=1 is known, and OB length is b, and OC length is c.∠ AOB, ∠ BOC, ∠ AOC also can determine by the relation between picture point Aa, Ba, Ca and the O (relative position of imaging sensor and optical devices is predetermined fixed), be made as α, β, γ respectively.So, concern the length that to try to achieve AB, BC, AC respectively according to trigonometric function, that is:
AB＝a
2+b
2+2×a×b×cosα
BC＝b
2+c
2+2×b×c×cosβ
AC＝a
2+c
2+2×a×c×cosγ
Because AB=BC, AB=AC then has:
Above-mentioned system of equations simultaneous gets:
This is a binary quadratic equation group.The unit that disappears can obtain a unary biquadratic equation about c.Separating this unary biquadratic equation can obtain four of c and separate.Wherein there are two realities to separate, the reality of c is separated back substitution can obtain b to binary quadratic equation two corresponding real separating.Expression is exactly OA, OB, OC and OA ', OB ', OC ' on Fig. 4.
Calculating pyramid model has obtained two presentation of results and has had only unique result that can not calculate boresight by the pointolite 10,11,12 of triangular arrangement.The necessity of the 4th pointolite 13 also has been described simultaneously.Imaging sensor 15 epigraph point 13a are emitted beam by pointolite 13 and form.Therefore, imaging sensor 15 epigraph point 13a, outer pointolite 13 and the optical devices center 16 of the triangle projective planum that is formed by pointolite in one group of pointolite on the helmet should be on same space line.This give to get rid of by pyramid model two non-a kind of methods that provide of truly separating in separating is provided.Concrete method is discussed reference hereinafter.
1) as shown in Figure 5, is created as image-position sensor plane coordinate system (Oa-XaYa).Coordinate origin is located at the intersection point of imaging sensor plane and optical devices optical axis, and Di Kaer coordinate axis X, Y direction and sensor plane level, vertical direction are corresponding.
2) as shown in Figure 6, set up camera coordinate system (Oc-XcYcZc), coordinate origin is located at the optical devices center, and Di Kaer coordinate axis Z axle is by the optical axis of optical devices.X, Y direction and sensor plane coordinate system X, Y direction are corresponding.
3) with pyramid model shown in Figure 4 with above-mentioned two coordinate systems, the point in camera coordinate system presentation graphs 4, then wherein each point all has a three-dimensional coordinate.Two groups of results that the reconstruct pyramid model draws above utilizing can calculate pointolite 10,11,12 two groups of coordinate figures in camera coordinate system.
4) in camera coordinate system,, can calculate these 3 two groups of definite plane normals according to two groups of volume coordinates of 10,11,12 of the pointolites that calculates.Utilize the relative position relation (four be 10,11,12 and 13 tessaraces that constitute) of the 4th pointolite in this group pointolite simultaneously, also can calculate two volume coordinates of camera coordinate system of the 4th pointolite 13.
5) up to the present, we separate at the two groups of differences that have that obtain in general.Judge picture point 13a, the relation of optical devices center and the pointolite 13 that calculates can be got rid of and non-ly truly separate, because truly separating of pointolite 13 can make three point on a straight line.
6) plane normal of truly separating correspondence of these group pointolite 10,11,12 coordinates is that we are needed.Normal is transformed in the aircraft axes, is exactly the helmet boresight that we will calculate.
Claims (4)
1. the pose measuring method in the head tracing system is characterized in that: may further comprise the steps:
Step 1: at least two group light emitting sources are distributed on the helmet, each group light emitting source is made up of four pointolites, wherein three pointolites are formed an equilateral triangle, the 4th pointolite places described three points to form on the leg-of-mutton plane, make not coplane of equilateral triangle that the 4th pointolite and described three pointolites form, and the 4th pointolite is on the normal of crossing focus point of described equilateral triangle;
Step 2: video camera is fixed on the rear of the helmet, and facing to the position of light emitting source, video camera comprises optical devices and imaging sensor, and is instantaneous at each, has at least one group of light emitting source by above-mentioned layout all to be imaged on the imaging sensor by optical devices;
Step 3: video camera sends to computing machine with the image information that writes down on the imaging sensor and handles.
2. the pose measuring method in the head tracing system as claimed in claim 1 is characterized in that: described pointolite adopts LED.
3. the pose measuring method in the head tracing system as claimed in claim 1, it is characterized in that: described optical devices are positioned in a fixing position, this position is relevant with the aircraft main body with imaging sensor, and keep static relatively, the distance from described optical devices to imaging sensor remains constant.
4. the pose measuring method in the head tracing system as claimed in claim 1 is characterized in that: described imaging sensor adopts ccd image sensor.
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| CN101916109A (en) * | 2010-07-16 | 2010-12-15 | 王靖微 | Somatosensory television collimator |
| CN102063522B (en) * | 2010-11-03 | 2014-10-29 | 中航华东光电有限公司 | Lamp set distribution optimization method of photoelectric type helmet tracking system |
| CN102840825B (en) * | 2012-08-21 | 2015-01-07 | 华北电力大学 | Particle locating system and method |
| CN104280022A (en) * | 2013-07-13 | 2015-01-14 | 哈尔滨点石仿真科技有限公司 | Digital helmet display device tracking system of visual-aided inertial measuring unit |
| TWI520100B (en) * | 2014-03-17 | 2016-02-01 | 緯創資通股份有限公司 | Free space orientation and position determining method and system |
| CN106569201A (en) * | 2015-10-12 | 2017-04-19 | 常州博显汽车电子有限公司 | Infrared-based vehicle distance measuring system and method |
| CN106564428A (en) * | 2015-10-12 | 2017-04-19 | 常州博显汽车电子有限公司 | Braking warning system and warning method based on infrared rays |
| CN107668898A (en) * | 2017-11-15 | 2018-02-09 | 长沙翼希网络科技有限公司 | A kind of Intelligent blower |
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Owner name: ZHONGHANG HUADONG PHOTOELECTRIC CO., LTD. Free format text: FORMER OWNER: HUADONG PHOTOELECTRIC TECHNIQUE INSTITUTE OF ANHUI PROVINCE Effective date: 20110808 |
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Effective date of registration: 20110808 Address after: 241002 Yijiang District, Wuhu, China Hi tech Development Zone, science and Technology Park Patentee after: Avic Huadong Photoelectric Co., Ltd. Address before: 241002 Yijiang District, Wuhu, China Hi tech Development Zone, science and Technology Park Patentee before: Huadong Photoelectric Technique Institute of Anhui Province |