CN102128608A - Highly dynamic two-dimensional attitude angle measuring method and system - Google Patents
Highly dynamic two-dimensional attitude angle measuring method and system Download PDFInfo
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Abstract
The invention discloses a highly dynamic two-dimensional attitude angle measuring method which comprises the following steps: predicting the position of a self-adaption dynamic prediction window on an imaging surface of an image sensor at the next moment according to the change of the center-of-mass coordinates of a light spot of an incident light ray on the imaging surface of the image sensor between the current moment and the previous moment; and at the next moment, when the self-adaption dynamic prediction window does not exceed the imaging surface of the sensor, calculating the center-of-mass coordinates of each light spot according to the gray value of each pixel in the self-adaption dynamic prediction window on the imaging surface of the image sensor by use of a parallel pipeline manner, and obtaining the two-dimensional attitude angle of the incident light ray according to the center-of-mass coordinates of the light spots. The invention also discloses a highly dynamic two-dimensional attitude angle measuring system. Through the scheme provided by the invention, the highly dynamic two-dimensional attitude angle measurement can be realized, the transmitted data volume and successively processed data amount are greatly reduced, and the processing burden of the system is lightened.
Description
Technical field
The present invention relates to the attitude angle technology, relate in particular to a kind of high Dynamic Two-dimensional attitude angle measuring method and system.
Background technology
In departments such as machine-building, Aeronautics and Astronautics, national defence, building, attitude angle is to need definite important physical amount.So-called attitude angle is meant the attitude of object with respect to object of reference.In many attitude angle measuring methods, though be that the optics angle-measuring method precision of representative is higher, hardware condition is required harsh to justify raster method and loop laser method, and be only limited to the one dimension measurement of angle.Application number is that 200910093664 patent of invention " a kind of measuring method of two-dimensional attitude angle and system " has proposed a kind of small-sized a large amount of degree two-dimensional attitude angle measuring methods and system.In the method, by being reference light source with the collimate in parallel light source, pinhole diaphragm with a plurality of asymmetric hole arrays is as optical system, one group of high precision plane catoptron is set around imageing sensor, the parallel incident light of the wide-angle of collimate in parallel light source is passed through pinhole diaphragm, form hot spot through being incident upon on the imageing sensor imaging surface after the reflection of plane mirror, calculate the coordinate of facula mass center on the plane right-angle coordinate of imaging surface, and, calculate the two-dimensional attitude angle of light by the method for how much of triangles according to the centre coordinate and the predefined system focal length of each hole array.
In the prior art to the measurement of attitude angle, all be that the entire image data are transferred to host computer by interface unit, realize system modelling, the centroid calculation of hot spot, the positive and negative identification of hot spot and attitude angle calculating etc. by host computer, so carry out full frames of data transmission and processing, the data volume of required transmission and processing is big, the processing time is long, makes that the measuring system dynamic property is lower.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of high Dynamic Two-dimensional attitude angle measuring method and system, realizes high dynamic two-dimensional attitude angular measurement, has greatly reduced the deal with data amount of data quantity transmitted and follow-up system, has alleviated the processing burden.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of high Dynamic Two-dimensional attitude angle measuring method, comprising:
The center-of-mass coordinate of a hot spot on the imageing sensor imaging surface changes according to current time and previous moment incident ray, the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface;
At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and obtain the two-dimensional attitude angle of incident ray according to the center-of-mass coordinate of described each hot spot.
This method further comprises: in first moment of measuring beginning and second moment, entire image sensor imaging surface is lined by line scan, calculate first constantly and second center-of-mass coordinate of each hot spot constantly, and the size of the upper left corner coordinate and the self-adaptation performance prediction window of self-adaptation performance prediction window is set according to the spacing of the center-of-mass coordinate of second each hot spot of the moment.
In the such scheme, the position of self-adaptation performance prediction window on next time chart image-position sensor imaging surface of described prediction, for: choose the center-of-mass coordinate of any one hot spot, self-adaptation performance prediction window is all predicted according to the center-of-mass coordinate variation of selected hot spot current time and previous moment at second each constantly later upper left corner coordinate constantly;
Described center-of-mass coordinate variation according to two moment before the selected hot spot is predicted and is specially: the upper left corner coordinate of current time self-adaptation performance prediction window is added that the center-of-mass coordinate of selected hot spot changes the upper left corner coordinate that obtains next moment self-adaptation performance prediction window.
In the such scheme, described according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, for: according to the gray-scale value and the pixel coordinate value of each pixel in the above self-adaptation performance prediction window of imageing sensor imaging surface, the mode of employing parallel pipelining process is calculated the center-of-mass coordinate of each hot spot.
In the such scheme, this method further comprises: before calculating two-dimensional attitude angle according to the center-of-mass coordinate of described each hot spot, align according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation and to penetrate hot spot and flare is discerned, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended.
In the such scheme, described center-of-mass coordinate according to described each hot spot obtains the two-dimensional attitude angle of incident ray, for: pinhole diaphragm, plane mirror and imageing sensor imaging surface are carried out system modelling, increase the z axle when setting up plane right-angle coordinate for the imageing sensor imaging surface, by the existing predefined system of z axis body focal length, the center-of-mass coordinate and the described system focal length of described each hot spot obtained incident ray by the triangle geometric operation two-dimensional attitude angle.
The present invention also provides a kind of high Dynamic Two-dimensional attitude angle system, comprising: imaging and pretreatment unit, computer processing unit; Wherein,
Imaging and pretreatment unit, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface; At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and the center-of-mass coordinate of each hot spot that will obtain is sent to computer processing unit;
Computer processing unit is used for obtaining according to the center-of-mass coordinate of described each hot spot the two-dimensional attitude angle of incident ray.
In the such scheme, described imaging and pretreatment unit comprise: imageing sensor, self-adaptation performance prediction window unit, centroid calculation unit; Wherein,
Imageing sensor is used for light signal with each hot spot imaging region and is converted to electric signal and is shown to the imageing sensor imaging surface;
Self-adaptation performance prediction window unit, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes, predict the position of self-adaptation performance prediction window on next time chart image-position sensor imaging surface, and with the position informing centroid calculation unit of described self-adaptation performance prediction window;
The centroid calculation unit, be used in described next moment, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, gray-scale value and pixel coordinate value according to each pixel in the above self-adaptation performance prediction window of imageing sensor imaging surface adopt the mode of parallel pipelining process to calculate the center-of-mass coordinate of each hot spot, and the center-of-mass coordinate of each hot spot is sent to self-adaptation performance prediction window unit and computer processing unit respectively.
In the such scheme, described imaging and pretreatment unit further comprise: the positive and negative recognition unit of hot spot, be used for aligning and penetrate hot spot and flare is discerned according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended, and the center-of-mass coordinate that will just penetrate in the center-of-mass coordinate of hot spot and the imaging surface that flare is mapped to virtual extended sends to computer processing unit; The imageing sensor driver element is used for imageing sensor is driven.
In the such scheme, described computer processing unit, comprise system modelling unit, attitude angle computing unit, wherein, the system modelling unit, be used for pinhole diaphragm, plane mirror and imageing sensor imaging surface are carried out system modelling, increase the z axle when setting up plane right-angle coordinate, by the existing predefined system of z axis body focal length for the imageing sensor imaging surface; The attitude angle computing unit is used for center-of-mass coordinate and predefined system focal length with described each hot spot obtain incident ray by the triangle geometric operation two-dimensional attitude angle.
A kind of high Dynamic Two-dimensional attitude angle measuring method provided by the invention and system, the center-of-mass coordinate of a hot spot on the imageing sensor imaging surface changes according to current time and previous moment incident ray, the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface; At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and obtain the two-dimensional attitude angle of incident ray according to the center-of-mass coordinate of described each hot spot; So, can realize high dynamic two-dimensional attitude angular measurement, greatly reduce the data volume of data quantity transmitted and subsequent treatment, alleviate the processing burden of system.
Description of drawings
Fig. 1 realizes the synoptic diagram of high Dynamic Two-dimensional attitude angle measuring method flow process for the present invention;
Fig. 2 is the synoptic diagram of self-adaptation performance prediction window position prediction of the present invention;
Fig. 3 is the sequential synoptic diagram of processes pixel in the prior art;
Fig. 4 is the sequential synoptic diagram of processes pixel among the present invention;
Fig. 5 is for being mapped to the center-of-mass coordinate of flare the synoptic diagram of virtually expanding imaging face by reflective-mode among the present invention;
Fig. 6 realizes the synoptic diagram of high Dynamic Two-dimensional attitude angle system architecture for the present invention.
Embodiment
Basic thought of the present invention is: the center-of-mass coordinate of a hot spot on the imageing sensor imaging surface changes according to current time and previous moment incident ray, the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface; At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and obtain the two-dimensional attitude angle of incident ray according to the center-of-mass coordinate of described each hot spot.
The present invention is described in further detail below by drawings and the specific embodiments.
The present invention realizes high Dynamic Two-dimensional attitude angle measuring method, and as shown in Figure 1, this method comprises following step:
Step 101: the center-of-mass coordinate of a hot spot on the imageing sensor imaging surface changes according to current time and previous moment incident ray, the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface;
Concrete, in the measurement of two-dimensional attitude angle, the incident ray of collimate in parallel light source obtains a plurality of hot spots by asymmetric porous pinhole diaphragm on the imageing sensor imaging surface, in first moment of measuring beginning and second moment, entire image sensor imaging surface is lined by line scan, calculate the center-of-mass coordinate of first moment and second each hot spot of the moment, and according to second constantly the spacing of the center-of-mass coordinate of each hot spot the size of the upper left corner coordinate and the self-adaptation performance prediction window of self-adaptation performance prediction window is set, described self-adaptation performance prediction window comprises and greater than the imaging region of described each hot spot, still can comprise the imaging region of each hot spot to guarantee next self-adaptation performance prediction window constantly; When prediction, only need choose the center-of-mass coordinate of one of them hot spot, self-adaptation performance prediction window is all predicted according to the center-of-mass coordinate variation of selected hot spot current time and previous moment at second each constantly later upper left corner coordinate constantly, because each time shutter constantly is very short, the motion of hot spot can be regarded as linear uniform motion in the so short time, as shown in Figure 2, suppose that asymmetric porous pinhole diaphragm is three vent needle hole diaphragms, the size of imageing sensor imaging surface is 1024 * 1024, size at the second self-adaptation performance prediction window that is provided with constantly is 200 * 200, obtains the center-of-mass coordinate (x of selected hot spot current time
C2, y
C2), the upper left corner coordinate (x of current time self-adaptation performance prediction window
2, y
2) and the center-of-mass coordinate (x of previous moment
C1, y
C1), then the center-of-mass coordinate of selected hot spot is changed to: the displacement of x direction and direction are Δ x
1, the y direction displacement and direction be Δ y
1, as shown in Equation (1);
Δx
1＝x
c2-x
c1
Δy
1＝y
c2-y
c1 (1)
Upper left corner coordinate (x with current time self-adaptation performance prediction window
2, y
2) add the center-of-mass coordinate changes delta x of selected hot spot
1With Δ y
1Obtain next upper left corner coordinate (x of self-adaptation performance prediction window constantly
3, y
3), as shown in Equation (2).
x
3＝x
2+Δx
1 (2)
y
3＝y
2+Δy
1
Further, before measuring beginning, this step also is included in the imageing sensor imaging surface and sets up plane right-angle coordinate, can set the pinhole diaphragm center is the initial point of plane right-angle coordinate to the vertical point of imageing sensor imaging surface, perhaps, the upper right corner of setting imageing sensor imaging surface is the initial point of plane right-angle coordinate.
Step 102: at next constantly, when described self-adaptation performance prediction window does not exceed the imageing sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface;
Concrete, at next constantly, upper left corner coordinate and size according to described self-adaptation performance prediction window, when determining not exceed the imageing sensor imaging surface, according to the gray-scale value and the pixel coordinate value of each pixel in the above self-adaptation performance prediction window of imageing sensor imaging surface, the mode of employing parallel pipelining process is calculated the center-of-mass coordinate of each hot spot;
The mode of described employing parallel pipelining process is calculated the center-of-mass coordinate of each hot spot, specifically: cut apart and the first moment centroid algorithm based on four connected domains, by each the grey scale pixel value F (x in the above self-adaptation performance prediction window of reading images sensor imaging surface line by line, y) and pixel coordinate value (x, y), the principle of cutting apart according to four connected domains makes marks to the pixel of gray scale greater than threshold value, and distinguishes each hot spot and each hot spot that adds up according to these marks
With
Here the imaging region of supposing a hot spot is the capable N row of M, obtains the center-of-mass coordinate of each hot spot then according to formula (3).
In the formula, x
0, y
0It is the facula mass center coordinate of trying to achieve; X, y are the coordinates of pixel; (x y) is the gray-scale value of the capable y row of x pixel to F.
In the prior art, read in data, sign judgement and data accumulation to a pixel in the said method finished in the same clock period, as shown in Figure 3, so can cause the sequential anxiety, the maximum clock frequency that system can move is lower, described read data goes into to be read pixel gray-scale value F (x, y) and coordinate figure (x, y), described sign judgement is the above-mentioned pixel of gray scale greater than threshold value made marks, distinguish each hot spot according to these marks, described data accumulation is above-mentioned each hot spot that adds up
With
But for improving the highest running frequency of system, the present invention adopt pipeline organization realize said method read in data, sign is judged and data accumulation, as shown in Figure 4, read in data, sign judgement and the data accumulation of each pixel are taken a clock period respectively, and when execute flag is judged, carry out the data of reading in of next pixel.Like this, in general, each pixel is still by reading in data, sign is judged, the order of data accumulation is carried out, therefore its function is consistent with parallel computation, just its function realizes by pipeline mode, and in the same clock period the also parallel data of reading in, sign is judged and data accumulation, just its object is all different, as data 2 are indicated judgement when reading in data 3, data 1 are carried out data accumulation, after adopting this structure, the highest clock frequency of moving of system can improve greatly after comprehensive, general by bringing up to about 60MHz about original 43MHz, make the overall performance of system be greatly improved.
Further, in this step according to the upper left corner coordinate and the size of described self-adaptation performance prediction window, when determining to exceed the imageing sensor imaging surface, the center-of-mass coordinate of calculating each hot spot according to the gray-scale value and the pixel coordinate value of each pixel on the imageing sensor imaging surface.
Step 103: the two-dimensional attitude angle that obtains incident ray according to the center-of-mass coordinate of described each hot spot;
Concrete, pinhole diaphragm, plane mirror and imageing sensor imaging surface are carried out system modelling, increase the z axle when setting up plane right-angle coordinate for the imageing sensor imaging surface, by the distance of the existing pinhole diaphragm of z axis body to the imageing sensor imaging surface, be predefined system focal length, the center-of-mass coordinate and the described system focal length of described each hot spot obtained incident ray by the triangle geometric operation two-dimensional attitude angle; Described predefined system focal length is the distance of pinhole diaphragm position and imageing sensor imaging surface;
Further, this step is before calculating two-dimensional attitude angle according to the center-of-mass coordinate of described each hot spot, also comprise aligning and penetrate hot spot and flare is discerned, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation;
For example: measuring system adopts three vent needle hole diaphragms, obtains the horizontal ordinate of center-of-mass coordinate of hot spot A, B, C and ordinate by step 102 respectively with x
A, x
B, x
CAnd y
A, y
B, y
CExpression, pinhole diaphragm aperture pitch 600 μ m are projected in pixel distance on the imaging surface with D
AperExpression, D
XABThe horizontal ordinate distance of expression hot spot A, B | x
A-x
B|, D
YBCThe ordinate distance of expression hot spot B, C | y
C-y
B|.By following two conditions for identification, just the penetrating of hot spot, reflective-mode are discerned:
(1) hot spot relative position Rankine-Hugoniot relations: whether satisfy x
A＜x
B, and y
C＜y
B
(2) hot spot distance relation: whether satisfy D
XAB=D
Aper, and D
YBC=D
Aper
If satisfy simultaneously condition (1) and (2), i.e. D
XAB=D
Aper, D
YBC=D
Aper, and x
A＜x
B, y
C＜y
B, judge that then three hot spots all are just to penetrate hot spot, directly calculate two-dimensional attitude angle with center-of-mass coordinate;
If condition (1) and (2) can not be satisfied simultaneously, then must relate to flare in three hot spots, at this moment need to carry out virtual coordinates expansion, the center-of-mass coordinate of flare is mapped on the virtually expanding imaging face by reflective-mode.
According to condition (1) and (2), the light reflection can be divided into three kinds of patterns,
Pattern 1: condition (1) meets, and condition (2) does not meet: hot spot still satisfies x
A＜x
B, y
C＜y
B, but D
XAB＜D
Aper
Pattern 2: condition (1) does not meet, and condition (2) meets: hot spot does not satisfy x
A＜x
B, y
C＜y
B, become x
A＞x
B, but satisfy D
XAB=D
Aper
Mode 3: condition (1) and condition (2) all do not meet: hot spot does not satisfy x
A＜x
B, y
C＜y
B, become x
A＞x
B, while D
XAB＜D
Aper
Be example by imaging surface the right along the mirror reflects that is provided with incident ray below, the reflection case of other three faces can in like manner draw.As shown in Figure 5, the black region among Fig. 5 is represented the original imaging surface of cmos image sensor, and grey outer ring part is illustrated through the image planes that invent after the catoptron expansion.
With pattern 1 is example, and condition (1) meets, and condition (2) does not meet: hot spot still satisfies x
A＜x
B, y
C＜y
B, but D
XAB＜D
Aper, mistake as shown in Figure 5! Do not find Reference source., the mirror reflects that hot spot B and hot spot C are provided with by the imaging surface right hand edge, hot spot A just penetrates, so D
XAB＜D
AperMapping method is that hot spot B and hot spot C are pressed imaging surface the right along mirror image, be mapped to and invent on the image planes, obtain hot spot B and the center-of-mass coordinate of hot spot C in the imaging surface of virtual extended, calculate two-dimensional attitude angle with described center-of-mass coordinate in the imaging surface of virtual extended.
According to giving an example of above-mentioned pattern 1, pattern 2 can in like manner obtain with mode 3, does not describe in detail one by one here.
In order to realize said method, the present invention also provides a kind of high Dynamic Two-dimensional attitude angle system, and as shown in Figure 6, this system comprises: imaging and pretreatment unit 61, computer processing unit 62; Wherein,
Imaging and pretreatment unit 61, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface; At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and the center-of-mass coordinate of each hot spot that will obtain is sent to computer processing unit 62;
Computer processing unit 62 is used for obtaining according to the center-of-mass coordinate of described each hot spot the two-dimensional attitude angle of incident ray;
Described imaging and pretreatment unit 61 comprise: imageing sensor 611, self-adaptation performance prediction window unit 612, centroid calculation unit 613; Wherein,
Imageing sensor 611 is used for light signal with each hot spot imaging region and is converted to electric signal and is shown to the imageing sensor imaging surface;
Self-adaptation performance prediction window unit 612, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes, predict the position of self-adaptation performance prediction window on next time chart image-position sensor imaging surface, and with the position informing centroid calculation unit 613 of described self-adaptation performance prediction window;
Described imaging and pretreatment unit 61 further comprise: the positive and negative recognition unit 614 of hot spot, be used for aligning and penetrate hot spot and flare is discerned according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended, and the center-of-mass coordinate that will just penetrate in the center-of-mass coordinate of hot spot and the imaging surface that flare is mapped to virtual extended sends to computer processing unit 62;
Described imaging and pretreatment unit 61 further comprise: imageing sensor driver element 615 is used for imageing sensor 611 is driven;
Described imaging and pretreatment unit 61 further comprise: interface unit 616 is used for being connected with computer processing unit and carries out data transmission.
Described computer processing unit 62 comprises system modelling unit 621, attitude angle computing unit 622, wherein,
Attitude angle computing unit 622 is used for center-of-mass coordinate and predefined system focal length with described each hot spot obtain incident ray by the triangle geometric operation two-dimensional attitude angle.
Above-mentioned imaging and pretreatment unit 61 can be by field programmable gate array (FPGA, Field-Programmable Gate Array) Parallel Implementation.
By method of the present invention, adopt self-adaptation performance prediction window to realize the imaging of high frame frequency hot spot, and employing high-speed parallel flowing water image processing techniques, reduce greatly and calculate and data quantity transmitted, the processing burden of mitigation system, improve system handles speed, realize high dynamic two-dimensional attitude angular measurement.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. one kind high Dynamic Two-dimensional attitude angle measuring method is characterized in that this method comprises:
The center-of-mass coordinate of a hot spot on the imageing sensor imaging surface changes according to current time and previous moment incident ray, the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface;
At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and obtain the two-dimensional attitude angle of incident ray according to the center-of-mass coordinate of described each hot spot.
2. method according to claim 1, it is characterized in that, this method further comprises: in first moment of measuring beginning and second moment, entire image sensor imaging surface is lined by line scan, calculate first constantly and second center-of-mass coordinate of each hot spot constantly, and the size of the upper left corner coordinate and the self-adaptation performance prediction window of self-adaptation performance prediction window is set according to the spacing of the center-of-mass coordinate of second each hot spot of the moment.
3. method according to claim 2, it is characterized in that, the position of self-adaptation performance prediction window on next time chart image-position sensor imaging surface of described prediction, for: choose the center-of-mass coordinate of any one hot spot, self-adaptation performance prediction window is all predicted according to the center-of-mass coordinate variation of selected hot spot current time and previous moment at second each constantly later upper left corner coordinate constantly;
Described center-of-mass coordinate variation according to two moment before the selected hot spot is predicted and is specially: the upper left corner coordinate of current time self-adaptation performance prediction window is added that the center-of-mass coordinate of selected hot spot changes the upper left corner coordinate that obtains next moment self-adaptation performance prediction window.
4. method according to claim 1, it is characterized in that, described according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, for: according to the gray-scale value and the pixel coordinate value of each pixel in the above self-adaptation performance prediction window of imageing sensor imaging surface, the mode of employing parallel pipelining process is calculated the center-of-mass coordinate of each hot spot.
5. method according to claim 1, it is characterized in that, this method further comprises: before calculating two-dimensional attitude angle according to the center-of-mass coordinate of described each hot spot, align according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation and to penetrate hot spot and flare is discerned, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended.
6. method according to claim 1, it is characterized in that, described center-of-mass coordinate according to described each hot spot obtains the two-dimensional attitude angle of incident ray, for: pinhole diaphragm, plane mirror and imageing sensor imaging surface are carried out system modelling, increase the z axle when setting up plane right-angle coordinate for the imageing sensor imaging surface, by the existing predefined system of z axis body focal length, the center-of-mass coordinate and the described system focal length of described each hot spot obtained incident ray by the triangle geometric operation two-dimensional attitude angle.
7. one kind high Dynamic Two-dimensional attitude angle system is characterized in that this system comprises: imaging and pretreatment unit, computer processing unit; Wherein,
Imaging and pretreatment unit, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes the position of predicting self-adaptation performance prediction window on next time chart image-position sensor imaging surface; At next constantly, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, according to the gray-scale value of each pixel and the center-of-mass coordinate that pixel coordinate value is calculated each hot spot in the above self-adaptation performance prediction window of imageing sensor imaging surface, and the center-of-mass coordinate of each hot spot that will obtain is sent to computer processing unit;
Computer processing unit is used for obtaining according to the center-of-mass coordinate of described each hot spot the two-dimensional attitude angle of incident ray.
8. system according to claim 7 is characterized in that, described imaging and pretreatment unit comprise: imageing sensor, self-adaptation performance prediction window unit, centroid calculation unit; Wherein,
Imageing sensor is used for light signal with each hot spot imaging region and is converted to electric signal and is shown to the imageing sensor imaging surface;
Self-adaptation performance prediction window unit, the center-of-mass coordinate that is used for the hot spot on the imageing sensor imaging surface according to current time and previous moment incident ray changes, predict the position of self-adaptation performance prediction window on next time chart image-position sensor imaging surface, and with the position informing centroid calculation unit of described self-adaptation performance prediction window;
The centroid calculation unit, be used in described next moment, when described self-adaptation performance prediction window does not exceed the sensor imaging surface, gray-scale value and pixel coordinate value according to each pixel in the above self-adaptation performance prediction window of imageing sensor imaging surface adopt the mode of parallel pipelining process to calculate the center-of-mass coordinate of each hot spot, and the center-of-mass coordinate of each hot spot is sent to self-adaptation performance prediction window unit and computer processing unit respectively.
9. system according to claim 8, it is characterized in that, described imaging and pretreatment unit further comprise: the positive and negative recognition unit of hot spot, be used for aligning and penetrate hot spot and flare is discerned according to the relative position Rankine-Hugoniot relations of each hot spot and distance relation, calculate the center-of-mass coordinate in the imaging surface that flare is mapped to virtual extended, and the center-of-mass coordinate that will just penetrate in the center-of-mass coordinate of hot spot and the imaging surface that flare is mapped to virtual extended sends to computer processing unit;
The imageing sensor driver element is used for imageing sensor is driven.
10. system according to claim 7 is characterized in that, described computer processing unit comprises system modelling unit, attitude angle computing unit, wherein,
The system modelling unit is used for pinhole diaphragm, plane mirror and imageing sensor imaging surface are carried out system modelling, increases the z axle when setting up plane right-angle coordinate for the imageing sensor imaging surface, by the existing predefined system of z axis body focal length;
The attitude angle computing unit is used for center-of-mass coordinate and predefined system focal length with described each hot spot obtain incident ray by the triangle geometric operation two-dimensional attitude angle.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322820A (en) * | 2011-09-14 | 2012-01-18 | 西南科技大学 | Automatic separation method for front and rear surface reflected light spots in surface shape detection system |
| CN102636150A (en) * | 2012-04-28 | 2012-08-15 | 北京航空航天大学 | Method for quickly determining attitude angles of spatial axisymmetric rigid-body target |
| CN116577793A (en) * | 2023-07-10 | 2023-08-11 | 天津宜科自动化股份有限公司 | Distance measuring device based on image sensor capable of dynamically adjusting pixel area output |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101363732A (en) * | 2008-09-17 | 2009-02-11 | 北京航空航天大学 | High frame frequency sun sensor and implementing method thereof |
| CN101666640A (en) * | 2009-09-27 | 2010-03-10 | 北京航空航天大学 | Method and system for measuring two-dimensional attitude angle |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101363732A (en) * | 2008-09-17 | 2009-02-11 | 北京航空航天大学 | High frame frequency sun sensor and implementing method thereof |
| CN101666640A (en) * | 2009-09-27 | 2010-03-10 | 北京航空航天大学 | Method and system for measuring two-dimensional attitude angle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102322820A (en) * | 2011-09-14 | 2012-01-18 | 西南科技大学 | Automatic separation method for front and rear surface reflected light spots in surface shape detection system |
| CN102636150A (en) * | 2012-04-28 | 2012-08-15 | 北京航空航天大学 | Method for quickly determining attitude angles of spatial axisymmetric rigid-body target |
| CN116577793A (en) * | 2023-07-10 | 2023-08-11 | 天津宜科自动化股份有限公司 | Distance measuring device based on image sensor capable of dynamically adjusting pixel area output |
| CN116577793B (en) * | 2023-07-10 | 2023-11-14 | 天津宜科自动化股份有限公司 | Distance measuring device based on image sensor capable of dynamically adjusting pixel area output |
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