CN102426007A - High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof - Google Patents
High-precision method for measuring attitude angle of triaxial air bearing table and measurement device thereof Download PDFInfo
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Abstract
The invention provides a high-precision method for measuring the attitude angle of a triaxial air bearing table and a measurement device thereof. The measurement device is characterized in that: a guide rail and a window shade are arranged at the perimeter of the bottom of the triaxial air bearing table, an artificial illumination system is arranged on a liftable platform, the guide rail of the bottom of the triaxial air bearing table is used for installing the window shade, a marker is fixed on the bottom surface of the table facet of the triaxial air bearing table, a digital CCD camera is arranged on the liftable platform. The measurement method comprises the following steps: marking the digital CCD camera; collecting the images of the marker and transmitting to a computer which is responsible for image processing by the digital CCD camera; carrying out sub-pixel positioning on the mark point on the marker, and acquiring the precise coordinate of the mark point in the image; and calculating the relative attitude angle between the marker and the digital CCD camera. The measurement device has the advantages of simple installation, and high measurement precision, and can complete the high-precision attitude measurement of the air bearing table. The invention also can be used for the precision measurement of a uniaxial air bearing table.
Description
(1) technical field
The present invention relates to space technology, is exactly a kind of three-axis air-bearing table high-precision attitude angle measuring method and device thereof specifically.
(2) background technology
The air film that three-axis air-bearing table relies on pressurized air between air-bearing and bearing seat, to form; The simulation stage body is floated; Thereby realize approximate friction free relative motion condition, with spacecrafts such as analog satellite in the outer space the very little mechanical environment of suffered disturbance torque.As the spacecraft motion simulator, three-axis air-bearing table carries out the performance of satellite control system full physical simulation experimental check system, is important means and method in the spacecraft development process.
Three-axis air-bearing table need dynamically provide the attitude information such as angle, angular velocity of air floating table through attitude measurement system in process of the test; So that accomplish the control closed loop; Because the special construction of three-axis air-bearing table; Be used for the inapplicable measurement with three-axis air-bearing table of device (like rotary transformer, inductosyn, photoelectric code disk, grating etc.) that turntable measures in the past, needed to consider new measuring method and device.And in practical application at present, the height of measuring system measuring accuracy is directly connected to the effect of l-G simulation test.
Find through searching document; The Chinese invention patent application number: 200610010260.2, patent name is attitude angle of three-axis air-bearing table device and measuring method thereof, this patent is equipped with ccd video camera above three-axis air-bearing table; The LED cursor system of measuring is installed on the air floating table table top; Utilize theory on computer vision to combine the range information of measuring light punctuate spare, calculate the relative movement parameters of air floating table table top with respect to video camera, but because the defective on the system constructing; Measuring accuracy is restricted, thereby influences its actual usable range.
Chinese invention patent application number: 200410009086.7; Patent name is: rigid space pose measuring apparatus and measuring method thereof; This patent adopts the stay-supported scrambler to realize a kind of measurement of rigid space position and attitude of contact; But because three-axis air-bearing table can not allow external touch metering system, because contact has brought interference to air floating table, so this method is not suitable for the attitude information measurement of three-axis air-bearing table.
(be published in aerospace journal .1996 at document " research of the servo angle measuring system of three-axis air-bearing table single frame "; 17 (4): 71-74); The Li Jisu of the Zhang Xiaoyou of Harbin Institute of Technology, Liu Dun and Beijing Control Engineering Inst. etc. has proposed the servo measurement scheme of a kind of single frame; This system on the air floating table base, install one can be around the air floating table center arc arms that rotates of pedal line; And transportable balladeur train is installed, the attitude information of the rotation through responsive arc arms and the traverse measurement air floating table of balladeur train above that.When this system need increase complicated mechanical system and sensor system, mechanism is complicated, and its precision receives the restriction of mechanical hook-up and sensor, can only reach 0.01 °, is difficult to reach high precision.
(3) summary of the invention
The object of the present invention is to provide a kind of three-axis air-bearing table high-precision attitude angle measuring method and device thereof.
The objective of the invention is to realize like this: a kind of three-axis air-bearing table high-precision attitude angle measuring device; It is by three-axis air-bearing table table top, three-axis air-bearing table sphere air-bearing, three-axis air-bearing table bearing base, marker, digital ccd video camera, artificial light system, window-blind, guide rail and be used to install that the liftable platform of video camera and artificial light source forms; Mounting guide rail and window-blind around the three-axis air-bearing table table top bottom; The artificial light system is installed on the liftable platform; Three-axis air-bearing table table top bottom guide track is used to install window-blind; Window-blind is used for when measuring, forming the vision measurement space of sealing, and marker is fixed on the base plane of three-axis air-bearing table table top, and both angular motions are identical; The liftable platform that is used to install video camera and artificial light source is installed in the three-axis air-bearing table bearing base, and digital ccd video camera is installed on the liftable platform.
A kind of measuring method that realizes by described three-axis air-bearing table high-precision attitude angle measuring device of the present invention, step is following:
Step 1: digital ccd video camera is demarcated;
Step 2: close window-blind and form the sealing image capture environment, open artificial light source;
Step 3: digital ccd video camera is gathered the image of marker and is transferred to the computing machine of being responsible for Flame Image Process;
Step 4: the image information of Computer Processing marker, the gauge point on the marker is carried out sub-pixel positioning, obtain the accurate coordinates of gauge point in image;
Step 5: according to principle of computer vision, the relative attitude angle between calculation flag device and the digital ccd video camera.
The present invention provides a kind of attitude angle information that can the kinetic measurement three-axis air-bearing table, and can not produce three-axis air-bearing table high-precision attitude angle measuring device and the measuring method of disturbing to air floating table.Marker is installed in the table top bottom of three-axis air-bearing table, and around three-axis air-bearing table table top bottom mounting guide rail and window-blind; The liftable platform is installed on the three-axis air-bearing table pedestal, and digital ccd video camera and light source are installed on this platform, video camera is through the IMAQ card connection in data line and the computing machine.The used video camera of the present invention is installed on the three-axis air-bearing table stage body, and marker is installed on three-axis air-bearing table table top bottom, and the space length between video camera and the marker shortens.Increased artificial light source, artificial light source unique point and window-blind have been set up the image capture environment of a sealing,, eliminated the external light source interference.The present invention has adopted the measurement features device of calibrating template formula, compares with the measuring light mark system that light emitting diode constitutes, and precision is higher.Camera lens has used object space telecentric mirror head, is applicable to the precise vision measurement.
That three-axis air-bearing table high-precision attitude measuring method of the present invention, measuring equipment are installed is simple, measuring accuracy is high, and high-precision attitude that can the measurement of gas floating platform is measured.The present invention also is used for the accurate measurement of single axle table attitude angle.
(4) description of drawings
Fig. 1 forms synoptic diagram for the attitude angle of three-axis air-bearing table system;
Fig. 2 is measurement features sign and camera position synoptic diagram;
Fig. 3 is a three-axis air-bearing table angle measurement process flow diagram.
(5) embodiment
For example the present invention is described further below in conjunction with accompanying drawing.
Embodiment 1: combine Fig. 1; A kind of three-axis air-bearing table high-precision attitude angle measuring of the present invention device; It is by three-axis air-bearing table table top (1), three-axis air-bearing table sphere air-bearing (2), three-axis air-bearing table bearing base (3), marker (4), digital ccd video camera (5), artificial light system (6), window-blind, guide rail (7) and be used to install that the liftable platform (8) of video camera and artificial light source forms; Mounting guide rail and window-blind around three-axis air-bearing table table top (1) bottom; The artificial light system is installed on the liftable platform, and three-axis air-bearing table table top bottom guide track is used to install window-blind, and window-blind is used for when measuring, forming the vision measurement space of sealing; Marker (4) is fixed on the base plane of three-axis air-bearing table table top (1); Both angular motions are identical, and the liftable platform (8) that is used to install video camera and artificial light source is installed in three-axis air-bearing table bearing base (3), and digital ccd video camera (5) is installed on the liftable platform (8).
A kind of three-axis air-bearing table high-precision attitude angle measuring method of the present invention, step is following:
Step 1: digital ccd video camera is demarcated;
Step 2: close window-blind and form the sealing image capture environment, open artificial light source;
Step 3: digital ccd video camera is gathered the image of marker and is transferred to the computing machine of being responsible for Flame Image Process;
Step 4: the image information of Computer Processing marker, the gauge point on the marker is carried out sub-pixel positioning, obtain the accurate coordinates of gauge point in image;
Step 5: according to principle of computer vision, the relative attitude angle between calculation flag device and the digital ccd video camera.
Embodiment 2: combine Fig. 1-Fig. 3; The present invention is mainly by forming with the lower part: three-axis air-bearing table table top (1), three-axis air-bearing table sphere air-bearing (2), three-axis air-bearing table bearing base (3), marker (4), digital ccd video camera (5), artificial light source (6), window-blind guide rail (7),, be used to install the liftable platform (8) of video camera and artificial light source.Marker (4) is fixed on the base plane of three-axis air-bearing table table top (1), and both angular motions are identical.Liftable platform (8) is installed on the three-axis air-bearing table bearing base (3), can move up and down as required to suitable stationkeeping.Video camera (5) is installed on the liftable platform (8), gathers the image information that marker (4) is gone up each mark, and artificial light source (6) provides constant, reliable illumination for IMAQ.Video camera is selected black and white numeral ccd video camera for use, uses CameraLink to link to each other with computing machine, and is anti-interference.Resolution of video camera combines the marker size to consider.Camera lens is selected object space telecentric mirror head for use; The geometry of marker and number confirmed by The measuring precision and selected algorithm etc., and a kind of embodiment is the installations of arranging in a line of three unique points, on short transverse, constitutes isosceles triangle; Fig. 2 is video camera and characteristic point position synoptic diagram.The material of template can use materials such as glass, metal, aluminium base, and precision can reach 0.0005 micron.
Embodiment 3: groundwork flow process of the present invention is as shown in Figure 3, and concrete disposal route is:
1. video camera is demarcated: gather the scaling board image, so that video camera is demarcated, quantity is more than 4 pairs as uncalibrated image; Extract in the uncalibrated image, confirm the image coordinate of each calibration point on the scaling board; According to the physical size of scaling board, confirm the world coordinates of each calibration point on the scaling board; To video camera desired center perspective imaging model, according to above data, use least square method to try to achieve homography matrix H, reflected the relation between world coordinate system and the image coordinate system; By homography matrix H, can solve intrinsic parameters of the camera, thereby obtain each parameter of desirable perspective model of video camera; On the basis of video camera desired center perspective imaging model, use maximum likelihood method can try to achieve distortion parameter, thereby set up video camera actual imaging model, accomplish calibration process.
2. close window-blind and form the sealing image capture environment, open artificial light source;
3. gather the image of measurement features device (being marker);
4. the image information of Computer Processing marker is carried out sub-pixel positioning to the gauge point on the marker, obtains the accurate coordinates of gauge point in image.The image coordinate of gauge point is characterized by its center in the marker, and the center of each gauge point is accurately located, and need carry out following a few step:
(1) picture noise is removed in image pre-service.
(2) image segmentation, all pixel pixel values of statistical picture are confirmed segmentation threshold, according to threshold value each pixel binaryzation are sorted out.Because have noise in the image, can there be some burrs in the edge of cursor after the binaryzation,, carry out morphologic filtering and handle in order to eliminate the influence of these burrs.
(3) extract the cursor characteristic.According to image segmentation result, adopt 8 neighborhood region-growing methods to confirm the cursor character pixel.
(4) cursor sub-pixel positioning.Sub-pixel positioning needs two pacing itemss: the first, and target is made up of a plurality of points, and has certain geometry and intensity profile characteristic; The second, must the particular location of hard objectives referencer on target.Satisfy this two conditions among the present invention, use centroid method to carry out the sub-pixel hi-Fix cursor.Cursor is characterized as circle, is fit to adopt centroid method to confirm the cursor centre coordinate during location.According to centre of form formula, calculate the centre of form of cursor characteristic.When cursor characteristic area was of moderate size, the precision of centroid method can reach 0.2～0.5 pixel.
5. according to principle of computer vision, the relative attitude angle between calculation flag device and the video camera.
Utilizing video camera to realize the process of attitude angle of three-axis air-bearing table, is the inverse process that oppositely recovers its three-dimensional structure from the two dimensional image of gauge point, in this process, relates to following coordinate system:
(1) air floating table base coordinate system
(2) air floating table table top coordinate system
(3) camera coordinate system
(4) photo coordinate system
(5) measurement features device coordinate system
Because the transformational relation between air floating table table top coordinate system and the measurement features device coordinate system is the concrete amount that can measure in advance; And also have definite transformational relation between camera coordinate system and the air floating table base coordinate system, so the relative rotary motion parameter between air floating table table top coordinate system and the air floating table base coordinate system can be obtained through the relative rotation parameter that calculates between camera coordinate system and the measurement features coordinate system.
The ultimate principle of vision measurement three-axis air-bearing table attitude angle of the present invention is as follows:
As shown in Figure 2, wherein AK is perpendicular to AC, and AJ is perpendicular to AB; And AK, AJ be on the ABC of plane, and straight line L crosses an A and perpendicular to plane ABC; Straight line L and ray AK constitute plane α, and straight line L and ray AJ constitute plane β, and plane α and the folded area of space of plane β are called V.When video camera during, can unique solution get unique point A, B, 3 coordinates in camera coordinate system of C at SPACE V or W.
Unique point A, B, 3 coordinates in the measurement mechanism coordinate system of C are known, suppose that unique point A, B, the C coordinate in camera coordinate system is X
A, c=x
A, c, y
A, c, z
A, c)
T, X
B, c=x
B, c, y
B, c, z
B, c)
T, X
c=x
C, c, y
C, c, z
C, c)
T, the coordinate in the measurement mechanism coordinate system is x
A, m=(x
A, m, y
A, m, z
A, m)
T, X
B, m=(x
B, m, y
B, m, z
B, m)
T, X
C, m=(x
C, m, y
C, m, z
C, m)
T, camera coordinate system O so
cx
cy
cz
cWith measurement features device coordinate system O
mx
my
mz
mBetween have the following rotation matrix R that concerns
[x
A，cX
B，cX
C，c]＝R[x
A，mX
B，mX
C，m] (1)
By X
A, c, X
B, c, X
C, cAnd X
A, m, X
B, m, X
C, mCan the column vector n of the unit of calculating
A, c, n
B, c, n
C, cAnd n
A, m, n
B, m, n
C, m, rotation matrix R then:
R＝[n
A，cn
B，cn
C，c][n
A，mn
B，mn
C，m]
-1 (2)
Can decomposite three anglecs of rotation between camera coordinate system and the measurement features coordinate system by rotation matrix R, the concrete derivation as follows:
Then in cos β ≠ 0 o'clock, the calculating formula that can get each Eulerian angle is following:
Embodiment 4: combine Fig. 1, the present invention installs marker in the table top bottom of three-axis air-bearing table, and around three-axis air-bearing table table top bottom mounting guide rail and window-blind; The liftable platform is installed on the three-axis air-bearing table pedestal, and digital ccd video camera and light source are installed on this platform, video camera is through the IMAQ card connection in data line and the computing machine.The numeral ccd video camera is installed on the three-axis air-bearing table stage body, and marker is installed on three-axis air-bearing table table top bottom, and the space length between video camera and the marker shortens.Increased artificial light source, artificial light source unique point and window-blind have been set up the image capture environment of a sealing,, eliminated the external light source interference.The present invention has adopted the measurement features device of calibrating template formula, compares with the measuring light mark system that light emitting diode constitutes, and precision is higher.Camera lens has used object space telecentric mirror head, is applicable to the precise vision measurement.Marker is installed in three-axis air-bearing table table top bottom, has on the template to measure required mark, and the geometric configuration of mark, geometry and number are as required and different.
The artificial light system is installed on the liftable platform; The selection of artificial light system need be according to the visual field of camera lens, the distance of illuminator and cursor system, the profile condition and the color of cursor; 4 fundamentals such as image-forming objective lens confirm to select relevant lighting device.Its liftable platform is installed on the three-axis air-bearing table pedestal, and three-axis air-bearing table table top bottom slide rail is used to install window-blind, and window-blind is used for when measuring, forming the vision measurement space of sealing.
Claims (2)
1. three-axis air-bearing table high-precision attitude angle measuring device; It is by three-axis air-bearing table table top (1), three-axis air-bearing table sphere air-bearing (2), three-axis air-bearing table bearing base (3), marker (4), digital ccd video camera (5), artificial light system (6), window-blind, guide rail (7) and be used to install that the liftable platform (8) of video camera and artificial light source forms; It is characterized in that: mounting guide rail and window-blind around three-axis air-bearing table table top (1) bottom; The artificial light system is installed on the liftable platform; Three-axis air-bearing table table top bottom guide track is used to install window-blind; Window-blind is used for when measuring, forming the vision measurement space of sealing, and marker (4) is fixed on the base plane of three-axis air-bearing table table top (1), and both angular motions are identical; The liftable platform (8) that is used to install video camera and artificial light source is installed in three-axis air-bearing table bearing base (3), and digital ccd video camera (5) is installed on the liftable platform (8).
2. three-axis air-bearing table high-precision attitude angle measuring method of realizing by the described three-axis air-bearing table high-precision attitude angle measuring of claim 1 device, it is characterized in that: step is following:
Step 1: digital ccd video camera is demarcated;
Step 2: close window-blind and form the sealing image capture environment, open artificial light source;
Step 3: digital ccd video camera is gathered the image of marker and is transferred to the computing machine of being responsible for Flame Image Process;
Step 4: the image information of Computer Processing marker, the gauge point on the marker is carried out sub-pixel positioning, obtain the accurate coordinates of gauge point in image;
Step 5: according to principle of computer vision, the relative attitude angle between calculation flag device and the digital ccd video camera.
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| CN104006787B (en) * | 2014-05-01 | 2016-07-06 | 哈尔滨工业大学 | Spacecraft Attitude motion simulation platform high-precision attitude defining method |
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| CN105181371A (en) * | 2015-09-10 | 2015-12-23 | 哈尔滨工业大学 | Load installation apparatus for ground simulation of aircrafts |
| CN105480440A (en) * | 2015-11-23 | 2016-04-13 | 上海卫星装备研究所 | Open earth simulator applied to three-axis air bearing table |
| CN106406330A (en) * | 2016-11-23 | 2017-02-15 | 上海航天控制技术研究所 | Interference torque measuring method and system for single-shaft air-bearing table high-precision tracking control |
| CN106595638A (en) * | 2016-12-26 | 2017-04-26 | 哈尔滨工业大学 | Three-axis air floating platform attitude measuring device based on photoelectric tracking technology and measuring method |
| CN106595638B (en) * | 2016-12-26 | 2019-10-22 | 哈尔滨工业大学 | Three-axis air-bearing table attitude measuring and measurement method based on photoelectric tracking technology |
| CN114594681A (en) * | 2020-12-07 | 2022-06-07 | 南京长峰航天电子科技有限公司 | Five-degree-of-freedom servo control system and calibrator |
| CN114594681B (en) * | 2020-12-07 | 2024-05-14 | 南京长峰航天电子科技有限公司 | Five-degree-of-freedom servo control system and calibrator |
| CN114777728A (en) * | 2022-04-06 | 2022-07-22 | 南京理工大学 | Measuring method for obtaining self-attitude and positioning of three-degree-of-freedom air floating platform |
| CN116182807A (en) * | 2023-04-24 | 2023-05-30 | 北京惠朗时代科技有限公司 | Gesture information determining method, device, electronic equipment, system and medium |
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