CN102914262A - Non-cooperative target abutting measurement method based on additional sighting distance - Google Patents
Non-cooperative target abutting measurement method based on additional sighting distance Download PDFInfo
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- CN102914262A CN102914262A CN2012103756878A CN201210375687A CN102914262A CN 102914262 A CN102914262 A CN 102914262A CN 2012103756878 A CN2012103756878 A CN 2012103756878A CN 201210375687 A CN201210375687 A CN 201210375687A CN 102914262 A CN102914262 A CN 102914262A
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Abstract
The invention discloses a non-cooperative target abutting measurement method based on additional sighting distance. The non-cooperative target abutting measurement method is combined by two measurement modes of different principles, i.e. a binocular vision measurement mode and a laser ranging mode, wherein the binocular vision measurement mode is a main measurement means for a six-degree-of-freedom parameter of a target relative position and a relative gesture; the laser ranging mode is mainly characterized in that a laser distance meter provides a laser light beam hot spot emitted on a target surface; and then, a Z coordinate of the hot spot to a laser distance meter coordinate system is obtained. Because measurement precision of the laser distance meter on a relatively long distance is far higher than that of the binocular vision measurement, the Z coordinate measured by a tiny fault of the laser distance meter can be used for correcting the Z coordinate obtained by the binocular vision measurement. X and Y coordinate correction can be carried out by relevance among three position coordinates in the binocular vision measurement, so that the three position coordinates of any characteristic point obtained by vision measurement can be corrected so as to improve binocular vision measurement precision, and especially measurement precision of a long-distance target characteristic point is improved.
Description
Technical field
The present invention relates to a kind of method that can carry out the accurate measurement of 6DOF to relative position and the relative attitude of noncooperative target.
Background technology
In the autonomous rendezvous docking mission of spacecraft, in tens meters distance ranges before the docking, all be the measurement of carrying out target relative position and attitude by means of the optical imagery sensor in the world at present.Therefore need to be on passive space vehicle Installation Mark lamp or reverberator, at the intersection spacecraft equipment that installs and measures it is measured, by setting up target-based coordinate system and measuring coordinate system, through demarcating relative position and the attitude relation of establishing between them, and the relation between monumented point position and each coordinate system, the extraction via the monumented point picture calculates target with respect to 6 degree of freedom kinematic parameters measuring coordinate system with distribution again.In order to make measuring system cover tens meters to the measurement range of inferior rice, the measuring technique of space industry is limited to the measurement to cooperative target at present, adopt active target generator or passive corner reflector as cooperative target, adopt monocular camera can finish the position measurement of relative 6 degree of freedom of target.Yet, for noncooperative target, without any the sign of installing in advance, if will finish aforesaid intersection docking, just can not adopt the known measuring object of the identification light of certain space distribution or reverberator and so on as the reference target on it.Carry out the intersection docking for noncooperative target and measure, cover tens meters measurement ranges that arrive inferior rice in order to make measuring system, at present space flight does not have very proven technique among this technical field is still being explored.
It is ripe utilizing the principle of binocular vision measurement target unique point relative position, as in April, 2003 the Xu Gang cutting edge of a knife or a sword at Vol.32, in the article " based on the movement parameter measurement of binocular vision model " of delivering among the No.2 " infrared and laser engineering ", mention binocular measurement point object module, the error analysis formula of having derived, as seen the error of binocular vision measurement is the inherent error of being brought by model, along with the increase of distance is the quadratic growth relation, therefore binocular vision is measured in the certain situation of baseline, measuring accuracy descends rapidly with distance, cause the EFFECTIVE RANGE of binocular vision to be very limited, can not measure distant object.How to reduce measuring error, break the restriction that error increases with square distance in the binocular Measuring error model, so that the impact point measuring error of far and near distance all is the key issue of biocular systems expanded application in less level.There is no at present substantial breakthrough both at home and abroad for this problem.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of binocular measuring method based on additional sighting distance is provided, can the on-line proving sighting distance, thus proofread and correct the position coordinates that stereoscopic vision calculates, improve the precision of measuring, can improve the tracking stability of measurement point simultaneously.
Technical solution of the present invention is: a kind of noncooperative target based on additional sighting distance is pressed close to measuring method, and step is as follows:
(1) the same direction of the intersection spacecraft of distance noncooperative target certain distance install at least one cover binocular vision camera to a laser range finder, wherein laser range finder is positioned at the right centre position of binocular vision camera, and the laser beam exit direction of laser range finder is on the Bisector of angle of binocular vision camera to two camera optical axises in the optical axial plane;
(2) utilize target to the binocular vision camera to demarcating with laser range finder, obtain laser range finder and measure the transformational relation that coordinate system and any one vision camera of binocular vision camera centering are measured coordinate system;
(3) laser range finder gives off laser beam to noncooperative target, form hot spot in noncooperative target, obtain the distance between laser range finder and the noncooperative target, utilize simultaneously the binocular vision camera to simultaneously described hot spot being carried out imaging, obtain the three-dimensional coordinate of hot spot in vision camera measurement coordinate system;
(4) transformational relation that utilizes the laser range finder obtain and the distance between the noncooperative target and step (2) to obtain, at first to the binocular vision camera to the flare three-dimensional coordinate middle distance that obtains to coordinate revise, then the binocular vision camera is revised the coordinate of all the other both directions in the flare three-dimensional coordinate that obtains;
(5) obtain the 6DOF measuring amount of noncooperative target, wherein three position coordinateses are the results that step (4) is revised, and three attitudes are based on the right Attitude Calculation result of three position correction results' binocular vision camera.
The method of in the described step (4) the binocular vision camera being revised the flare three-dimensional coordinate that obtains is: utilize the binocular vision camera to measure the distance of the laser spots that laser range finder sends, and compare with the distance of laser range finder output, obtain the distance to correcting value, then utilize distance to correcting value all the other both directions are proofreaied and correct, also adopt laser facula apart from proofreading and correct to correcting value for the further feature point position that binocular vision camera pair and laser facula obtain simultaneously; Perhaps adopt the mode of match, carry out each distance of required scope on ground and carry out the curve first time to the position for the measuring error of binocular vision measurement camera, then to the first time curve residual error again carry out match, finish the correction to three-dimensional coordinate; Perhaps adopt the mode of match, adjust the distance in the process that the space draws near and carry out segmentation, progressively obtain the range data of each section, the error match is carried out in segmentation, finishes the correction to three-dimensional coordinate.
The present invention's advantage compared with prior art is: the inventive method with accurate laser range finder distance to position measurements correction two CCD camera measure system for distance to measured value, broken through traditional two CCD camera measure system for the square distance increasing law of impact point errors in position measurement, and utilize distance to measured value and vertical range to the algebraic relation between the measured value, make three coordinate direction errors in position measurement values equilibriums of far and near distance in the ranging, and obtain decrease, improved omnidistance measuring accuracy.The inventive method does not need the cooperation measurement target of picture identification light and reverberator and so on as utility appliance, can reduce the condition of intersection docking, be suitable for docking with the target intersection of complete the unknown and arrest, but the inventive method is still feasible when having the cooperation measurement target, the vision measurement system that can adopt a pair of binocular camera to form at super close distance carries out the identification of unknown object feature to be determined with three coordinates, and then the measurement of carrying out three-dimensional relative attitude is determined.
Description of drawings
Fig. 1 is the schematic diagram of the inventive method;
Fig. 2 is the process flow diagram of the inventive method;
Fig. 3 is the schematic diagram that utilizes laser range finder that the error of two CCD camera measure system is proofreaied and correct in the inventive method;
Fig. 4 is binocular imaging error analysis schematic diagram;
Fig. 5 is the matched curve of binocular measuring error data in the embodiment of the invention;
Fig. 6 is wide lubber line error comparison diagram in the embodiment of the invention;
Fig. 7 is wide baseline correction result in the embodiment of the invention.
Embodiment
As shown in Figure 1, schematic diagram for the inventive method, there is shown two groups of binocular vision cameras pair, when realizing method of the present invention, only need one group of binocular vision camera to getting final product, but in order to improve the precision of measurement, can select two groups even organize the binocular vision camera to (use, measure according to concrete segmentation) more, each group binocular vision camera is to all independent of measuring sensor (be each group binocular vision camera between there is no contact), during following methods is narrated also only take one group of binocular vision camera to describing as example.
The binocular vision camera is installed head for target, makes it to keep certain angle between optical axis, and corner dimension is determined mainly to require to determine from satisfying binocular intersection visual field, measuring distance scope, target sizes etc.Laser range finder is positioned at the binocular vision camera to be installed middle position, and the laser beam exit direction is on the Bisector of angle of binocular vision camera to two camera optical axises in the optical axial plane, and error is not more than 1/10 of its angle.In addition, in order to increase the sharpness of camera imaging, can increase the active illumination system, so that the work spectrum that covers vision camera and the illumination of satisfying the camera exposure amount to be provided, the variation that the active illumination system can adapt to measuring distance is divided into many grades of luminous intensity controls.In addition, the active illumination system can be 1 group, also can be many groups, and distributed mounting means can in the middle of baseline, also can near each vision camera, also can be adopted in the installation site.
During measurement, relate to following coordinate system:
Laser range finder is measured coordinate system O
0X
0Y
0Z
0: initial point O
0Be positioned on the generating laser outgoing beam axle, and on laser range finder range zero point (definite by demarcating).O
0Z
0Direction of principal axis is consistent with the outgoing beam axle, towards exit direction.O
0X
0Axle is perpendicular to O
0Z
0, direction is in face of O
0Z
0Towards the right side.O
0Y
0Become right-handed system with front diaxon.
The left camera image coordinates of binocular vision is u
lp
lv
l: initial point p
lBe positioned at the upper left angle point pixel center of image planes detector, transverse axis p
lu
lWith detector the first row central lines and meet target to the right, longitudinal axis p
lv
lWith left several first row central lines and meet target down.
The right camera image coordinates of binocular vision is u
rp
rv
r: initial point p
rBe positioned at the upper left angle point pixel center of image planes detector, transverse axis p
ru
rWith detector the first row central lines and meet target to the right, longitudinal axis p
rv
rWith left several first row central lines and meet target down.
The left camera of binocular vision is measured coordinate system O
lX
lY
lZ
l: initial point O
lBe positioned at the center of detector center pixel, O
lZ
lPoint to target, O perpendicular to the detector sensitive area
lX
lAnd O
lY
lRespectively with p
lu
lAnd p
lv
lParallel and direction is consistent.
The right camera of binocular vision is measured coordinate system O
rX
rY
rZ
r: initial point O
rBe positioned at the center of detector center pixel, O
rZ
rPoint to target, O perpendicular to the detector sensitive area
rX
rAnd O
rY
rRespectively with p
ru
rAnd p
rv
rParallel and direction is consistent.
World coordinate system O
wX
wY
wZ
w: initial point O
wFor arrange in the measurement field a bit, three change in coordinate axis direction and O
lX
lY
lZ
lPerhaps O
rX
rY
rZ
rThree change in coordinate axis direction consistent.
Generally speaking, world coordinate system is measured coordinate system with the left camera of binocular vision, the right camera of binocular vision is measured coordinate system and overlapped.
Measuring method reality of the present invention is combined by the metering system of two different principle, the one, the binocular vision metering system, this is the main measurement means of 6 degree of freedom parameters of target relative position and relative attitude, another is the laser ranging mode, mainly be to provide a laser beam speck of beating on target surface by laser range finder, then obtain speck to the Z coordinate of laser range finder coordinate system.Measure owing to be higher than binocular vision far away in the measuring accuracy of distant location laser range finder relatively, therefore the Z coordinate that measured by binocular vision of the Z coordinates correction measured of the slight error of available laser range finder.Relevance in being measured by binocular vision again between three position coordinateses, carry out X, Y coordinates correction, so that three position coordinateses of the arbitrary characteristics point that vision measurement obtains all obtain proofreading and correct, thereby improved the precision that binocular vision is measured, especially improved the measuring accuracy of distant location target signature point, flow process as shown in Figure 2.
Therefore, before measuring, need to know the relative coordinate relation between laser range finder and the vision camera, need that namely laser range finder is measured coordinate system and demarcate.Here suppose that laser range finder only has a laser beam, and coordinate is positioned at the center of baseline.Timing signal can adopt the gridiron pattern target to carry out, and its principle is at the z along laser range finder
0Direction of principal axis is selected three distances, places successively the gridiron pattern target, then calibrates the coordinate relation between vision camera measurement coordinate system and the gridiron pattern target, obtains thus the coordinate relation between vision camera measurement coordinate system and the laser range finder measurement coordinate system again.
Target is measured coordinate system o at laser range finder
0-x
0y
0z
0Under position relationship known, therefore can directly obtain the laser coordinate of each lattice angle point on the gridiron pattern target.In addition, can from the image of vision camera, extract and calculate the coordinate of each angle point of target under camera image coordinates system, be converted into again at camera and measure three-dimensional coordinate under the coordinate system, can calculate laser range finder according to these coordinates and measure transition matrix between coordinate system and the vision camera measurement coordinate system.
Supposing that target has N to demarcate angle point, is o at laser coordinate
0-x
0y
0z
0Lower N demarcate angle point can be expressed as matrix P,
Measure coordinate system o at the left camera of binocular vision
l-x
ly
lz
lLower N demarcate angle point can be expressed as matrix P
1,
Transformational relation during the rectangular coordinate system conversion between the unique point coordinate is as follows,
Wherein, r
IjThe element of transformation matrix, t
iIt is the translational movement of three-dimensional coordinate.i＝1，2，3；j＝1，2，3。Following formula is written as homogeneous form, can obtains:
If the transformation matrix that the left camera of binocular vision is measured between coordinate system and the laser range finder measurement coordinate system is M, is written as matrix form and is
P＝M·P
l
Use least square method, can obtain M,
M·P
lP
l T＝PP
l T
In order to guarantee P
1P
1 TReversible, point set must be not coplanar.Therefore in the actual tests process, target provides 48 angle points, measures three different distance, obtains altogether 144 not coplanar angle points.From calibration principle, the degree of accuracy of the position that target is placed is influential to stated accuracy.The M that measures can be used for the laser range finder measurement data and is transformed into binocular vision and measures coordinate under the coordinate system, so that the calibration measurements error.
Laser range finder not only can measurement target arrive the distance that laser range finder is measured coordinate system, and the hot spot that the laser beam of laser range finder is throwed at target surface can be used as the right artificial feature point use of binocular vision camera, this hot spot respectively camera right about imaging on two camera focal planes, by the conversion of camera image coordinates system with camera measurement coordinate system, and the binocular camera of knowing resolves algorithm for feature extraction and the binocular locus point of this hot spot, can determine this hot spot in vision camera to measuring the coordinate in the coordinate system.
The measuring error correction that utilizes additional sighting distance (the measuring distance value that laser range finder obtains) to measure for binocular vision has two kinds of methods, and a kind of is direct correction method, and a kind of is the error fitting process.
Utilize additional sighting distance (the measuring distance value that laser range finder obtains) as follows for the direct correction principle of measuring error of binocular vision measurement:
For pure two CCD camera measure system, still there is larger systematic error in the measurement to unique point after vision camera is demarcated, and its Changing Pattern and Measuring error model coincide, and the measuring error of Z-direction is the quafric curve rule.Therefore after vision camera is demarcated, also need the measuring error that binocular vision is measured is proofreaied and correct, utilize the method for curve to calculate the Changing Pattern of error, in measurement result output, proofread and correct.By verification experimental verification, through after the error correction, measuring accuracy will improve greatly.But aircraft is in the situation of rail, the correction of carrying out systematic error has difficulties, therefore the inventive method proposes to utilize laser ranging as additional sighting distance system to be carried out the error on-line correction: the distance of measuring the laser spots that laser range finder sends with binocular vision system, compare with the distance of laser range finder output, obtain correcting value, thereby the unique point coordinate to other is proofreaied and correct, and flow process as shown in Figure 3.
The actual range of supposing laser spots is Z
i, for the laser facula distance, the result that binocular vision is measured is D
C(Z
i), the reading of laser range finder i.e. additional sighting distance is D
L(Z
i), correcting value b then
0(Z
i) be
b
0(Z
l)＝D
C(Z
i)-D
L(Z
i)
Further feature point for catching simultaneously with laser facula all can adopt b
0(Z
i) proofread and correct the distance B of j unique point of binocular vision camera output
Cj(Z
i), the value D ' after it is proofreaied and correct
Cj(Z
i) be
D
Cj(Z
i)＝D′
Cj(Z
i)-b
0(Z
i)
More than be by additional sighting distance proofread and correct a binocular vision measure in each unique point measuring coordinate system O
lX
lY
lZ
lUnder Z coordinate vision determine the method for error, the X under this coordinate system, the Y coordinates correction calculates by the imaging model formula, method is as follows.
As shown in Figure 4, for z in the binocular vision measurement
wThe correction of direction is finished by the additional sighting distance of laser range finder, as mentioned above, and for x
w, y
wThe measurement update of direction position coordinates is by itself and z
wRelation proofreaied and correct.Among the figure
Symbology points to the direction vector in the page; Y among the figure
wAxle points in the page by the right-handed system rule; Two vision camera horizontal positioned, on the same level face, i.e. photocentre O
lAnd O
rThe y coordinate identical; The world coordinate system initial point is the projection centre of left camera, X
lAnd X
rBe horizontal axis in the image planes, Y
lAnd Y
rBe the vertical coordinate axle in the image planes, and coordinate axis y
wIn the same way; The focal length of two cameras is f
1And f
2, the angle of optical axis and x axle is α
1And α
2, ω
1And ω
2Be the projected angle of object point P, B is two parallax ranges between the camera subpoint, and the three-dimensional coordinate that can be obtained spatial point P by geometric relationship is:
By computing formula as seen, when utilizing additional sighting distance to make z
wMeasuring error when reducing, x
w, y
wThe measuring error of position coordinates also decreases.Namely proofreaied and correct z
wMeasuring error has also just been proofreaied and correct x simultaneously
w, y
wMeasuring error.
The measuring error fitting correction principle of utilizing additional sighting distance (the measuring distance value that laser range finder obtains) to measure for binocular vision is as follows:
The method that the vision measurement system error relies on additional sighting distance to proofread and correct is that the matched curve by error measuring value realizes, can carry out online fitting by two kinds of approach and proofread and correct.
The online fitting of the first is proofreaied and correct the approach principle: the additional sighting distance of carrying out the required separation distance scope in the ground experiment chamber is measured the Curve of the Measuring Error fitting correction of camera for binocular vision, be called for the first time and proofread and correct, residual error after the correction still has certain regularity, carry out for the second time the residual error fitting correction, can further reduce the measurement residual error, secondary correction can be realized by on-line correction.
The online fitting of the second is proofreaied and correct the approach principle: in the process that draws near, be progressively to obtain each positional distance data, rather than obtain in the ground experiment after all measurement data total data being carried out match.Therefore the online fitting algorithm needs segmentation to carry out.For example, in the scope of 15m-10m, obtained sighting distance and the binocular measurement result of laser spots, calculated the measuring error in going beyond the scope, and this part data has been carried out match, obtain fitting result after, according to fitting parameter the further feature point is carried out error correction; When continuing near target from 10m, along with the increase of sampled data, its fitting result will be more accurate also.
Embodiment
As shown in Figure 1, the baseline of long baseline binocular measuring system (the first binocular vision camera to) is longer, is positioned at both sides; The baseline of short baseline binocular measuring system (the second binocular vision camera to) is shorter, is positioned at the middle part.Two cover binocular measuring systems are installed on the platform of maneuverable spacecraft, space layout can be adjusted as required, as long as determine the mutual alignment relation through strict the demarcation between the measurement coordinate system of every cover binocular measuring system, double-basis line binocular measuring system can be by data handling system collection image stores processor separately, data handling system can adopt the flush bonding processor of DSP similar functions, also can adopt common computer to carry out work.The data processor mount message process software of double-basis line two CCD camera measure system, this software have the functions such as extraction, camera control, illumination control, system's detection and autonomous operation control of measuring system demarcation, image processing, target signature identification and extraction, target relative position and attitude information.
Long baseline and short baseline binocular measuring system are installed on the maneuvering satellite platform, overlapping region, two one camera visual fields should cover measured noncooperative target, optical axis has certain angle so that the expansion of overlapping region, visual field, the larger expansion that is conducive to overlapped fov of this angle, but can reduce measuring accuracy, therefore it is selected to compromise, generally in 15 °, and in particular cases can be above 15 °.Its space layout mode can be rearranged according to actual needs on this basis, as the right baseline of short baseline camera and long baseline camera between the baseline angle
Can become 0 ° to 180 ° angle, also can before and after staggered layout, should guarantee that in various layouts camera visual field separately is not blocked, and calibrate different baseline systems and measure transformational relation between the coordinate systems.Camera focus and field angle require to determine that relative aperture determines that being no more than 4 times of depths of focus according to the defocusing amount that causes in the range observation scope is that criterion is carried out according to measuring accuracy.
As an application example, it is as follows to choose the measuring system technical indicator herein:
(1) position measurement distance range: 20m～0.5m
One camera field angle range of choice closely: (40-70) °
Long distance one camera field angle range of choice: (20-40) °
(2) binocular base length range of choice
Low coverage (second) binocular: 0.3m～1m
Long distance (first) binocular: 1.5m～2m
(3) positional accuracy measurement: 0.01m～0.5m
(4) Data Update frequency: 1～10Hz
(5) rotation angle measuring accuracy: 1 °～3 °
(6) target size: 2m * 2m * 2m
(7) spin angle velocity term of reference: 0.5～2 °/s
(8) roll rate measuring accuracy: 0.2～0.5 °/s
According to above technical requirement, the design parameter determination of wide baseline binocular camera is:
Focal length: 45mm
Field angle: 30 ° * 30 °
Relative aperture: 1/2～1/8
Frame per second: 5Hz
Base length: 2m
Optical axis included angle: 8 °
According to above technical requirement, the design parameter determination of short baseline binocular camera is:
Focal length: 29mm
Field angle: 46 ° * 46 °
Order is to the aperture: 1/2～1/8
Frame per second: 5Hz
Base length: 0.5m
Optical axis included angle: 8 °
According to above technical requirement, the design parameter determination of laser range finder is:
(1) operating distance: 100m～0.5m;
(2) repetition frequency: 10Hz;
(3) optical maser wavelength: 650nm;
(4) distance accuracy 1mm (σ);
Above data are the tradeoff design results according to all technical requirement optimization and demonstration gained such as accuracy requirement, field coverage, measuring distances.
The first on-line correction method is direct correction, does not need in advance measurement data of ground, and the additional sighting distance that directly adopts laser ranging to obtain is directly proofreaied and correct, as mentioned above.
The second on-line correction method is fitting correction, and the first approach wherein is based upon on the basis that the omnidistance multimetering in ground demarcates, and obtains surveying omnidistance multimetering graph of errors, through once or quadratic fit eliminate systematic error.Wherein the second approach is set up on the basis of On-line multi-point measurement match, along with the increase fitting precision of measurement point improves thereupon, reaches at last the precision similar to the first match approach.
Carry out the ground simulation demonstration test according to above technical scheme for the first approach of the second on-line correction method, from ground test result, not proven its error of measurement result is larger, and increase according to quafric curve,, about 50mm, then rise to about 250mm in the time of 10m in the distance error of 5m.In the situation that can't carry out the systematic error demarcation, additional sighting distance can be used for the calibration to measuring.
Adopt the inventive method, at first wide baseline case is analyzed and processed.Can calculate systematic error according to vision system to the raw data of dummy satellite unique point range observation, see Table lattice 1
Form 1 wide baseline system error
| Centre distance (mm) | Systematic error e S(mm) |
| 3700 | -10.8 |
| 4000 | -3.1 |
| 4300 | 6.1 |
| 4600 | 5.3 |
| 4900 | 17.3 |
| 5100 | 21.5 |
| 5400 | 30.5 |
| 5700 | 26.6 |
| 6000 | 42.1 |
| 6300 | 46.0 |
| 6600 | 62.5 |
| 6800 | 59.5 |
| 7100 | 65.2 |
| 7400 | 91.3 |
| 7700 | 106.0 |
| 8000 | 113.8 |
| 8500 | 134.4 |
| 9000 | 163.6 |
| 9500 | 193.7 |
| 10200 | 230.2 |
The binocular measuring error that test obtains as shown in Figure 5, among the figure be the z wheelbase of binocular measuring system from measuring error, the binocular camera parallax range is about 2m.
Wide baseline system sees the following form to the measurement result of laser spots.
Laser spots is measured under the form 2 wide baselines
Wherein correcting value b is calculated by the difference of scheming survey error and photometric error.Its rule is consistent with systematic error, sees Fig. 6.As can be seen from the figure, the Changing Pattern that systematic error, figure survey error, correcting value three is consistent, and correcting value surveys error with figure and substantially overlap, and at this moment is far smaller than the reason that figure surveys error because of the laser error.
The below will take out separately analysis apart from the measurement data at 10200mm, 6800mm and 3700mm three places.
Form 3 is proofreaied and correct result (mm) apart from the 10200mm place
Form 4 is proofreaied and correct result (mm) apart from the 6800mm place
Form 5 is proofreaied and correct result (mm) apart from the 3700mm place
Can find out that from data figure surveys error 230mm at the 10200mm place, error is-20mm after proofreading and correct; At the 3700mm place, figure surveys error-11mm, is about 2mm after the correction.Error reduces greatly after proofreading and correct.Simultaneously can find that under same distance, it also is discrepant between the error that each unique point must be schemed to survey.
Error (mm) after form 6 figure survey error and proofread and correct
Its curve distribution finds out from test findings that as shown in Figure 7 when distance＜5m, the error of additional sighting distance correction and image measurement is basic identical, in 20mm; Behind distance＞5m, the result that additional sighting distance is proofreaied and correct maintains in the 20mm substantially, and figure survey error increases rapidly, exceeds 200mm.Therefore after the correction through additional sighting distance, measuring accuracy improves greatly.
The content that is not described in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (2)
1. the noncooperative target based on additional sighting distance is pressed close to measuring method, it is characterized in that step is as follows:
(1) the same direction of the intersection spacecraft of distance noncooperative target certain distance install at least one cover binocular vision camera to a laser range finder, wherein laser range finder is positioned at the right centre position of binocular vision camera, and the laser beam exit direction of laser range finder is on the Bisector of angle of binocular vision camera to two camera optical axises in the optical axial plane;
(2) utilize target to the binocular vision camera to demarcating with laser range finder, obtain laser range finder and measure the transformational relation that coordinate system and any one vision camera of binocular vision camera centering are measured coordinate system;
(3) laser range finder gives off laser beam to noncooperative target, form hot spot in noncooperative target, obtain the distance between laser range finder and the noncooperative target, utilize simultaneously the binocular vision camera to simultaneously described hot spot being carried out imaging, obtain the three-dimensional coordinate of hot spot in vision camera measurement coordinate system;
(4) transformational relation that utilizes the laser range finder obtain and the distance between the noncooperative target and step (2) to obtain, at first to the binocular vision camera to the flare three-dimensional coordinate middle distance that obtains to coordinate revise, then the binocular vision camera is revised the coordinate of all the other both directions in the flare three-dimensional coordinate that obtains;
(5) obtain the 6DOF measuring amount of noncooperative target, wherein three position coordinateses are the results that step (4) is revised, and three attitudes are based on the right Attitude Calculation result of three position correction results' binocular vision camera.
2. a kind of noncooperative target based on additional sighting distance according to claim 1 is pressed close to measuring method, it is characterized in that: the method for in the described step (4) the binocular vision camera being revised the flare three-dimensional coordinate that obtains is: utilize the binocular vision camera to measure the distance of the laser spots that laser range finder sends, and compare with the distance of laser range finder output, obtain the distance to correcting value, then utilize distance to correcting value all the other both directions are proofreaied and correct, also adopt laser facula apart from proofreading and correct to correcting value for the further feature point position that binocular vision camera pair and laser facula obtain simultaneously; Perhaps adopt the mode of match, carry out each distance of required scope on ground and carry out the curve first time to the position for the measuring error of binocular vision measurement camera, then to the first time curve residual error again carry out match, finish the correction to three-dimensional coordinate; Perhaps adopt the mode of match, adjust the distance in the process that the space draws near and carry out segmentation, progressively obtain the range data of each section, the error match is carried out in segmentation, finishes the correction to three-dimensional coordinate.
Priority Applications (1)
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