CN103090796A - Measuring system and measuring method for deflection and descending of rocket - Google Patents
Measuring system and measuring method for deflection and descending of rocket Download PDFInfo
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- CN103090796A CN103090796A CN2011103403284A CN201110340328A CN103090796A CN 103090796 A CN103090796 A CN 103090796A CN 2011103403284 A CN2011103403284 A CN 2011103403284A CN 201110340328 A CN201110340328 A CN 201110340328A CN 103090796 A CN103090796 A CN 103090796A
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Abstract
The invention relates to a measuring system and a measuring method for deflection and descending of a rocket. The measuring system comprises an imaging module, an image acquisition module, an initial image processing module, an after-displacement image processing module and a display device. The imaging module is used for acquiring at least one identifying sign arranged on a rocket hull and imaging the identifying sign. The image acquisition module is used for acquiring the identifying sign images acquired by the imaging module. The identifying sign images comprise an initial image and an after-displacement image. The initial image processing module calculates a first coordinate value of the initial image relative to a calibration location according to the pixel of the imaging module. The after-displacement image processing module calculates a second coordinate value of the after-displacement image relative to a calibration location according to the pixel of the imaging module and calculates displacement of the rocket according to the change of the second coordinate value relative to the first coordinate value. The display device is used for displaying the displacement. By the aid of the measuring system and the measuring method for deflection and descending of the rocket, visual and intelligent tracking for position status and collimation status of a prism of the rocket can be achieved.
Description
Technical field
The present invention relates to the rocket field of measuring technique, specifically, relate to a kind of measuring system and the method for rocket beat, sedimentation.
Background technology
There is larger difference in the ground aiming system of a new generation's carrier rocket with comparing at present.This is mainly manifested in:
(1) build the method for the closely horizontal sight on launching service tower between employing will aim at.
(2) adopt strapdown to be used to organize the initial orientation mode on arrow, namely be used to organize prism and the rocket body rigidity connects firmly.The distortion that the motion that rocket body is put with the wind and sunshine, filling etc. cause passed to 1: 1 and is used to organize prism, made to be used to organize that prism is subjected to displacement or the orientation is reversed.If it is excessive to be used to organize the prism side-play amount, can cause aiming function to lose efficacy.Need the initiatively displacement of tracking measurement prism in real time of ground aiming system.
(3) rocket is from liquid hydrogen filling, and the ground aiming system will implement remote monitoring in the situation that the launching site is unmanned from the backstage, measure and be used to organize the displacement of prism and control guide rail and follow the tracks of.
For above-mentioned sighting system, how in time to obtain intuitively rocket under control state far away and be used to organize the prism displacement data, be one of gordian technique that realizes control tracking aiming far away.
Summary of the invention
Technical matters to be solved by this invention provides the measuring system of a kind of rocket beat, sedimentation, is used to organize the prism displacement data in time to obtain intuitively rocket under control state far away.
In order to solve the problems of the technologies described above, the invention provides the measuring system of ground rocket beat, sedimentation, comprise image processing module and display device after image-forming module, image capture module, initial pictures processing module, displacement, image-forming module is used for catching at least one identifier of being arranged on storepipe and with its imaging; Image capture module is used for gathering the identifier image that described image-forming module obtains, and described identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement; The initial pictures processing module is calculated described initial pictures with respect to the first coordinate figure of a calibration position according to the pixel of described image-forming module; After displacement, image processing module calculates after described displacement image with respect to the second coordinate figure of described calibration position according to the pixel of described image-forming module, and calculates the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure; Display device is used for showing described displacement.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, described image-forming module comprises a point instrumentation and a ccd video camera, described ccd video camera is arranged on described point instrumentation, is provided with cross differentiation line on the camera lens of described point instrumentation.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, described initial pictures processing module comprises: Character mother plate is set up module, and its center relation according to initial pictures and cross differentiation line is set up described the first coordinate figure; The cross curve demarcating module, it is used for demarcating center and the relation of described camera lens between zero point of described cross differentiation line, to obtain the coordinate of described calibration position; The calibrating length module, it is used for demarcating the actual millimeter corresponding to pixel of described ccd video camera.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, described the first coordinate figure and described the second coordinate figure pass through matrix representation.
Further, the invention provides the measuring method of a kind of rocket beat, sedimentation, comprising: S100, catch at least one identifier of being arranged on storepipe and with the step of its imaging by an image-forming module; S130 gathers the identifier image step that described image-forming module obtains, and described identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement; S200, the initial pictures treatment step calculates described initial pictures with respect to the first coordinate figure of a calibration position according to the pixel of described image-forming module; S300 calculates after described displacement image with respect to the second coordinate figure of described calibration position according to the pixel of described image-forming module, and calculates the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure; And S400, show described displacement step.
Above-mentioned measuring method, wherein, in described S100 step, described image-forming module comprises a point instrumentation and a ccd video camera, described ccd video camera is arranged on described point instrumentation, is provided with cross differentiation line on the camera lens of described point instrumentation.
Above-mentioned measuring method wherein, in described S200 step, comprises Character mother plate establishment step S210, creates the template file of character according to initial pictures, and sets up described the first coordinate figure according to the center relation of initial pictures and cross differentiation line.
Above-mentioned measuring method wherein, in described S200 step, comprises cross curve demarcating steps S220, is used for demarcating center and the relation of described camera lens between zero point of described cross differentiation line, to obtain the coordinate of described calibration position.
Above-mentioned measuring method wherein, in described S200 step, comprises calibrating length step S230, is used for demarcating the actual millimeter corresponding to pixel of described ccd video camera.
Above-mentioned measuring method wherein, in described calibrating length step, comprises calibrating ccd video camera in actual millimeter step corresponding to each pixel of length and width both direction.
Above-mentioned measuring method wherein, in described S300 step, comprising:
S310, gray scale is cut apart, morphology screening step;
S320 finds image I after the highest displacement of similarity according to i Character mother plate;
Whether S330 judges similarity score higher than a first threshold, if, carry out step S340, if not, carry out step S350;
S340, the position that obtains image I after displacement calculates the displacement O of rocket
i
S350, the value of i adds 1, and saves as i;
Whether S360 judges i≤n, and n is the number of identifier, if return to execution in step S320; If not, execution in step S370;
S370, judgement displacement O
iNumber, if O
iNumber equal 1, execution in step S380; If O
iNumber equal 2, execution in step S390; If O
iNumber more than or equal to 3, execution in step S3110;
Whether S380 judges similarity score less than a Second Threshold, if not, execution in step S400; If, execution in step S3112;
S390 judges two displacement O
iDifference whether exceeding one first setting value or any one displacement O
iCorresponding similar mark is less than one the 3rd threshold value, if not, execution in step S400; If, execution in step S3114;
S3110 judges a plurality of displacement O
iWhether mutual difference exceeds one second setting value, if not, execution in step S400; If, execution in step S3116;
S3112 rejects this displacement O
i, only show initial pictures;
S3114 rejects this two displacement O
i, only show initial pictures;
S3116 deletes and departs from a plurality of displacement O
iThe displacement O of mean value maximum
i, and return to execution in step S370.
Above-mentioned measuring method, wherein, in described S400 step, as displacement O
iNumber equal at 1 o'clock, show this O
iValue; As displacement O
iNumber greater than 1 o'clock, show the mean value of a plurality of Oi.
Beneficial functional of the present invention is, by being used in conjunction with of image-forming module and two image processing modules, two image processing modules receive the target image from image-forming module, and the target in image is carried out feature identification, calculate the displacement of rocket, as the input criterion of tracking aiming, and can carry out visual, intelligentized tracking to prism location state and the aiming state of rocket.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Fig. 1 is the structured flowchart of the measuring system of rocket beat of the present invention, sedimentation;
Fig. 2 is the initial pictures of the identifier of an embodiment;
Fig. 3 is image after the displacement of identifier of an embodiment;
Fig. 4 is the theory diagram of the measuring method of rocket beat of the present invention, sedimentation;
Fig. 5 is the control flow chart of the measuring method of rocket beat of the present invention, sedimentation.
Wherein, Reference numeral
The 100-measuring system
The 10-image-forming module
The 11-point instrumentation
The 12-CCD video camera
The 130-image capture module
20-initial pictures processing module
The 21-Character mother plate is set up module
22-cross curve demarcating module
23-calibrating length module
Image processing module after the 30-displacement
The 31-calculating and comparing module
The 40-display device
S100～S400 step
The 200-measured target
Embodiment
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention being described in detail, further understanding purpose of the present invention, scheme and effect, but is not the restriction as claims protection domain of the present invention.
Because there is larger difference in the ground aiming system of the carrier rocket of a new generation with the sighting system of carrier rocket in the past, need in time obtain intuitively rocket under control state far away and be used to organize the prism displacement data, to realize far controlling tracking aiming.The present invention is based on the following principle of the carrier rocket of a new generation: adopt strapdown to be used to organize the initial orientation mode on rocket, the rocket body rigidity of being used to organize prism and rocket that is rocket connects firmly, the distortion that the motion that rocket body is put with the wind and sunshine, filling etc. cause, passed at 1: 1 be used to organize prism, make and be used to organize that prism is subjected to displacement or the orientation is reversed.the change in location that is to say the rocket body of rocket be rocket be used to organize prism location and change, based on this, the present invention arranges identifier (as the M in Fig. 2 in the surface of shell of rocket corresponding height, Z, H, B, the K character, certainly, M herein, Z, H, B, the K character just for example, can also be the character of other any convenient identification in actual use), pass through image-forming module, image capture module and two image processing modules are caught identifier, extract and process, obtain the distance that identifier departs from initial position, the actual range that identifier moves is the rocket beat, the actual range of sedimentation.Below just the measuring system 100 of rocket beat of the present invention, sedimentation is described in detail.
As shown in Figure 1, demand for the ground aiming system of the carrier rocket that satisfies a new generation, the measuring system 100 of rocket beat provided by the invention, sedimentation, comprise image processing module 30 and display device 40 after image-forming module 10, image capture module 130, initial pictures processing module 20, displacement, wherein, image-forming module 10 is used for catching at least one identifier of being arranged on storepipe and with its imaging, at least one identifier on storepipe herein corresponds to the measured target 200 in Fig. 1; Image capture module 130 is used for gathering the identifier image that image-forming module 10 obtains, the identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement, initial pictures as shown in Figure 2, after displacement, image is as shown in Figure 3; Initial pictures processing module 20 is calculated initial pictures with respect to the first coordinate figure of a calibration position according to the pixel of image-forming module 10; Displacement image processing module 30 according to the pixel displacement calculating of image-forming module 10 after image with respect to the second coordinate figure of described calibration position, and calculate the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure; Display device 40 is used for showing described displacement.Image-forming module 10 can comprise a point instrumentation 11 and a ccd video camera 12, and ccd video camera 12 is arranged on point instrumentation 11, is provided with cross differentiation line on the camera lens of point instrumentation 11.Initial pictures processing module 20 comprises that Character mother plate sets up module 21, cross curve demarcating module 22, calibrating length module 23, and Character mother plate is set up module 21 and set up the first coordinate figure according to the center relation of initial pictures and cross differentiation line; Cross curve demarcating module 22 is used for demarcating center and the relation of described camera lens between zero point of described cross differentiation line, to obtain the coordinate of described calibration position; Calibrating length module 23 is used for demarcating the actual millimeter corresponding to pixel of ccd video camera 12; After displacement, image processing module 30 mainly comprises a calculating and comparing module 31, and it is used for calculating the displacement that relatively described the first coordinate figure of described the second coordinate figure changes to calculate rocket.
Character mother plate need to provide environmental baseline and less interference preferably when setting up module 21 operation, particularly, can be with the center superposition of the cross division line on the camera lens of the target prism center to be identified on rocket and point instrumentation 10, gather width image (being initial pictures) preferably, obtain character wherein, and the center of record cross division line this moment and the relation between character, with as the M in Fig. 2, Z, H, B, five characters of K are example, that record is center and the M of cross division line this moment, Z, H, B, relation between five characters of K, this relation can be passed through matrix representation, and deposit position relationship and Character mother plate in systems parameters document.Work as character position, stroke weight when width, height or character itself change, by calling this module, is preserved Character mother plate again.Cross curve demarcating module 22 is used for demarcating center and the relation of camera lens between zero point of cross division line, timing signal, target is white background, and need the center of identification cross division line this moment, deposits the coordinate of cross division line center correspondence on ccd video camera in systems parameters document.Calibrating length module 23 is used for demarcating the actual millimeter corresponding to pixel of ccd video camera 12, because target to be identified is set up apart from uncertain, so on ccd video camera, the physical length of distant object corresponding to pixel is also uncertain, this calibrating length module 23 calibrates the ccd video camera pixel at millimeter corresponding to each pixel of length and width both direction.
As shown in Figure 4, adopt above-mentioned measuring system to the rocket beat, when sedimentation is measured, comprising:
S100 catches at least one identifier of being arranged on storepipe and with the step of its imaging by image-forming module 10.
S130 gathers the identifier image step that image-forming module 10 obtains, and described identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement.This step is completed by image capture module 130, and image capture module 130 herein can be image pick-up card.
S200, the initial pictures treatment step calculates described initial pictures with respect to the first coordinate figure of a calibration position according to the pixel of described image-forming module.
S300 calculates after described displacement image with respect to the second coordinate figure of described calibration position according to the pixel of described image-forming module, and calculates the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure.
S400 shows described displacement step.
In described S200 step, after the rocket transition, owing to being used to organize the initial uncertainty of installing of prism, need slightly take aim at, just seek and be used to organize the position of prism centre normal between aiming at, and the initial position of demarcate, storage being used to organize prism, set up the masterplate file of identification character and calculate each identification character center to the transition matrix of being used to organize the prism center (namely, create the template file of character according to initial pictures, and set up described the first coordinate figure according to the center relation of initial pictures and cross differentiation line).When carrying out, staking-out work need to guarantee rocket body identification character surrounding environment light homogeneous and bright, unobstructed, smog, and rocket body is without obviously waving etc.Catch at least one identifier of being arranged on storepipe by image-forming module 10 and with its imaging after, especially before image after the acquisition displacement, preferably to the first initialization of whole system, as initialization image pick-up card etc., and environmental baseline is judged, variation has occured as environmental baseline, need the Resurvey initial pictures, and cross curve is demarcated (also being Zero calibration) and calibrating length again, reaches again according to Resurvey initial pictures, the coordinate at zero point again demarcated the transition matrix that obtains after calibrating length and obtains the first coordinate figure.Do not change as external environment condition, can directly adopt the coordinate and transition matrix at zero point that stores in systems parameters document.External environment condition herein is for example that identifier position, stroke weight, width, height or character itself change.
As shown in Figure 5, after displacement of the present invention, image processing step comprises:
S310, gray scale is cut apart, morphology screening step.
S320 finds image I after the highest displacement of similarity according to i Character mother plate.Still take above-mentioned M, Z, H, B, five characters of K as example, the corresponding Character mother plate of each character, namely, five Character mother plates are arranged, in this step, if first calculate the displacement of rocket according to character M, need to find M character picture after displacement according to first character template (being the M Character mother plate).
Whether S330 judges similarity score higher than a first threshold, if, carry out step S340, if not, carry out step S350.First threshold herein can be 80～90, as, judge whether M character picture after displacement and the similarity score of M Character mother plate are 80～90.
S340, the position that obtains image I after displacement calculates the displacement O of rocket
iStill take the M character as example, calculate the position of the M character picture after displacement, this position is aforesaid the second coordinate figure, the displacement O that this second coordinate figure and the initial coordinate values (i.e. the first coordinate figure) of M Character mother plate are compared and obtained rocket
i
S350, the value of i adds 1, and saves as i.
Whether S360 judges i≤n, and n is the number (in the embodiment as Fig. 2, the value of n is 5) of identifier, if return to execution in step S320; If not, execution in step S370.
S370, judgement displacement O
iNumber, if O
iNumber equal 1, execution in step S380; If O
iNumber equal 2, execution in step S390; If O
iNumber more than or equal to 3, execution in step S3110.
Whether S380 judges similarity score less than a Second Threshold, if not, execution in step S400; If, execution in step S3112.Second Threshold herein can be that in the embodiment that 95～99, Fig. 5 provides, Second Threshold is 99.
S390 judges two displacement O
iDifference whether exceed one first setting value or any one displacement O
iCorresponding similar mark is less than one the 3rd threshold value, if not, execution in step S400; If, execution in step S3114.In the embodiment of Fig. 5, the 3rd threshold value is 90.Need to prove, this first setting value is mainly used to judge two displacement O
iDifference, in actual use, can select as required.
S3110 judges a plurality of displacement O
iWhether mutual difference exceeds one second setting value, if not, execution in step S400; If, execution in step S3116.Need to prove, this second setting value is mainly used to judge a plurality of displacement O
iMutual difference in actual use, can be selected as required.
S3112 rejects this displacement O
i, only show initial pictures.
S3114 rejects this two displacement O
i, only show initial pictures.
S3116 deletes and departs from a plurality of displacement O
iThe displacement O of mean value maximum
i, and return to execution in step S370.
In described S400 step, as displacement O
iNumber equal at 1 o'clock, show this O
iValue (as the S41 step in Fig. 5); Greater than 1 the time, show the mean value (as the S42 in Fig. 5, S43 step) of a plurality of Oi when the number of displacement Oi.
In practical operation, when adopting system and method for the present invention to carry out rocket beat, settlement measurement, can operate by human-computer interaction interface, " showing in real time " button, " establishment masterplate " button are set on human-computer interaction interface, click " showing in real time " button on human-computer interaction interface, the image in main interface begins real-time demonstration.The developed width of each identification character and height (width of spraying and height value are all 30mm or more than) on the input rocket body, click " establishment masterplate " button, Character mother plate are set up module can isolate each identification character as unique point automatically.If there is no template file under the file parameters prescribed path, Character mother plate is set up module can gather the image creation template of current identification character automatically.And the center that obtains each identification character, then according to cross differentiation line center calculating corresponding to each character, the transition matrix at this character and prism center, and store.The moment that each character of piece image recognizes, human-computer interaction interface demonstrates each character that recognizes, thereby completes calibration process.In the time of the needs real-time follow-up, click " showing in real time " button, system just can go out to be used to organize prism with respect to displacement polarity and the size of initial position by automatic decision, and be presented in real time on the main interface of display device, this display device can with the human-computer interaction interface one, can be also split.
Take said method to measure the beat of rocket, sedimentation to carrier rocket of new generation, following advantage arranged:
(1) through evidence, the variation of bias light intensity certain limit does not affect the identification to identification character, and the adaptable illuminance variation range of measuring system is more than 300lx-100000lx;
(2) the long and narrow fine rule that runs through whole visual field and reinforcement etc. can be rejected to the interference of image recognition, and the character after interfering line can be complete reservation removed.
(3) in due to external interference or the situation of blocking, the character quantity that can cause the CCD camera collection to arrive is inadequate, as long as but collect at least 1 character, can extrapolate the prism center, reduced the requirement to ambient environmental conditions.
(4) through evidence, the method can be measured the displacement that rocket is used to organize prism under distance rocket 25m distance, and Measurement Resolution reaches 1mm, and accuracy of identification reaches 5mm.
(5) displacement of being used to organize prism is carried out the processing time of real-time follow-up and measurement in 100ms.
(6) can carry out visual, intelligentized tracking to prism location state and aiming state.
Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (12)
1. the measuring system of a rocket beat, sedimentation, is characterized in that, comprising:
Image-forming module is used for catching at least one identifier of being arranged on storepipe and with its imaging;
One image capture module is used for gathering the identifier image that described image-forming module obtains, and described identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement;
One initial pictures processing module, its pixel according to described image-forming module is calculated described initial pictures with respect to the first coordinate figure of a calibration position;
Image processing module after one displacement, it calculates after described displacement image with respect to the second coordinate figure of described calibration position according to pixel of described image-forming module, and calculates the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure; And
One display device is used for showing described displacement.
2. the measuring system of rocket beat according to claim 1, sedimentation, it is characterized in that, described image-forming module comprises a point instrumentation and a ccd video camera, and described ccd video camera is arranged on described point instrumentation, is provided with cross differentiation line on the camera lens of described point instrumentation.
3. the measuring system of rocket beat according to claim 2, sedimentation, is characterized in that, described initial pictures processing module comprises:
Character mother plate is set up module, and it creates the template file of character according to initial pictures, and sets up described the first coordinate figure according to the center relation of initial pictures and cross differentiation line;
The cross curve demarcating module, it is used for demarcating center and the relation of described camera lens between zero point of described cross differentiation line, to obtain the coordinate of described calibration position;
The calibrating length module, it is used for demarcating the actual millimeter corresponding to pixel of described ccd video camera.
4. the measuring system of rocket beat according to claim 1, sedimentation, is characterized in that, described the first coordinate figure and described the second coordinate figure pass through matrix representation.
5. the measuring method of a rocket beat, sedimentation, is characterized in that, comprising:
S100 catches at least one identifier of being arranged on storepipe and with the step of its imaging by an image-forming module;
S130 gathers the identifier image step that described image-forming module obtains, and described identifier image comprises image after displacement after initial pictures when identifier is positioned at initial position and identifier are subjected to displacement;
S200, the initial pictures treatment step calculates described initial pictures with respect to the first coordinate figure of a calibration position according to the pixel of described image-forming module;
S300, image processing step after displacement, calculate after described displacement image with respect to the second coordinate figure of described calibration position according to the pixel of described image-forming module, and calculate the displacement of rocket according to the variable quantity of relatively described the first coordinate figure of described the second coordinate figure; And
S400 shows described displacement step.
6. measuring method according to claim 5, it is characterized in that, in described S100 step, described image-forming module comprises a point instrumentation and a ccd video camera, described ccd video camera is arranged on described point instrumentation, is provided with cross differentiation line on the camera lens of described point instrumentation.
7. measuring method according to claim 6, it is characterized in that, in described S200 step, comprise Character mother plate establishment step S210, create the template file of character according to initial pictures, and set up described the first coordinate figure according to the center relation of initial pictures and cross differentiation line.
8. measuring method according to claim 7, is characterized in that, in described S200 step, comprises cross curve demarcating steps S220, is used for demarcating center and the relation of described camera lens between zero point of described cross differentiation line, to obtain the coordinate of described calibration position.
9. measuring method according to claim 8, is characterized in that, in described S200 step, comprises calibrating length step S230, is used for demarcating the actual millimeter corresponding to pixel of described ccd video camera.
10. measuring method according to claim 9, is characterized in that, in described calibrating length step, comprises calibrating ccd video camera in actual millimeter step corresponding to each pixel of length and width both direction.
11. measuring method according to claim 9 is characterized in that, in described S300 step, comprising:
S310, gray scale is cut apart, morphology screening step;
S320 finds image I after the highest displacement of similarity according to i Character mother plate;
Whether S330 judges similarity score higher than a first threshold, if, carry out step S340, if not, carry out step S350;
S340, the position that obtains image I after displacement calculates the displacement O of rocket
i
S350, the value of i adds 1, and saves as i;
Whether S360 judges i≤n, and n is the number of identifier, if return to execution in step S320; If not, execution in step S370;
S370, judgement displacement O
iNumber, if O
iNumber equal 1, execution in step S380; If O
iNumber equal 2, execution in step S390; If O
iNumber more than or equal to 3, execution in step S3110;
Whether S380 judges similarity score less than a Second Threshold, if not, execution in step S400; If, execution in step S3112;
S390 judges two displacement O
iDifference whether exceed one first setting value or any one displacement O
iCorresponding similar mark is less than one the 3rd threshold value, if not, execution in step S400; If, execution in step S3114;
S3110 judges a plurality of displacement O
iWhether mutual difference exceeds one second setting value, if not, execution in step S400; If, execution in step S3116;
S3112 rejects this displacement O
i, only show initial pictures;
S3114 rejects this two displacement O
i, only show initial pictures;
S3116 deletes and departs from a plurality of displacement O
iThe displacement O of mean value maximum
i, and return to execution in step S370.
12. measuring method according to claim 11 is characterized in that, in described S400 step, as displacement O
iNumber equal at 1 o'clock, show this O
iValue; As displacement O
iNumber greater than 1 o'clock, show a plurality of O
iMean value.
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| CN105258566A (en) * | 2015-08-27 | 2016-01-20 | 北京航天发射技术研究所 | Method for obtaining reference azimuth by means of rocket aiming system through aiming scaleplate and reference point |
| CN111521198A (en) * | 2020-04-30 | 2020-08-11 | 湖北三江航天万峰科技发展有限公司 | Method for transferring alignment based on external aiming magnetic right-angle prism |
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| CN104182758B (en) * | 2014-07-11 | 2018-11-30 | 北京航天发射技术研究所 | Image-recognizing method for the pendulum measurement of rocket wind |
| CN105136028A (en) * | 2015-06-26 | 2015-12-09 | 哈尔滨工程大学 | Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor |
| CN105258566A (en) * | 2015-08-27 | 2016-01-20 | 北京航天发射技术研究所 | Method for obtaining reference azimuth by means of rocket aiming system through aiming scaleplate and reference point |
| CN111521198A (en) * | 2020-04-30 | 2020-08-11 | 湖北三江航天万峰科技发展有限公司 | Method for transferring alignment based on external aiming magnetic right-angle prism |
| CN111521198B (en) * | 2020-04-30 | 2021-09-28 | 湖北三江航天万峰科技发展有限公司 | Method for transferring alignment based on external aiming magnetic right-angle prism |
| CN113884005A (en) * | 2021-09-23 | 2022-01-04 | 中国人民解放军63620部队 | Estimation method for measuring point position of optical measurement system of carrier rocket |
| CN113884005B (en) * | 2021-09-23 | 2023-08-22 | 中国人民解放军63620部队 | Estimation method for measuring point position of carrier rocket optical measuring system |
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