CN104236469B - Method for measuring displacement of aircraft static test by taking photos - Google Patents
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Abstract
The invention relates to a method for measuring displacement of aircraft static test by taking photos, and the method can effectively solve the problems that many displacement measuring devices are needed for the static test, the arrangement for the devices is difficult and the precision is low; the technique solution is as follows: 1, installing the camera; 2, determining the orientation of the camera, determining the relative position and the posture relationship of the cameras; 3, installing; 4, transforming the coordinate; 5, having the static test; the method is the non-contact type measuring method, which adopts the three-dimensional measurement technology for measuring the displacement of the measured point in three coordinate directions; the measuring range is large, the theory range is the total field of the camera and the actual test maximum range is 6m; the precision is high and the measuring precision is 1/10000; a large batch of object points can be measured at the same time, the dynamic real time measurement can be realized and the continuous frame speed is 5 frame/second; the device arrangement is convenient and the operation is simple, and the method is the new method for measuring displacement for static test.
Description
Technical field
The present invention relates to move measuring method, displacement in aircraft slow test is surveyed by particularly a kind of utilization photograph
The method of amount.
Background technology
Slow test is experimentally research aircraft structure static strength characteristic under dead weight, i.e. checks knot
The static characteristics such as structure bears the ability of limit external applied load, research engineering structure intensity, rigidity and stability under dead weight
Problem.In slow test, the displacement of subjects is unusual one of important parameter, uses displacement transducers or laser more
Stadia surveying displacement, this method has a more deficiency:
1) certainty of measurement is relatively low.The relative accuracy of displacement transducer is 1/1000, and the precision of laser range finder is about
1mm；
2) more measurement equipment is needed.Each impact point at least one displacement transducer of needs (or laser ranging
Instrument), if needing to measure the three-D displacement of impact point, the most at least need two displacement transducers (or laser range finder)；
3) implantation of device is more difficult.Displacement transducer (or laser range finder) owing to using is more, has resulted in equipment
Laying more difficult；
4) contact measurement.If employing displacement transducer, then sensor one end needs to be laid in subjects, can be to examination
Test result and cause a certain degree of impact.
Summary of the invention
For above-mentioned situation, for overcoming the defect of prior art, it is right that the purpose of the present invention is just to provide a kind of utilization photograph
The method that in aircraft slow test, displacement measures, can effectively solve slow test measurement displacement device many, lay difficulty, essence
Spend low problem.
The technical scheme that the present invention solves is:
A kind of method utilizing photograph to measure displacement in aircraft slow test, comprises the following steps:
One, camera is installed
Camera is installed by support by side aboard, uses 8 cameras altogether, and wherein four is one group, and often group camera is permissible
When being independently operated, installation as individual system, it is ensured that 3 cameras at least in of each measured point of aircaft configuration to be tested
Visual field in, as long as and have two cameras can photograph measured point just can to record the coordinate of measured point during measuring,
So in the case of a camera is blocked, remain to measure the coordinate of measured point, improve the stability of systematic survey；Described
The equal via controller of camera is connected with computer；
Two, camera is oriented, determines the relative position between camera and attitude relation
Have employed altogether 8 cameras, the most every four cameras are one group and are oriented, and orientation process is as follows:
(1) determining the zero point camera that a camera is camera coordinates system, the projection centre of this camera is coordinate origin；
(2) by calculating coordinate, being oriented the camera that zero point camera is adjacent, concrete grammar is, passes through aircraft
Known control point in structure, utilizes resection to resolve, and i.e. can get zero point camera and the photography of adjacent camera
The position of center S1, S2 and with photo face p1, p2 towards relation, to obtain final product, the position of two cameras and attitude；
Described control point is to remain motionless known point on aircraft during slow test, and control point is at least
4；
(3) according to oriented camera and zero point camera, by same method, other cameras are oriented progressively；
(4) after all cameras all complete orientation, all cameras are carried out bundle adjustment, show that each camera is final
Position and attitude；
Three, mounting tool
Frock being installed aboard, this installation site remains motionless during slow test, and frock has five
Individual photography mark, sets up a frock coordinate system (X ', Y ', Z '), and these five photography marks are at frock coordinate system (X ', Y ', Z ')
Under coordinate known；
Four, Coordinate Conversion
The data that photographic measurement obtains are under camera coordinates system (U, V, W), last measurement result aircraft to be transformed into
Under coordinate system (X, Y, Z)；
Described camera coordinates system is with camera projection centre as zero, and U axle, V axle are respectively parallel to phase in image plane
Two the most vertical limits, W axle and U axle, V axle is vertical forms right-handed coordinate system；
Described aircraft axes are with certain fixed point on fuselage as zero, and X-axis is aircraft flight direction, and Y-axis is parallel
In aeroplane span direction, Z axis forms right-handed coordinate system straight up；
Wherein, the relation of described frock coordinate system (X ', Y ', Z ') and aircraft axes (X, Y, Z) is it is known that in order to set up
Aircraft axes (X, Y, Z), are needed to be changed by described frock coordinate system (X ', Y ', Z '), frock have five photographies
Mark coordinate under frock coordinate system is it is known that obtain five photographies above frock by photographic measurement and indicate in camera coordinates system
Under coordinate, then carry out common point conversion, obtain camera coordinates and be tied to the transformational relation of frock coordinate system, then camera
Orientation parameter is transformed under frock coordinate system, owing to frock coordinate system and aircraft axes relation are it is known that thus sit camera
Measurement point unification under mark system has been arrived under aircraft axes.
Concrete common point transformation process is as follows:
(1) camera coordinates system can be represented by the formula with the relation of frock coordinate system:
Wherein (dx, dy, dz) represents the translational movement of (U, V, W) three change in coordinate axis direction respectively,Represent three
The rotation amount of coordinate axes；Totally six unknown numbers in formula (1)One common point can list three equations,
Formula (1) is three equations, then at least two common point can complete common point conversion；Five photography marks, profit is had in frock
Six unknown numbers are solved by the principle of least square；
(2) frock coordinate system and the transformational relation such as following formula of aircraft axes:
Wherein (Δ X, Δ Y, Δ Z) is known quantity, represents (X', Y', Z') translational movement on three direction of principal axis respectively；
(3) convolution (1) can obtain with formula (2), and the conversion formula being tied to aircraft axes from camera coordinates is as follows:
Five, slow test is carried out
Start Parts of Aircraft to be tested is loaded dead load, control camera by computer simultaneously and take pictures, gather
To photograph carry out Coordinate Conversion by the method described in step 4, obtain measuring some coordinate under aircraft axes, to obtain final product
Displacement to measuring point.
Compared with prior art, the inventive method has a following useful technique effect:
1) it is a kind of non-contacting metering system；
2) precision is high, and certainty of measurement reaches 1/10000；
3) it is three-dimensional measurement technology, can measure measured point displacement on three coordinate directions simultaneously；
4) measuring range ratio big, theoretical range is the whole visual field of camera, and actual tests maximum range reaches 6 meters；
5) large batch of impact point can be measured simultaneously；
6) can realize dynamic real-time measurement, successive frame speed can reach 5 frames/second.
Accompanying drawing explanation
Fig. 1 is camera scheme of installation of the present invention.
Fig. 2 is that calculating coordinate schematic diagram measured by polyphaser of the present invention.
Fig. 3 is coordinate system relation schematic diagram of the present invention.
Fig. 4 is tool structure schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in further detail.
Be given by Fig. 1-4, a kind of method utilizing photograph that displacement in aircraft slow test is measured of the present invention, bag
Include following steps:
One, camera is installed
Camera is installed by support by side aboard, uses 8 cameras altogether, and wherein four is one group, and often group camera is permissible
When being independently operated, installation as individual system, it is ensured that 3 cameras at least in of each measured point of aircaft configuration to be tested
Visual field in, as long as and have two cameras can photograph measured point just can to record the coordinate of measured point during measuring,
So in the case of a camera is blocked, remain to measure the coordinate of measured point, improve the stability of systematic survey；Described
The equal via controller of camera is connected with computer (as it is shown in figure 1, reference represents respectively in figure: camera 2, controller 3, calculating
Machine 4, aircraft 5 to be tested；Aircaft configuration to be tested in figure is wing 5a)；
Described controller is commercially available prod (prior art), such as Zhengzhou Sunward Technology Co., Ltd.'s production and selling
Model be MPS the controller of M-P4, it is possible to the photograph real-time Transmission shot by camera is to computer；
Two, to carrying out camera orientation, the relative position between camera and attitude relation are determined
Have employed altogether 8 cameras, the most every four cameras are one group and are oriented, and orientation process is as follows:
(1) determining the zero point camera that a camera is camera coordinates system, the projection centre of this camera is coordinate origin；
(2) by calculating coordinate, being oriented the camera that zero point camera is adjacent, concrete grammar is, passes through aircraft
Known control point in structure, utilizes resection to resolve, and i.e. can get zero point camera and the photography of adjacent camera
The position of center S1, S2 and with photo face p1, p2 towards relation, to obtain final product, the position of two cameras and attitude；
Described control point is to remain motionless known point on aircraft during slow test,
The arrangement requirement at control point:
A. at least 4, control point, as in figure 2 it is shown, respectively a, b, c, d, quantity is advisable with 4 to 10 points；
B. control point should be avoided being distributed on the same face of cylinder.
C. be advisable to be uniformly distributed in control point；I.e. control point subpoint on photo is uniformly distributed.
This calculating coordinate method is similar with theodolite, for unknown point e, and can be true by its image point position on two photos
Its beam direction fixed, and then calculate its object coordinates according to forward intersection.
(3) according to oriented camera and zero point camera, by same method, other cameras are oriented progressively；
(4) after all cameras all complete orientation, all cameras are carried out bundle adjustment, show that each camera is final
Position and attitude.
Three, mounting tool
Installing aboard by frock 1, this installation site remains motionless during slow test, and frock has five
Individual photography mark 1a, sets up a frock coordinate system (X ', Y ', Z '), these five photography marks frock coordinate system (X ', Y ',
Z ') under coordinate known；
Four, Coordinate Conversion
The data that photographic measurement obtains are under camera coordinates system (U, V, W), last measurement result aircraft to be transformed into
Under coordinate system (X, Y, Z)；
Described camera coordinates system is with camera projection centre as zero, and U axle, V axle are respectively parallel to phase in image plane
Two the most vertical limits, W axle and U axle, V axle is vertical forms right-handed coordinate system；
Described aircraft axes are with certain fixed point on fuselage as zero, and X-axis is aircraft flight direction, and Y-axis is parallel
In aeroplane span direction, Z axis forms right-handed coordinate system straight up；
Wherein, the relation of described frock coordinate system (X ', Y ', Z ') and aircraft axes (X, Y, Z) is it is known that in order to set up
Aircraft axes (X, Y, Z), are needed to be changed by described frock coordinate system (X ', Y ', Z '), frock have five photographies
Mark coordinate under frock coordinate system is it is known that obtain five photographies above frock by photographic measurement and indicate in camera coordinates system
Under coordinate, then carry out common point conversion, obtain camera coordinates be tied to frock coordinate system transformational relation (3 translational movements, 3
The individual anglec of rotation), then the orientation parameter of camera is transformed under frock coordinate system, owing to frock coordinate system is closed with aircraft axes
System is it is known that thus arrived under aircraft axes unified for the measurement point under camera coordinates system.
Concrete common point transformation process is as follows:
(1) camera coordinates system can be represented by the formula with the relation of frock coordinate system:
Wherein (dx, dy, dz) represents the translational movement of (U, V, W) three change in coordinate axis direction respectively,Represent three
The rotation amount of coordinate axes；Totally six unknown numbers in formula (1)One common point can list three equations,
Formula (1) is three equations, then at least two common point can complete common point conversion；Five photography marks, profit is had in frock
Six unknown numbers are solved by the principle of least square；
(2) frock coordinate system and the transformational relation such as following formula of aircraft axes:
Wherein (Δ X, Δ Y, Δ Z) is known quantity, represents (X', Y', Z') translational movement on three direction of principal axis respectively；
(3) convolution (1) can obtain with formula (2), and the conversion formula being tied to aircraft axes from camera coordinates is as follows:
Five, slow test is carried out
Start Parts of Aircraft to be tested is loaded dead load, control camera by computer simultaneously and take pictures, gather
To photograph carry out Coordinate Conversion by the method described in step 4, obtain measuring some coordinate under aircraft axes, to obtain final product
Displacement to measuring point.
The inventive method through reality apply, all obtained same or like as effect, specific experiment is as follows:
Experiment uses Germany's AVT GE2040 industrial camera, has carried out wing slow test and accuracy test experiment respectively,
Separately verify feasibility and the reliability of context of methods；
1) wing slow test
Utilize the inventive method that certain serial model No. aircraft wing is carried out slow test.Polyphaser photogrammetry system is permissible
Three-dimensional coordinate change to impact point very easily is measured in real time.
In testing ground, system is actual measures one group of data, and the data of correspondence also measured by simultaneous displacement sensor,
Two groups of Data Comparison such as tables 1:
Table 1 photographic measurement value compares with displacement sensor value
In upper table, photographic measurement value is less than measurement value sensor, this is because sensor measurement is the reality of monitoring point
Displacement, and photogrammetric measurement is the component of monitoring point actual displacement amount in the vertical direction.
2) accuracy test
In order to enable preferably confirmatory measurement precision, utilize system herein that grating scale is measured, and and optical grating ruler measurement
Result is analyzed.Specific experiment step is as follows:
A) laying a mark in grating scale mobile device, when grating scale moves, mark also can and then move；Mark
Displacement equal with the displacement of grating scale in theory, by photogrammetry system monitoring mark displacement i.e. measure
The displacement of grating scale；
B) grating scale moves on to 0 position, and one coordinate of systematic survey, as the zero state of displacement measurement system；
C) grating scale is moved by the interval of 300mm, photogrammetry system at the coordinate of each interval measurement mark, and and zero
The coordinate figure of state seeks distance, the movable length of calculation flag；
D) difference of the displacement of the contrast displacement that obtains of photographic measurement and grating scale standard.
The data such as following table that experiment obtains:
Table 2 photographic measurement contrasts table with optical grating ruler measurement
The certainty of measurement of grating scale is 3/10000, and less than the precision of photographic measurement, in above-mentioned experiment, correction data is main
Error should be optical grating ruler measurement error, calculates according to the measurement distance of 3000mm, and the maximum error of measuring of grating scale should be
0.9mm, and the precision of photographic measurement is at ± 0.1mm, in conjunction with both errors, the comparing result of two kinds of measurement means is the most in theory
Big less than 1mm, and measurement error maximum in reality is at 1.16mm, and bigger error averaging cloth measurement distance than
Bigger place, substantially conforms to the situation of reality.This experiment is able to demonstrate that photographic measurement precision is at least about 3/10000.
Conclusion
From above-mentioned situation, the inventive method is a kind of non-contacting metering system；It is three-dimensional measurement technology, permissible
Measure measured point displacement on three coordinate directions simultaneously；Measurement range ratio is big, and theoretical range is that the whole of camera regards
, actual tests maximum range reaches 6 meters；Precision is high, and certainty of measurement reaches 1/10000；Large batch of impact point can be measured simultaneously；
Can realize dynamic real-time measurement, successive frame speed can reach 5 frames/second；Implantation of device is convenient, simple to operate；It it is slow test
Innovation on displacement measurement method.
Claims (1)
1. one kind utilizes the method that displacement in aircraft slow test is measured by photograph, it is characterised in that include following step
Rapid:
One, camera is installed
Camera is installed by support by side aboard, uses 8 cameras altogether, and wherein four is one group, and often group camera can conduct
When individual system is independently operated, installation, it is ensured that regarding of each measured point of aircaft configuration to be tested 3 cameras at least in
In Chang, as long as and having two cameras can photograph measured point during measuring and just can record the coordinate of measured point, so
In the case of a camera is blocked, remain to measure the coordinate of measured point, improve the stability of systematic survey；Described camera
All via controllers are connected with computer；
Two, camera is oriented, determines the relative position between camera and attitude relation
Have employed altogether 8 cameras, the most every four cameras are one group and are oriented, and orientation process is as follows:
(1) determining the zero point camera that a camera is camera coordinates system, the projection centre of this camera is coordinate origin；
(2) by calculating coordinate, being oriented the camera that zero point camera is adjacent, concrete grammar is, passes through aircaft configuration
On known control point, utilize resection to resolve, i.e. can get zero point camera and the photo centre of adjacent camera
The position of S1, S2 and with photo face p1, p2 towards relation, to obtain final product, the position of two cameras and attitude；
Described control point is to remain motionless known point on aircraft during slow test, at least 4, control point；
(3) according to oriented camera and zero point camera, by same method, other cameras are oriented progressively；
(4) after all cameras all complete orientation, all cameras are carried out bundle adjustment, draws the position that each camera is final
With attitude；
Three, mounting tool
Frock (1) being installed aboard, this installation site remains motionless during slow test, and frock has five
Photography mark (1a), sets up a frock coordinate system (X ', Y ', Z '), these five photography marks frock coordinate system (X ', Y ',
Z ') under coordinate known；
Four, Coordinate Conversion
The data that photographic measurement obtains are under camera coordinates system (U, V, W), last measurement result aircraft to be transformed into coordinate
Under system (X, Y, Z)；
Described camera coordinates system is with camera projection centre as zero, and U axle, V axle are respectively parallel in image plane the most vertical
Two straight limits, W axle and U axle, V axle is vertical forms right-handed coordinate system；
Described aircraft axes are with certain fixed point on fuselage as zero, and X-axis is aircraft flight direction, and Y-axis is parallel to fly
Machine spanwise, Z axis forms right-handed coordinate system straight up；
Wherein, the relation of described frock coordinate system (X ', Y ', Z ') and aircraft axes (X, Y, Z) is it is known that in order to set up aircraft
Coordinate system (X, Y, Z), is needed to be changed by described frock coordinate system (X ', Y ', Z '), frock has five photography marks
Coordinate under frock coordinate system is it is known that obtain five photographies above frock by photographic measurement and indicate under camera coordinates system
Coordinate, then carries out common point conversion, obtains camera coordinates and is tied to the transformational relation of frock coordinate system, then the orientation of camera
Parameters Transformation is under frock coordinate system, due to frock coordinate system with aircraft axes relation it is known that thus camera coordinates system
Under measurement point unified arrived under aircraft axes；
Concrete common point transformation process is as follows:
(1) camera coordinates system can be represented by the formula with the relation of frock coordinate system:
Wherein (dx, dy, dz) represents the translational movement of (U, V, W) three change in coordinate axis direction respectively,Represent three coordinate axess
Rotation amount；Totally six unknown numbers in formula (1)One common point can list three equations, and formula (1) is
Three equations, then at least two common point can complete common point conversion；Have five photography marks in frock, utilize a young waiter in a wineshop or an inn
Principle solving is taken advantage of to go out six unknown numbers；
(2) frock coordinate system and the transformational relation such as following formula of aircraft axes:
Wherein (Δ X, Δ Y, Δ Z) is known quantity, represents (X', Y', Z') translational movement on three direction of principal axis respectively；
(3) convolution (1) can obtain with formula (2), and the conversion formula being tied to aircraft axes from camera coordinates is as follows:
Five, slow test is carried out
Start Parts of Aircraft to be tested is loaded dead load, control camera by computer simultaneously and take pictures, collect
Photograph carries out Coordinate Conversion by the method described in step 4, obtains the coordinate measuring point under aircraft axes, is i.e. surveyed
The displacement at amount position.
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