CN104567812A - Method and device for measuring spatial position - Google Patents

Method and device for measuring spatial position Download PDF

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Publication number
CN104567812A
CN104567812A CN201310475942.0A CN201310475942A CN104567812A CN 104567812 A CN104567812 A CN 104567812A CN 201310475942 A CN201310475942 A CN 201310475942A CN 104567812 A CN104567812 A CN 104567812A
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coordinate
camera
coordinate system
point
image
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王锴磊
冯伟利
崔桂利
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China Academy of Launch Vehicle Technology CALT
Beijing Aerospace Institute for Metrology and Measurement Technology
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China Academy of Launch Vehicle Technology CALT
Beijing Aerospace Institute for Metrology and Measurement Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a method and a device for measuring a spatial position, and aims to utilize the optical imaging principle and the photographic method for creating a convenient and quick spatial position measurement method, thereby realizing quick measurement of the spatial position in both static and dynamic conditions. The method provided by the invention comprises the following steps: (1) establishing three or more target points with known coordinates in a rectangular coordinate system on the ground; (2) taking an image which contains at least three of the established target points; (3) establishing an equation set; (4) calculating the equation set to obtain the relation between a coordinate system measured by a camera and the rectangular coordinate system on the ground, and finishing the positioning. Through the adoption of the method provided by the invention, the technical problem of spatial position high-precision measurement can be radically solved; not only the need of quick and accurate measurement in the static conditions can be met, but also the function of quick and accurate positioning in the dynamic conditions can be provided.

Description

Method for measuring spatial location and device
Technical field
The invention belongs to spatial position measuring technical field, be specifically related to a kind of method for measuring spatial location and device.
Background technology
The measuring method of current locus, mainly contains following several: by the static measurement of total powerstation implementation space position coordinates; The measurement of coordinate is realized by transit and station meter; By static state and the kinetic measurement of GPS implementation space position coordinates; By the quiet kinetic measurement of position, inertia system implementation space.
Total station survey position coordinates is the range measurement principle based on total powerstation, reference coordinate point is aimed at by total powerstation, measuring basis coordinate points is apart from the distance of total station instrument coordinate system initial point, the simultaneously orientation of measuring basis coordinate points under total station instrument coordinate system and luffing angle, calculate the coordinate of total powerstation initial point under the coordinate system of reference point place thus, the static measurement of implementation space coordinate.Due to total powerstation is that work is based upon on horizontal reference and aims at target, therefore, can not realize dynamic position measurement.
When carrying out measurement of coordinates by transit and station meter, first by two transits to taking aim at, then the target point of the station meter of known length is aimed at respectively, set up a virtual coordinate system thus, finally aim at measured target point respectively by two transits, measure the coordinate of measured target point under virtual coordinate system, the static measurement of implementation space coordinate.The work of same transit is also based upon on horizontal reference carries out aiming measurement, so cannot realize kinetic measurement.
GPS (GPS) spatial position measuring resolves based on reception gps satellite signal.The spatial positional information that GPS is current according to the information resolving GPS receiver such as gps satellite signal identification gps satellite position, the time difference received.Can the static measurement of implementation space positional information and kinetic measurement.GPS spatial position measuring is high to gps satellite signal dependency degree, affects seriously by meteorologic factor etc., and has the risk being limited to use, and can not realize full utonomous working.
The spatial position measuring of inertia system is the acceleration based on measuring a certain sensing, resolves current positional information through integration.Can realize static state and measure dynamically, but due to the drift of gyro, its measuring accuracy is poor.
Above-mentioned measuring method, due to the relation of measuring principle, be mainly limited to the measurement under static condition, dynamic measurement precision is lower.
Summary of the invention
The object of this invention is to provide and a kind ofly can realize method for measuring spatial location that is convenient, spatial position measuring fast and device.To overcome the defect of prior art means on spatial position measuring, utilize optical imaging concept, fast method for measuring spatial location portable by the method establishment one of photography, realize the Quick Measurement of locus under static and dynamic condition.
The present invention is achieved in that a kind of method for measuring spatial location, comprises following steps:
Step 1, set up more than 3 the target points that coordinate is known in rectangular coordinates system, be respectively P 1(X 1, Y 1, Z 1), P 2(X 2, Y 2, Z 2), P3(X 3, Y 3, Z 3)
Step 2, shooting comprise the image of at least 3 target points;
Step 3, set up system of equations with following form;
Definition: O-XYZ is rectangular coordinates system, and S-X ' Y ' Z ' is camera surving coordinate system, and S is the photocentre position of camera; S-UVF is image space coordinate system, and o-uv is photo coordinate system;
The sensing of each coordinate axis of S-X ' Y ' Z ' is according to the rotation sequence around X, Y, Z axis, carries out rotation and obtains, rotate respectively coordinate system O-XYZ ω, κ angle;
Rotation matrix R adopts ω, κ are expressed as:
use in following system of equations R = a 1 , b 1 , c 1 a 2 , b 2 , c 2 a 3 , b 3 , c 3 , form represent;
The coordinate of S in O-XYZ is (X s, Y s, Z s), for the picture point p of arbitrary object point P and correspondence thereof, the coordinate of object point P in O-XYZ is (X, Y, Z), and the coordinate of object point P in S-X ' Y ' Z ' is (X-X s, Y-Y s, Z-Z s), the coordinate of object point P in S-UVF is (X', Y', Z'), and the coordinate of picture point p in S-UVF is (u, v ,-f);
Wherein, f is camera focus; U, v are the coordinate of imaging point under photo coordinate system o-uv;
Image space coordinate system S-UVF is expanded by photo coordinate system o-uv and obtains, and U, V axle is parallel with u, v axle, photo coordinate system initial point o, and the coordinate in S-UVF is (0,0 ,-f);
Obtain following system of equations;
u 1 = - f a 1 ( X 1 - X s ) + b 1 ( Y 1 - Y s ) + c 1 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) v 1 = - f a 2 ( X 1 - X s ) + b 2 ( Y 1 - Y s ) + c 2 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) u 2 = - f a 1 ( X 2 - X s ) + b 1 ( Y 2 - Y s ) + c 1 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) v 2 = - f a 2 ( X 2 - X s ) + b 2 ( Y 2 - Y s ) + c 2 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) ; u 3 = - f a 1 ( X 3 - X s ) + b 1 ( Y 3 - Y s ) + c 1 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) v 3 = - f a 2 ( X 3 - X s ) + b 2 ( Y 3 - Y s ) + c 2 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) . . . . . .
Wherein, the quantity of equation is 2 times of the quantity of the target point photographed;
Step 4, resolve system of equations, calculate unknown quantity (X s, Y s, Z s), ω, κ; Camera surving coordinate system S-X ' Y ' Z ' and the relation of rectangular coordinates system O-XYZ can be obtained, complete location.
Method for measuring spatial location as above, wherein, when taking image in step 2, in the records photographing moment, in step 4, while exporting locating information, exports time scale information, realizes Kinematic Positioning.
A kind of spatial position measuring system, wherein, comprises: the target point that more than 3 coordinates are known, the camera of shooting target dot image, and the image photographed camera processes, exports the arithmetic facility of locating information; Arithmetic facility uses the method for claim 1 to position computing.
Spatial position measuring system as above, wherein, also comprises the moment recording unit in record image shot by camera moment.
The invention has the beneficial effects as follows and can carry out transmission to locus and accurately measure, realize the high-precision spatial position measurement under static and dynamic condition.
This positioning of photography method establishment is on the basis of optical imagery, three-dimensional coordinate conversion is arrived again to bidimensional by three-dimensional, whole process realizes according to current optical system for high resolution and High Resolution Image Data Acquisition System, no matter all can realize high-precision locus under static or dynamic condition and measure.Whole measuring system is simple, portable.Do not need to carry out numerous and diverse Installation and Debugging, whole measuring process automatically can complete under control system controls, and the human factor in operating process can be avoided to cause measuring error.
The foundation of positioning of photography method of the present invention, fundamentally solves the technical barrier of locus high-acruracy survey, not only meets quick, Measurement accuracy under static condition, the ability of fast, accurately locating under simultaneously possessing dynamic condition.
In addition, the autonomous quickly calibrated problem under GPS positioning system, inertial positioning system static state and dynamic condition can also be solved, greatly promote the technical merit of China in space orientation field.
Accompanying drawing explanation
Fig. 1 is positioning of photography imaging relations schematic diagram;
Fig. 2 is the structural representation of a kind of spatial position measuring device of the present invention.
Wherein, P object point, the picture point of p P, O-XYZ rectangular coordinates system, S-X ' Y ' Z ' camera surving coordinate system, the photocentre position of S-phase machine, o-uv photo coordinate system, the image space coordinate system that S-UVF expands from photo coordinate system;
P1, P2, P3 target point.
Embodiment
Below in conjunction with drawings and Examples, a kind of method for measuring spatial location of the present invention and device are introduced.
First, measuring principle and concrete methods of realizing are introduced.
Principle of the present invention is extracted the three-dimensional target punctuate of known spatial coordinate, forms image at two-dimensional space.According to the rectilinear propagation principle of light, for 1 target point, two straight-line equations can be set up.When a pictures photographs the target point of three known coordinates, 6 straight-line equations can be set up.Comprise in six equations six unknown numbers (i.e. x, y, z, ω, κ, be respectively camera space coordinates relative to 3 translational movements of target co-ordinates system and 3 rotation amounts, show also 3 spatial values of camera and camera towards 3 position angles), by resolving, transformational relation between the space coordinates that can obtain camera space coordinates and target place, also just draws the coordinate of the camera light heart under the space coordinates at target place.Thus, the positioning of photography to camera is realized.
According to above-mentioned principle, under the location of positioning of photography system is based upon camera space coordinates.Six straight-line equations set up can resolve the relation of camera space coordinates and target place coordinate system.As can be seen here.The measurement of positioning of photography system does not need to carry out the adjustment such as levelness, can locate implementation space, realize position measurement fast as long as photograph at least three target points.
As shown in Figure 1, P point is an object point, and p is the picture point (being positioned at o-uv plane) of P, and O-XYZ is rectangular coordinates system, and S-X ' Y ' Z ' is camera surving coordinate system, and S is the photocentre position of camera, and the corresponding coordinate axle of O-XYZ and S-X ' Y ' Z ' is parallel to each other; S-UVF is image space coordinate system, and o-uv is photo coordinate system.
In figure, each point has following coordinate in each coordinate system: the coordinate of S in O-XYZ is (X s, Y s, Z s), the coordinate of object point P in O-XYZ is (X, Y, Z), and the coordinate of object point P in S-X ' Y ' Z ' is (X-X s, Y-Y s, Z-Z s), the coordinate of object point P in S-UVF is (X', Y', Z'), and the coordinate of picture point p in S-UVF is (u, v ,-f), because S, P, p three point on a straight line, therefore according to the relation in S-UVF coordinate system, has:
u X ′ = v Y ′ = - f Z ′ - - - ( 1 )
(1) formula can be reduced to further:
u = - f X ′ Z ′ v = - f Y ′ Z ′ - - - ( 2 )
Coordinate (the X-X of picture point P point in S-XYZ s, Y-Y s, Z-Z s) with the pass of the coordinate of picture point P in S-UVF (X', Y', Z') be:
X ′ Y ′ Z ′ = R X - X S Y - Y S Z - Z S - - - ( 3 )
Wherein R = a 1 , b 1 , c 1 a 2 , b 2 , c 2 a 3 , b 3 , c 3 , For rotation matrix, be an orthogonal matrix, and
According to the rotation sequence around X, Y, Z axis, coordinate system S-XYZ is rotated, rotates respectively ω, κ angle, after rotation matrix R launches, by ω, κ are expressed as: it can thus be appreciated that a of correspondence 1, a 2, a 3, b 1, b 2, b 3, c 1, c 2, c 3with the method for expressing of three rotation angle.
In formula ω, κ are the rotation angle between S-XYZ and S-UVF Two coordinate system, show the rotation relationship between camera surving coordinate system and image space coordinate system, are also called three foreign side's elements of camera, i.e. amount to be asked.From formula (4), the degree of freedom of R is 3, (3) will substitute into and (2) can obtain:
u = - f a 1 ( X - X S ) + b 1 ( Y - Y S ) + c 1 ( Z - Z S ) a 3 ( X - X S ) + b 3 ( Y - Y S ) + c 3 ( Z - Z S ) v = - f a 2 ( X - X S ) + b 2 ( Y - Y S ) + c 2 ( Z - Z S ) a 3 ( X - X S ) + b 3 ( Y - Y S ) + c 3 ( Z - Z S ) - - - ( 5 )
(5) formula is imaging fundamental equation, and according to the structure of camera, f is the focal length of CCD camera, is drawn by Accurate Calibration with the intrinsic parameter information such as pixel equivalent, imaging center position (photo coordinate system initial point).U, v are the coordinate of imaging point under photo coordinate system o-uv, its value is pixel equivalent and the imaging point position product to the number of pixels of o-uv coordinate origin, such as, pixel equivalent is every pixel 1 micron, imaging point position coordinates is (500,500), time, the value of imaging point u, v is 500 microns and 500 microns.
According to above-mentioned analysis, u, v, f are known quantity, unknown quantity be 6 foreign side's elements ( ω, κ, X s, Y s, Z s).For 6 foreign side's elements ( ω, κ, X s, Y s, Z s), when a shooting known coordinate point, 6 foreign side's elements cannot be asked for, also just cannot determine the coordinate under the coordinate system of S in O-XYZ.Uniquely to determine the coordinate of S point, at least six equations must be set up, for this reason, need to arrange the known coordinate points P1 of at least three volume coordinates, P2, P3.
Fig. 2 is the measurement mechanism schematic diagram of the positioning of photography, first sets up three three coordinate points that coordinate is known in right angle, ground footmark system O-XYZ as target point, is respectively P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3).(5) picture fundamental equation is created as according to formula.
u 1 = - f a 1 ( X 1 - X s ) + b 1 ( Y 1 - Y s ) + c 1 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) v 1 = - f a 2 ( X 1 - X s ) + b 2 ( Y 1 - Y s ) + c 2 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) u 2 = - f a 1 ( X 2 - X s ) + b 1 ( Y 2 - Y s ) + c 1 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) v 2 = - f a 2 ( X 2 - X s ) + b 2 ( Y 2 - Y s ) + c 2 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) u 3 = - f a 1 ( X 3 - X s ) + b 1 ( Y 3 - Y s ) + c 1 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) v 3 = - f a 2 ( X 3 - X s ) + b 2 ( Y 3 - Y s ) + c 2 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) - - - ( 6 )
(6) coordinate (the X of photocentre position S under rectangular coordinates system can be resolved according to formula s, Y s, Z s), realize the positioning of photography.
When carrying out actual location operation, first setting up the target point of more than three or three, taking for CCD camera.
Realized the setting of control system and the input of known coordinate by keyboard by the usb bus of positioning of photography system, then start locating device and take, records photographing image.Take rear startup image processing program to process and computing image, finally show the current elements of a fix by display system.
When CCD camera photographs more than three target points, redundant equation group can being obtained, improving precision and reliability when carrying out equation solution further by least square fitting.
In addition, system adds time-marking device, such as, add synchronizing pulse output unit herein, can reflect and take the moment at every turn, realize high-precision Kinematic Positioning.
Below, the concrete implementation step of illustrating for the method for the invention is described.
Step one, set up 3 known target points of coordinate, be respectively P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3).
, be described for 3 target points, target point also can more than 3 herein.
The image of step 2, shooting target point, according to known camera parameter, obtains 3 coordinate of target points in image space coordinate system S-UVF (u, v ,-f) respectively.
Step 3, set up system of equations:
u 1 = - f a 1 ( X 1 - X s ) + b 1 ( Y 1 - Y s ) + c 1 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) v 1 = - f a 2 ( X 1 - X s ) + b 2 ( Y 1 - Y s ) + c 2 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) u 2 = - f a 1 ( X 2 - X s ) + b 1 ( Y 2 - Y s ) + c 1 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) v 2 = - f a 2 ( X 2 - X s ) + b 2 ( Y 2 - Y s ) + c 2 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) u 3 = - f a 1 ( X 3 - X s ) + b 1 ( Y 3 - Y s ) + c 1 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) v 3 = - f a 2 ( X 3 - X s ) + b 2 ( Y 3 - Y s ) + c 2 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s )
Step 4, resolve system of equations:
This system of equations have six ( ω, κ, XS, YS, ZS) foreign side's element, also i.e. six unknown numbers, six equations, six unknown numbers, can solve, and six equations are all containing once item and trigonometric function, and mode of specifically resolving is common practise, such as, adopt the method for Approach by inchmeal to solve.In the present embodiment, existing function in the tool software such as MATLAB is directly used to resolve.
As shown in Figure 2, in order to the measurement of implementation space position coordinates, build a set of locating device.Comprise CCD industrial camera, Measurement and Control System and image processor.
Device comprises the CCD industrial camera demarcating intrinsic parameter, the intrinsic parameter of CCD camera enters the information such as focal length, pixel equivalent, imaging center position and all participates in computing as the known quantity of calculating coordinate, therefore, before use CCD camera, according to existing CCD camera intrinsic parameter calibration technique, Accurate Calibration is carried out to it.
The shooting that Measurement and Control System mainly completes CCD camera controls, the output function of synchronizing pulse.
Image capture software system completes collection and the storage of CCD camera shooting image, for follow-up image processing software system provides original shooting image.Image processing software system completes the pre-service of image, extracts the image coordinate of the target point that each photographs, resolves photocentre position coordinates according to straight-line equation.
The technical program is based on optical imaging concept, CCD camera is outside under trigger mode, export the target point of control signal triggering CCD camera to known coordinate by Measurement and Control System to take, Measurement and Control System exports the synchronizing pulse of corresponding each shooting simultaneously, realize control and the record in shooting moment, overcome the defects such as the measurement of prior art means is loaded down with trivial details, bad dynamic performance.Not only can realize the location under static condition, the location under dynamic condition can be realized simultaneously.
Wherein, CCD industrial camera has demarcated intrinsic parameter, and described intrinsic parameter comprises focal length, pixel equivalent, imaging center position etc.CCD industrial camera receives the control signal from Measurement and Control System, and take the target point of the known coordinate of more than three or three under the control of this control signal, then, image information is sent to image processor by CCD industrial camera.Utilize above-mentioned method, position.

Claims (4)

1. a method for measuring spatial location, comprises following steps:
Step 1, set up more than 3 the target points that coordinate is known in rectangular coordinates system, be respectively P 1(X 1, Y 1, Z 1), P 2(X 2, Y 2, Z 2), P3(X 3, Y 3, Z 3)
Step 2, shooting comprise the image of at least 3 target points;
Step 3, set up system of equations with following form;
Definition: O-XYZ is rectangular coordinates system, and S-X ' Y ' Z ' is camera surving coordinate system, and S is the photocentre position of camera; S-UVF is image space coordinate system, and o-uv is photo coordinate system;
The sensing of each coordinate axis of S-X ' Y ' Z ' is according to the rotation sequence around X, Y, Z axis, carries out rotation and obtains, rotate respectively coordinate system O-XYZ ω, κ angle;
Rotation matrix R adopts ω, κ are expressed as:
use in following system of equations R = a 1 , b 1 , c 1 a 2 , b 2 , c 2 a 3 , b 3 , c 3 , form represent;
The coordinate of S in O-XYZ is (XS, YS, ZS), and for the picture point p of arbitrary object point P and correspondence thereof, the coordinate of object point P in O-XYZ is (X, Y, Z), and the coordinate of object point P in S-X ' Y ' Z ' is (X-X s, Y-Y s, Z-Z s), the coordinate of object point P in S-UVF is (X', Y', Z'), and the coordinate of picture point p in S-UVF is (u, v ,-f);
Wherein, f is camera focus; U, v are the coordinate of imaging point under photo coordinate system o-uv;
Image space coordinate system S-UVF is expanded by photo coordinate system o-uv and obtains, and U, V axle is parallel with u, v axle, photo coordinate system initial point o, and the coordinate in S-UVF is (0,0 ,-f);
Obtain following system of equations;
u 1 = - f a 1 ( X 1 - X s ) + b 1 ( Y 1 - Y s ) + c 1 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) v 1 = - f a 2 ( X 1 - X s ) + b 2 ( Y 1 - Y s ) + c 2 ( Z 1 - Z s ) a 3 ( X 1 - X s ) + b 3 ( Y 1 - Y s ) + c 3 ( Z 1 - Z s ) u 2 = - f a 1 ( X 2 - X s ) + b 1 ( Y 2 - Y s ) + c 1 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) v 2 = - f a 2 ( X 2 - X s ) + b 2 ( Y 2 - Y s ) + c 2 ( Z 2 - Z s ) a 3 ( X 2 - X s ) + b 3 ( Y 2 - Y s ) + c 3 ( Z 2 - Z s ) ; u 3 = - f a 1 ( X 3 - X s ) + b 1 ( Y 3 - Y s ) + c 1 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) v 3 = - f a 2 ( X 3 - X s ) + b 2 ( Y 3 - Y s ) + c 2 ( Z 3 - Z s ) a 3 ( X 3 - X s ) + b 3 ( Y 3 - Y s ) + c 3 ( Z 3 - Z s ) . . . . . .
Wherein, the quantity of equation is 2 times of the quantity of the target point photographed;
Step 4, resolve system of equations, calculate unknown quantity (X s, Y s, Z s), ω, κ; Camera surving coordinate system S-X ' Y ' Z ' and the relation of rectangular coordinates system O-XYZ can be obtained, complete location.
2. method for measuring spatial location as claimed in claim 1, is characterized in that, when taking image in step 2, in the records photographing moment, in step 4, while exporting locating information, exports time scale information, realizes Kinematic Positioning.
3. a spatial position measuring system, is characterized in that, comprises: the target point that more than 3 coordinates are known, the camera of shooting target dot image, and the image photographed camera processes, exports the arithmetic facility of locating information; Arithmetic facility uses the method for claim 1 to position computing.
4. spatial position measuring system as claimed in claim 3, is characterized in that, also comprises the moment recording unit in record image shot by camera moment.
CN201310475942.0A 2013-10-12 2013-10-12 Method and device for measuring spatial position Pending CN104567812A (en)

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CN113574345A (en) * 2019-04-01 2021-10-29 微-埃普西龙光电股份有限公司 Measuring system for optical measurements

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CN113574345A (en) * 2019-04-01 2021-10-29 微-埃普西龙光电股份有限公司 Measuring system for optical measurements

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Application publication date: 20150429