CN104570580B - A kind of spatially distributed camera optical axis angle method of testing - Google Patents
A kind of spatially distributed camera optical axis angle method of testing Download PDFInfo
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- CN104570580B CN104570580B CN201510041176.6A CN201510041176A CN104570580B CN 104570580 B CN104570580 B CN 104570580B CN 201510041176 A CN201510041176 A CN 201510041176A CN 104570580 B CN104570580 B CN 104570580B
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Abstract
A kind of spatially distributed camera optical axis angle method of testing, using high-precision two-dimensional turntable, three face reflecting prisms of customization, precision goniometer, hi-Fix and error-compensating apparatus test system building.By two-dimension adjustment frock, the pitching rotation shaft end that three face reflecting prisms of customization are installed to high-precision two-dimensional turntable, and auto-collimation is carried out to three face reflecting prisms with precision goniometer.Adjustment two-dimension adjustment frock has regarding number when making precision goniometer to thrihedral reflector auto-collimation.Revolving-turret simultaneously adjusts collimator locus, makes the optical axis of each camera parallel with the light axial adjustment of collimator successively, and storage precision goniometer is calculated camera optical axis angle to be measured to the autocollimatic measurement data of thrihedral reflector.The technology is applicable to the test of spatially distributed remote sensing camera optical axis angle, can achieve to be better than 3 " measuring accuracy.It is applied in three line scanner camera integration testing, and through in-flight measurement.
Description
Technical field
The invention belongs to space flight optical remote sensor technical field, is applicable to the spatially distributed camera such as tridimensional mapping camera
The precision measurement of optical axis angle.
Background technology
Mode transmission large scale tridimensional mapping camera is usually the form of two linear arrays or three line scanner, is surveyed and drawn by two or three
Camera is constituted, and is distributed in space angle between two or three cameras.This camera configuration requirements are necessary in camera development
Intersection angle between two or three cameras of Accurate Calibration, its required precision are very high, often require that stated accuracy 5 " within.
By taking the three line scanner camera of three camera compositions as an example, three cameras are non-coplanar, form spatial relationship, three line scanner camera
Configuration sketch as shown in Figure 2.Therefore in the test process for carrying out optical axis angle, must be requested that test equipment should have two
Dimension spinfunction, while also need to two-dimension translational function.As space camera is sent out towards long-focus, bigbore direction
Exhibition, therefore the volume of camera and deadweight are increasing.It is difficult if a set of high accuracy, the big four-dimensional test equipment for carrying is developed
Degree and scale are very big.This is accomplished by exploring new method to realize spatially distributed camera optical axis angle on the basis of existing equipment
Precision measurement.
Content of the invention
The technology solve problem of the present invention：Overcome the deficiencies in the prior art, there is provided a kind of spatially distributed camera optical axis folder
Angle method of testing, respectively using high-precision two-dimensional turntable, can achieve the collimator of hi-Fix and error compensation realizing
Two Dimensional Rotating and two-dimension translational function, realize spatially distributed camera using three face reflecting prisms and high precision photoelectric clinometer
The precision measurement of optical axis angle.
The technical solution of the present invention：A kind of spatially distributed camera optical axis angle method of testing, comprises the following steps：
1) determine the angle between two neighboring reflecting surface in three face reflecting prisms, make three face reflecting prism neighboring reflection faces
Angle be 180 ° of-Φ；Wherein Φ is the optical axis angle design load of adjacent cameras in three line scanner camera to be measured；
2) two angles actual value θ, the β in three face reflecting prism neighboring reflection faces are tested out with precision goniometer；
3) three line scanner camera to be measured is placed in dimensional turntable, and three face reflecting prisms are installed to two by two-dimension adjustment frock
The pitching rotation shaft end of dimension turntable；Adjustment two-dimension adjustment frock make precision goniometer in test process with three face reflecting prisms
During each reflecting surface auto-collimation, the level of precision goniometer, pitching have reading；
4) pitching of collimator locus and three line scanner camera to be measured, forward sight phase in three line scanner camera to be measured are adjusted
Electro-optic theodolite is set up between machine and collimator, using electro-optic theodolite by the optical axis of forward sight camera in three line scanner camera to be measured
Parallel with collimator adjustment；
5) using precision goniometer to forward sight camera in three line scanner camera to be measured in three face reflecting prisms corresponding under
Mirror surface carries out auto-collimation, and records precision goniometer auto-collimation reading A (x1, y1)；
6) pitching of collimator locus and three line scanner camera to be measured is adjusted, in three line scanner camera to be measured, faces phase
Electro-optic theodolite is set up between machine and collimator, the optical axis of camera will be faced in three line scanner camera to be measured using electro-optic theodolite
Parallel with collimator adjustment；
7) using precision goniometer to face in three line scanner camera to be measured camera in three face reflecting prisms corresponding in
Mirror surface carries out auto-collimation, and records precision goniometer auto-collimation reading B (x2, y2)；
8) pitching of collimator locus and three line scanner camera to be measured, backsight phase in three line scanner camera to be measured are adjusted
Electro-optic theodolite is set up between machine and collimator, using electro-optic theodolite by the optical axis of rear view camera in three line scanner camera to be measured
Parallel with collimator adjustment；
9) corresponding upper in three face reflecting prisms to rear view camera in three line scanner camera to be measured using precision goniometer
Mirror surface carries out auto-collimation, and records precision goniometer auto-collimation reading C (x3, y3)；
10) according to step 2) in two angles actual value θ, the β in three face reflecting prism neighboring reflection faces that measure, obtain
Rear view camera angle Φ 1 actual with the optical axis for facing camera, and forward sight camera angle Φ 2 actual with the optical axis of facing camera；
Wherein Φ 1=180 °-θ+y3-y2, Φ 2=180 °-β+y1-y2.
The present invention is had the advantage that compared with prior art：
(1) spatially distributed camera, the mode that Two Dimensional Rotating and two-dimension translational are implemented separately by the proposition of novelty are directed to
Camera optical axis angle is tested, big carrying, high-precision four-dimensional test equipment is solved and is developed a difficult difficult problem, shorten
Test period, test funds are saved；(2) as the measuring accuracy of the optical axis angle drafting accuracy final to cartographic satellite has directly
Relation is connect, its measuring accuracy is improved significant.Compared with traditional theodolite method of testing, the present invention can be greatly improved
The measuring accuracy of spatially distributed camera optical axis angle, can achieve be better than 3 " measuring accuracy, meet large scale stereo mapping
The system integration demand of camera；
Description of the drawings
Fig. 1 is flow chart of the present invention；
Fig. 2 is phase mechanism type sketch to be measured；
Fig. 3 is three face reflecting prism schematic diagrams；
Fig. 4 is optical axis angle test equipment scheme of installation.
Specific embodiment
The present invention basic ideas be：Spatially distributed to realize using three face reflecting prisms and high accuracy precision goniometer
Camera optical axis angle is tested.The installation site of test equipment is as shown in figure 4, specific embodiment is as follows：
Step (1) determines the angle in three face reflecting prisms 3 between two neighboring reflecting surface, makes three face reflecting prisms, 3 phase
The angle of adjacent reflecting surface is 180 ° of-Φ；Wherein Φ is the optical axis angle design load of adjacent cameras in three line scanner camera 2 to be measured；
Step (2) precision goniometer 1 tests out two angles actual value θ, the β in three face reflecting prisms, 3 neighboring reflection face,
As shown in figure 3, θ, β are neighboring reflection face angle actual test value, its measuring accuracy is 0.2 "；
Step (3) three line scanner camera 2 to be measured is placed in dimensional turntable 5, and three face reflecting prisms 3 are passed through two-dimension adjustment frock
The 4 pitching rotation shaft ends for being installed to dimensional turntable 5；Adjustment two-dimension adjustment frock 4 makes precision goniometer 1 in test process with three
During each reflecting surface auto-collimation of face reflecting prism 3, the level of precision goniometer 1, pitching have reading；
Step (4) adjusts the pitching of 6 locus of collimator and three line scanner camera 2 to be measured, in three line scanner camera 2 to be measured
Electro-optic theodolite is set up between middle forward sight camera and collimator 6, using electro-optic theodolite by forward sight in three line scanner camera 2 to be measured
The optical axis of camera adjusts parallel with collimator 6；
Step (5) using precision goniometer 1 to forward sight camera in three line scanner camera 2 to be measured institute in three face reflecting prisms 3
Corresponding lower mirror surface carries out auto-collimation, and records 1 auto-collimation reading A (x1, y1) of precision goniometer；
Step (6) adjusts the pitching of 6 locus of collimator and three line scanner camera 2 to be measured, in three line scanner camera 2 to be measured
In face between camera and collimator 6 erection electro-optic theodolite, will be faced in three line scanner camera 2 to be measured using electro-optic theodolite
The optical axis of camera adjusts parallel with collimator 6；
Step (7) is using precision goniometer 1 to facing camera institute in three face reflecting prisms 3 in three line scanner camera 2 to be measured
Corresponding middle mirror surface carries out auto-collimation, and records 1 auto-collimation reading B (x2, y2) of precision goniometer；
Step (8) adjusts the pitching of 6 locus of collimator and three line scanner camera 2 to be measured, in three line scanner camera 2 to be measured
Electro-optic theodolite is set up between middle rear view camera and collimator 6, using electro-optic theodolite by backsight in three line scanner camera 2 to be measured
The optical axis of camera adjusts parallel with collimator 6；
Step (9) using precision goniometer 1 to rear view camera in three line scanner camera 2 to be measured institute in three face reflecting prisms 3
Corresponding upper reflector face carries out auto-collimation, and records 1 auto-collimation reading C (x3, y3) of precision goniometer；
Step (10) is according to step 2) in measure three face reflecting prisms, 3 neighboring reflection face two angle actual value θ,
β, the angle Φ 1 actual with the optical axis of facing camera that obtains rear view camera, and forward sight camera and the actual folder of the optical axis of facing camera
Angle Φ 2；Wherein Φ 1=180 °-θ+y3-y2, Φ 2=180 °-β+y1-y2.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (1)
1. a kind of spatially distributed camera optical axis angle method of testing, it is characterised in that comprise the following steps：
1) determine the angle between two neighboring reflecting surface in three face reflecting prisms (3), make three face reflecting prism (3) neighboring reflections
The angle in face is 180 ° of-Φ；Wherein Φ is the optical axis angle design load of adjacent cameras in three line scanner camera (2) to be measured；
2) two angles actual value θ, the β in three face reflecting prism (3) neighboring reflection faces are tested out with precision goniometer (1)；
3) three line scanner camera (2) to be measured are placed in dimensional turntable (5), and three face reflecting prisms (3) are passed through two-dimension adjustment frock (4)
It is installed to the pitching rotation shaft end of dimensional turntable (5)；Adjustment two-dimension adjustment frock (4) makes precision goniometer (1) in test process
In each reflecting surface auto-collimation with three face reflecting prisms (3) when, the level of precision goniometer (1), pitching have reading；
4) pitching of collimator (6) locus and three line scanner camera to be measured (2) is adjusted, in three line scanner camera (2) to be measured
Electro-optic theodolite is set up between forward sight camera and collimator (6), using electro-optic theodolite by before in three line scanner camera (2) to be measured
The optical axis depending on camera is parallel with collimator (6) adjustment；
5) corresponding in three face reflecting prisms (3) to forward sight camera in three line scanner camera (2) to be measured using precision goniometer (1)
Lower mirror surface carry out auto-collimation, and record precision goniometer (1) auto-collimation reading A (x1, y1)；
6) pitching of collimator (6) locus and three line scanner camera to be measured (2) is adjusted, in three line scanner camera (2) to be measured
Face between camera and collimator (6) erection electro-optic theodolite, using electro-optic theodolite by three line scanner camera (2) to be measured just
The optical axis depending on camera is parallel with collimator (6) adjustment；
7) corresponding in three face reflecting prisms (3) to facing camera in three line scanner camera (2) to be measured using precision goniometer (1)
Middle mirror surface carry out auto-collimation, and record precision goniometer (1) auto-collimation reading B (x2, y2)；
8) pitching of collimator (6) locus and three line scanner camera to be measured (2) is adjusted, in three line scanner camera (2) to be measured
Electro-optic theodolite is set up between rear view camera and collimator (6), using electro-optic theodolite by after in three line scanner camera (2) to be measured
The optical axis depending on camera is parallel with collimator (6) adjustment；
9) corresponding in three face reflecting prisms (3) to rear view camera in three line scanner camera (2) to be measured using precision goniometer (1)
Upper reflector face carry out auto-collimation, and record precision goniometer (1) auto-collimation reading C (x3, y3)；
10) according to step 2) in two angles actual value θ, the β in three face reflecting prism (3) neighboring reflection faces that measure, obtain
Rear view camera angle Φ 1 actual with the optical axis for facing camera, and forward sight camera angle Φ 2 actual with the optical axis of facing camera；
Wherein Φ 1=180 °-θ+y3-y2, Φ 2=180 °-β+y1-y2.
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| CN106197365A (en) * | 2016-07-18 | 2016-12-07 | 中国科学院光电研究院 | A kind of optical axis included angle detection method of multiple stage viewing field of camera splicing |
| CN106767907B (en) * | 2016-11-29 | 2019-11-08 | 上海卫星工程研究所 | Optical camera geometry imaging model high-precision calibrating and assessment device and method |
| CN108956101B (en) * | 2018-08-20 | 2024-05-07 | 中国科学院上海技术物理研究所 | Device and method for measuring change of visual axis of camera |
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| JP2006038683A (en) * | 2004-07-28 | 2006-02-09 | Sokkia Co Ltd | Three-dimensional measuring instrument |
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