CN106197395A - A kind of air floating table position and attitude based on NI CVS determines method - Google Patents
A kind of air floating table position and attitude based on NI CVS determines method Download PDFInfo
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- CN106197395A CN106197395A CN201610472461.8A CN201610472461A CN106197395A CN 106197395 A CN106197395 A CN 106197395A CN 201610472461 A CN201610472461 A CN 201610472461A CN 106197395 A CN106197395 A CN 106197395A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
A kind of air floating table position and attitude based on NI CVS disclosed by the invention determines method, arranges five characteristic points on air floating table, gathers image, the image collected is carried out gray proces, and carries out feature point extraction.Blocking due to characteristic point or during situation that feature point extraction is failed when running into, carry out the characteristic point of reconstruction of lost or fault according to the characteristic point position attitude information in this moment of previous moment vision guided navigation algorithm predicts, the position and attitude after having continued resolves.Before carrying out position and attitude resolving, it is also possible to camera is installed matrix and characteristic point position is calibrated.This method can show the moving image of air floating table and air floating table movement position and the change curve of attitude in real time, and the data that air floating table moves are saved in appointment position.This method other air floating table pose that compares determines method, has the advantages such as processing method is simple, system cost is low, fault-tolerance is high, performance is good.This method applies also in the space missions such as spacecraft service in-orbit.
Description
Technical field
The present invention relates to vision Relative Navigation technical field, a kind of air floating table position and attitude based on NI-CVS is true
Determine method.
Background technology
When space race starts, each spacefaring nation begins to put down using air floating table as spacecraft ground physical simulation
Platform.For expensive space mission, use air floating table to do ground simulation and can be substantially reduced the risk of task, such as, utilize
Spacecraft attitude determines by air floating table, control hardware and software etc. tests, simulating, verifying spacecraft Autonomous rendezvous and docking
Etc. space mission.If spacecraft enters the test carrying out various hardware and software after space again, very risky and spend
Cost is costly.Air floating table generally uses plane or spherical air-bearing to come translation or the rotation of Simulated Spacecraft, nothing
The air-bearing of friction can be with simulation space microgravity environment.NI-CVS, Compact Vision System, for American National
Instrument compact visual system, for acquisition and the process of image.
In the simulation experiment of air floating table, accurately determine that air floating table is extremely important relative to the position of referential and attitude
's.At present, the common method that air floating table position and attitude determine is to use the combination of inertia measurement device, gyroscope, inclinometer
Form, but this mode is not provided that correct yaw axis attitude angle and accurate angular velocity information, this is because inertia is surveyed
Metering device can be produced the LF-response of about 0.25Hz by the effect of magnetic disturbance and inclinometer.There is a lot of method can be more at present
Mend the deficiency of this combination technique, such as multi-sensor fusion technology, indoor GPS airmanship, vision guided navigation technology etc..For
Multi-sensor fusion technology, sensor generally includes sun sensor, gaussmeter, gyroscope and inclinometer etc..Such as naval grinds
Jiu Sheng institute and Georgia Institute of Technology, in air floating table attitude and heading reference system, just use gaussmeter, sun sensor and gyroscope
Compound mode.This method is exactly that magnetic field is easily subject to do as the measuring method of ground experiment platform, its shortcoming
Disturb the impact in source, such as mobile phone, computer, air-conditioning etc..For sun sensor, need corresponding solar simulator.Inclinometer can
To obtain two inclinations angle relative to horizon sensor, rate gyro can also obtain the metrical information of speed, but, high
The rate gyro of precision and inclinometer are costly.Indoor GPS airmanship can measure the relative appearance of six degree of freedom in real time
State and position.One example of indoor GPS navigation is that indoor heating system based on laser measures the static or position of moving object
And attitude, it needs optical pickocff and transmitter.Indoor GPS airmanship needs four or five transmitters, Er Qiexu
Accurately to know the position of transmitter, one or two receivers are installed on air floating table, resolves attitude with computer,
This method is the most costly.
Vision guided navigation technology is also commonly used in the position and orientation measurement of air floating table, is also commonly used in Space Autonomous spacecrafts rendezvous
The relative attitude of final stage determine, the spacecrafts rendezvous of such as divine boat eight and Heavenly Palace one.Vision navigation method the most main
Wanting advantage is to require no knowledge about to act on spaceborne any power and moment, it is not required that target or inertia measurement any
Information.At present, the precision of vision guided navigation is when relative distance is less than 50 meters, between attitude error is spent 0.2 to 0.5.Such as,
The attitude determination accuracy of NASA VGS is about 0.2.The visual system of Georgia Institute of Technology is processed vision by one
Computer, an image acquisition board, simulated optical camera and a laser module composition.Laser module is connected on air floating table,
And project a cross image to objective plane.Ceiling mounted cameras capture is to the cross laser tilted
Bundle, and calculate the attitude of air floating table.Above-mentioned visual system scheme is complicated, and does not has the ability of failure tolerant.It is thus desirable to
Set up a low-cost and high-performance and have the vision navigation method of certain fault-tolerant ability.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of air floating table position and attitude based on NI-CVS and determines method, the method
Low cost, precision are high, zmodem, and final navigation system is simple.
A kind of air floating table position and attitude based on NI-CVS disclosed by the invention determines method, comprises the following steps:
1) arranging five characteristic points on air floating table, described characteristic point includes the characteristic point in four same planes and a plane
Outer characteristic point.
2) time that NI-CVS and air floating table control computer synchronizes.
3) air floating table preserved before gathering air floating table moving image or reading transports to video.
4) by the air floating table moving image collected according to set threshold value carry out gray proces, it is ensured that camera noise and
Other Null Spot can be filtered, and extracts the characteristic point in gray level image, by the characteristic point number extracted, characteristic point at figure
The coordinate measurement and calculation that in image plane, the elemental area of projection, characteristic point are fastened in image coordinate is out；
5) characteristic point fault is processed:
51) if the validity feature extracted is counted out equal to five and consistent with the characteristic point configuration arranged, then extract
The all characteristic points needed, calculate the projected pixel area of all characteristic points, area maximum for out-of-plane characteristic point, remaining
Four characteristic points use the method for triangle area sizes sequence to carry out Feature Points Matching, then carry out step 6) position appearance
State resolves；Validity feature point refers to when this system is working properly, five characteristic points can be detected, except because the reason such as blocking and losing
Lose or the undetected point that breaks down, referred to as validity feature point.
52) if the validity feature extracted is counted out equal to four, then a characteristic point is had to lose or break down.
Projected pixel size according to each characteristic point, it is judged that lose or the characteristic point that breaks down the most planar: flat
Characteristic point outside face is close to camera, and its projected area is much larger than the projected area of the characteristic point in plane.
521) if lost or the characteristic point that breaks down is out-of-plane characteristic point, triangle area is the most directly used
The method of size sequence carries out Feature Points Matching in plane, and uses the positional information of four characteristic points in plane to carry out step 6)
Position and attitude resolve.
522) if lost or the characteristic point that breaks down is the characteristic point in plane, then according to step 6) position and attitude
This moment this feature dot position information that algorithm is estimated makes up this feature dot position information, then uses the big float of triangle area
The method of sequence carries out Feature Points Matching in plane, finally uses characteristic point and an outer characteristic point of plane in effective three planes
Positional information carry out step 6) position and attitude resolve.
53) if the validity feature extracted is counted out equal to three, then two characteristic points are had to lose or break down.
Projected pixel size according to each characteristic point, it is judged that whether the outer characteristic point of plane loses or break down.
531) if extract three effective characteristic points are all the characteristic points in plane, then according to step 6) position appearance
This moment that state algorithm is estimated loses or the positional information of characteristic point in the plane that breaks down, in the plane of reconstruction of lost
Characteristic point, then uses the method for triangle area size sequence to carry out Feature Points Matching, finally uses extract three to have
The characteristic point position information lost or break down in the characteristic point of effect and the plane of reconstruct carries out the position of step 6)
Attitude algorithm.
532) if extract three effective characteristic points are characteristic point and an outer characteristic point of plane in two planes,
In this moment loss then estimated according to pose algorithm or two planes broken down, the positional information of characteristic point, reconstructs
Characteristic point in two planes lost or break down, then uses the method for triangle area size sequence to carry out characteristic point
Coupling, finally uses the positional information of characteristic point in one of them plane of three effective characteristic points and the reconstruct extracted
The position and attitude carrying out step 6) resolves.
6) existing characteristic point position information is utilized, the characteristic point letter of reconstruct when losing including characteristic point or break down
Breath, the expanded Kalman filtration algorithm using iterative algorithm to improve, carry out position and attitude resolving.This algorithm can predict air floating table
Motion, and by prediction movement state information be used for reconstruction of lost characteristic point.When the characteristic point number extracted is less than three
Time individual, it is impossible to normally obtain relative position and attitude information.
7) repeat above step, just can realize exporting continuously and in real time of air floating table position and attitude information.And can pass through
It is wirelessly transmitted to air floating table and controls computer.Position and the reality of attitude when can show that air floating table moves by software front panel
Time change curve；Can also show the moving image of air floating table, display type can be air floating table motion original image, Jing Guotu
As the air floating table motion gray level image after process and the characteristic point moving image extracted.Further, it is also possible to this vision is led
Boat information exports appointment position, the data process etc. after convenience.
Further, the characteristic point of described step 1) can use LED light source or the different concentric circular of area ratio.
Another kind of improve, described step 2) in NI-CVS and air floating table controlled time of computer synchronize, be divided into
Soft synchronization and hard synchronization two kinds.Soft synchronous method is that duty monitor is sent out to NI-CVS and air floating table control computer simultaneously
Penetrate temporal information so that the temporal information of temporal information and duty monitor that NI-CVS and air floating table control computer is protected
Hold consistent.Hard synchronous method is that duty monitor controls computer transmission pulse information to NI-CVS and air floating table simultaneously,
It is initial with first pulse signal, starts timing so that NI-CVS keeps Tong Bu with the temporal information of air floating table.
Another kind of improvement, described step 3) gathers air floating table moving image and uses CCD camera, while gathering image, also
Air floating table moving image can be organized into video and be saved in a position specified.Image acquisition step is carried out by CCD camera
Suddenly can also replace with the air floating table sport video of preservation before reading.
Improve further, after carrying out described step 6) for the first time, according to step 6) calculated air floating table attitude
Whether the two axle attitudes that information and high-precision tilt angle meter export meet certain error requirements judges whether that camera is installed by needs
Matrix is calibrated.If error exceedes the threshold value of setting, then need calibration.For given air floating table attitude, utilize high-precision
The attitude angle that degree inclinometer and vision measurement obtain carries out least square fitting, thus comes the installation matrix of camera is carried out school
Accurate.If need not calibration, then it is directly entered step 7).
CCD camera camera lens installation infrared filter plate, do so can filter out the visible ray interference in experimental situation, only allow
The infrared ray of certain wave band passes through, then collected by camera to image in the contrast of characteristic point and background become apparent from, after facilitating
Image procossing and feature point extraction.
After carrying out described step 6) for the first time, on the basis of camera installation matrix has been calibrated, according to rear
Continuous position and attitude determines whether error has relatively large deviation and judge whether to need to calibrate characteristic point position, if deviation is relatively
Big then need calibration, for given air floating table position and attitude, utilize the spy that high accuracy gyroscope instrument and vision measurement are back-calculated to obtain
Levy a position and carry out least square fitting, thus come the position of characteristic point is calibrated.If need not calibration, the most directly enter
Enter step 7).
The air floating table position and attitude based on NI-CVS of the present invention determines method, it is possible to achieve spacecraft ground emulation air supporting
Platform high precision position attitude determines.The method of the present invention other air floating table pose that compares determines method, has processing method letter
The advantages such as list, system cost is low, fault-tolerance is high, performance is good.The method of the present invention also can be applicable to the boats such as spacecraft service in-orbit
In it task.
Accompanying drawing explanation
Fig. 1 is the system connection diagram of the embodiment of the present invention；
Fig. 2 be the embodiment of the present invention to determine that the method for air floating table position and attitude runs in NI-CVS based on NI-CVS overall
Block diagram；
Fig. 3 is the flow chart that in the embodiment of the present invention, matrix calibration installed by camera；
Fig. 4 is the flow chart of characteristic point position calibration in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the determination method of a kind of based on NI-CVS air floating table position and attitude that the present invention proposes is entered
Row describes in detail.
The air floating table position and attitude based on NI-CVS of the present invention determines method air floating table based on NI-CVS position and attitude
Determining method, a preferably embodiment specifically comprises the following steps that
1) it is attached according to the connected mode of Fig. 1.CCD camera and wireless router are all with the wired side of Ethenet Yu NI-CVS
Formula connects, and air floating table controls computer and wireless router is all connected with duty monitor wireless mode with WIFI.
2) five characteristic points are set on air floating table, show by LED, including characteristic point in four same planes and one
The outer characteristic point of plane.In four same planes, characteristic point is placed on the surface of air floating table, so can ensure that same flat
In face, and the position that in four same planes, characteristic point is placed constitutes a right-angled trapezium, and the outer characteristic point of plane is placed on
Above certain device of air floating table surface, because position and attitude computation afterwards requires at least to record four non-colinear features
The information of point, such characteristic point position laying method can ensure that any four characteristic point non-colinear.Characteristic point can also be used
The concentric circular that area ratio is different replaces as target.As in figure 2 it is shown, by LED when the air floating table of target.
3) system time is synchronized, be divided into soft synchronization and hard synchronization two kinds.As shown in Fig. 1 figure, soft synchronous method is
Duty monitor controls computer information launch time to NICVS and air floating table simultaneously so that NI-CVS and air floating table control
The temporal information of computer processed keeps consistent with the temporal information of duty monitor.Hard synchronous method is that duty monitors
Device controls computer to NI-CVS and air floating table simultaneously and sends pulse information, is initial with first pulse signal, starts timing,
The temporal information making NI-CVS control computer with air floating table keeps Tong Bu.
3) air floating table moving image is gathered by CCD camera, while gathering image, it is also possible to by whole for air floating table moving image
Manage into video and be saved in a position specified.Carry out image acquisition step by CCD camera to preserve before reading
Air floating table sport video replace.CCD camera camera lens installation infrared filter plate, do so can filter out in experimental situation can
See light, only allow the infrared ray of certain wave band pass through, collected by camera to image in the contrast of characteristic point and background become apparent from, side
Just the image procossing after and feature point extraction.It is used as other video-photographic equipment and gathers image.
4) by the air floating table moving image collected according to set threshold values carry out gray proces, it is ensured that camera noise and
Other Null Spot can be filtered, and extracts the characteristic point in gray level image, and the characteristic point number that will extract, characteristic point is at picture
The elemental area of plane inner projection, characteristic point coordinate measurement and calculation in image coordinate system is out.Under normal circumstances, the present invention
Vision navigation system can extract five validity feature points, including the characteristic point in four planes and an out-of-plane feature
Point.
51) if it is five that the validity feature extracted is counted out and consistent with the characteristic point configuration of design, then extract
The all characteristic points needed, calculate the projected pixel area of all characteristic points, area maximum for out-of-plane characteristic point, surplus
Under four characteristic points use the method for triangle area sizes sequence to carry out Feature Points Matching, then carry out the position of step 6)
Attitude algorithm；
52) if the validity feature extracted is counted out equal to four, then a characteristic point is had to lose or break down.According to
The projected pixel size of each characteristic point, it is judged that lose or the characteristic point that breaks down the most planar.If lost
The characteristic point lost or break down is out-of-plane characteristic point, the most directly uses the method for triangle area size sequence to carry out
Feature Points Matching in plane, and the position and attitude using the positional information of four characteristic points in plane to carry out step 6) resolves.As
Fruit is lost or the characteristic point that breaks down is the characteristic point in plane, then estimate according to step 6) position and attitude algorithm this time
Carve this feature dot position information and make up this feature dot position information, then the method using triangle area size to sort is put down
Feature Points Matching in face, finally uses the positional information of characteristic point and an outer characteristic point of plane in effective three planes to carry out
The position and attitude of step 6) resolves.
53) if the validity feature extracted is counted out is equal to three, then there are two characteristic points to lose or event occurs
Barrier.Projected pixel size according to each characteristic point, it is judged that whether the outer characteristic point of plane loses or break down.If
Three the effective characteristic points extracted are all the characteristic points in plane, then according to step 6) position and attitude algorithm estimate this time
In the plane lost quarter or break down, the positional information of characteristic point, the characteristic point in the plane of reconstruction of lost, then use
The method of triangle area size sequence carries out Feature Points Matching, finally uses three the effective characteristic points extracted and weight
Relative position and attitude after the characteristic point position information lost or break down in the plane of structure is carried out resolves.If carried
Three the effective characteristic points got are characteristic point and an outer characteristic point of plane in two planes, then estimate according to pose algorithm
This moment lose or the positional information of characteristic point in two planes breaking down, carry out reconstruction of lost or break down
Characteristic point in two planes, then uses the method for triangle area size sequence to carry out Feature Points Matching, finally uses extraction
To three effective characteristic points and reconstruct one of them plane in the positional information of characteristic point carry out the position of step 6)
Attitude algorithm.
6) existing four characteristic point position information are utilized, the characteristic point information of reconstruct when losing including characteristic point, use
The expanded Kalman filtration algorithm improved based on conventional iterative algorithm, carries out position and attitude resolving.This algorithm can be according to before
The position and attitude information in the position and attitude information prediction next one moment in several moment, and the movement state information of prediction is used for
Reconstruction of lost or the characteristic point broken down, and be used for revising being somebody's turn to do of prediction by the position and attitude the information actual next moment
The position and attitude information in moment, it is ensured that convergence and error.When the characteristic point number extracted is less than three, nothing
Method normally obtains relative position and attitude information.
61) after carrying out step 6) for the first time, according to step 6) calculated air floating table attitude information and high accuracy
Whether two axle attitudes of inclinometer output meet certain error requirements judges whether that camera is installed matrix and calibrated by needs.
If error exceedes the threshold values of setting, then need calibration.As it is shown on figure 3, for given air floating table attitude, high-precision tilt angle meter
Can obtain the anglec of rotation of two horizontal directions, then obtain attitude angle by the rotational order of 3-2-1, vision measurement obtains
Air floating table spin matrix also according to 3-2-1 rotational order convert obtain attitude angle, if data volume now is carried out not
Least square fitting, allows air floating table give an attitude again, obtains some data volumes by same method, and so circulation is gone down straight
Least square fitting algorithm after enough carrying out to data volume, thus comes to calibrate the installation matrix of camera.If no
Need calibration, the most directly carry out step 7).
62) after carrying out step 6) for the first time, on the basis of camera installation matrix has been calibrated, according to follow-up
Position and attitude determines whether error has relatively large deviation and judge whether to need to calibrate characteristic point position, if deviation is bigger
Then need calibration.As shown in Figure 4, if needing calibration, then for given air floating table attitude, high accuracy gyroscope instrument is utilized to obtain
Angular velocity extrapolate the position of characteristic point, the spin matrix image coordinate utilizing vision measurement to obtain fastens the letters such as feature locations
Breath is back-calculated to obtain characteristic point position on air floating table, if data volume now carries out least square fitting not, then allows gas
Floating platform gives an attitude again, obtains some data volumes by same method, and so circulation is gone down until data volume is enough carried out
Least square fitting algorithm afterwards, thus comes to calibrate the position of characteristic point.If need not calibration, the most directly carry out
Step 7).
7) repeat above step, just can realize the continuous and the most defeated of air floating table position and attitude information based on monocular camera
Go out.And wirelessly it is sent to air floating table control computer.Position when can show that air floating table moves by software front panel
Real-time change curve with attitude；Can also show the moving image of air floating table, display type can be the gas of CCD camera shooting
Floating platform motion original image, air floating table motion gray level image after image procossing and the characteristic point moving image extracted.
Further, it is also possible to this vision guided navigation information to be exported appointment position, the data analysis and process etc. after convenience.
The concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, under the premise without departing from the principles of the invention, it is also possible to make some improvement, this
A little improvement also should be regarded as protection scope of the present invention.
Claims (7)
- A kind of air floating table position and attitude based on NI-CVS the most disclosed by the invention determines method, it is characterised in that include following Step:1) arranging five characteristic points on air floating table, described five characteristic points include the characteristic point in four same planes and one Out-of-plane characteristic point；2) time that NI-CVS and air floating table control computer synchronizes；3) the air floating table sport video preserved before gathering air floating table moving image or reading；4) the air floating table moving image collected is carried out gray proces according to the threshold value set, and extract the spy in gray level image Levy a little, by the characteristic point number extracted, characteristic point in the elemental area of image plane inner projection, characteristic point in image coordinate system Coordinate measurement and calculation out；5) characteristic point fault is processed:51) if the validity feature extracted is counted out equal to five and consistent with the characteristic point configuration arranged, then extract The all characteristic points needed, calculate the projected pixel area of all characteristic points, area maximum for out-of-plane characteristic point, remaining Four characteristic points use the method for triangle area sizes sequence to carry out Feature Points Matching, then carry out the position appearance of step 6) State resolves；52) if the validity feature extracted is counted out equal to four, then a characteristic point is had to lose or break down, according to The projected pixel size of each characteristic point, it is judged that lose or the characteristic point that breaks down the most planar；521) if lost or the characteristic point that breaks down is out-of-plane characteristic point, triangle area size is the most directly used The method of sequence carries out Feature Points Matching in plane, and uses the positional information of four characteristic points in plane to carry out the position of step 6) Put attitude algorithm；522) if lost or the characteristic point that breaks down is the characteristic point in plane, then according to step 6) position and attitude algorithm This moment this feature dot position information estimated makes up this feature dot position information, then uses triangle area size to sort Method carries out Feature Points Matching in plane, finally uses characteristic point and an outer characteristic point of plane in effective three plane Positional information carries out the position and attitude of step 6) and resolves；53) if the validity feature extracted is counted out equal to three, then two characteristic points are had to lose or break down；Projected pixel size according to each characteristic point, it is judged that whether the outer characteristic point of plane loses or break down；531) if extract three effective characteristic points are all the characteristic points in plane, then calculate according to step 6) position and attitude This moment that method is estimated loses or the positional information of characteristic point in the plane that breaks down, the feature in the plane of reconstruction of lost Point, then uses the method for triangle area size sequence to carry out Feature Points Matching, finally uses three extracted effectively The characteristic point position information lost or break down in the plane of characteristic point and reconstruct carries out the position and attitude of step 6) Resolve；532) if extract three effective characteristic points are characteristic point and an outer characteristic point of plane, then root in two planes In this moment loss estimated according to pose algorithm or two planes broken down, the positional information of characteristic point, carrys out reconstruction of lost Or characteristic point in two planes broken down, then uses the method for triangle area size sequence to carry out characteristic point Join, finally use the positional information of characteristic point in one of them plane of extract three effective characteristic points and reconstruct to enter The position and attitude of row step 6) resolves；6) existing characteristic point position information is utilized, the characteristic point information of reconstruct when losing including characteristic point, use iterative algorithm The expanded Kalman filtration algorithm improved, carries out position and attitude resolving；7) above step is repeated, it is achieved exporting continuously and in real time of air floating table position and attitude information.
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 1, it is characterised in that described step Rapid 1) characteristic point uses LED infrared light supply or the different concentric circular of area ratio.
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 2, it is characterised in that described step Rapid 2) time that NI-CVS and air floating table control in computer synchronizes, and is divided into soft synchronization and hard synchronization two kinds；Soft synchronization Method is that duty monitor controls computer information launch time to NI-CVS and air floating table simultaneously so that NI-CVS and gas Floating platform controls the temporal information of computer and keeps consistent with the temporal information of duty monitor；Hard synchronous method is work shape State monitor controls computer to NI-CVS and air floating table simultaneously and sends pulse information, is initial with first pulse signal, opens Beginning timing so that NI-CVS controls the temporal information of computer and keeps Tong Bu with air floating table.
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 3, it is characterised in that described step Rapid 3) gather air floating table moving image and use CCD camera.
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 4, it is characterised in that described CCD camera camera lens installation infrared filter plate.
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 5, it is characterised in that first Secondary proceed to described step 6) after, it may be judged whether need to camera install matrix calibrate；If needing calibration, for giving Fixed air floating table attitude, the attitude angle utilizing high-precision tilt angle meter and vision measurement to obtain carries out least square fitting, to camera Installation matrix calibrate；If need not calibration, it is directly entered step 7).
- Determination method based on NI-CVS air floating table position and attitude the most according to claim 6, it is characterised in that first Secondary proceed to described step 6) after, it may be judged whether need characteristic point position is calibrated；If needing calibration, for given Air floating table position and attitude, the characteristic point position utilizing high accuracy gyroscope instrument and vision measurement to be back-calculated to obtain carries out least square plan Close, the position of characteristic point is calibrated；If need not calibration, it is directly entered step 7).
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