CN108051005A - The single PSD detection methods of Target space position and posture - Google Patents

The single PSD detection methods of Target space position and posture Download PDF

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Publication number
CN108051005A
CN108051005A CN201711239811.7A CN201711239811A CN108051005A CN 108051005 A CN108051005 A CN 108051005A CN 201711239811 A CN201711239811 A CN 201711239811A CN 108051005 A CN108051005 A CN 108051005A
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China
Prior art keywords
target
psd
light source
target space
posture
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Pending
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CN201711239811.7A
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Chinese (zh)
Inventor
黄战华
张亚男
方石
蔡怀宇
张尹馨
康荣雷
左芝勇
王星宇
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Tianjin University
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Tianjin University
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Priority to CN201711239811.7A priority Critical patent/CN108051005A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00Measuring angles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01PMEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00Indicating or recording presence, absence, or direction, of movement
    • G01P13/02Indicating direction only, e.g. by weather vane
    • G01P13/025Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw

Abstract

The present invention relates to the technical fields of Target space position and attitude detector, to realize the measurement that attitude angle can be completed while Target space position is detected, with detection response speed is fast, high resolution, signal processing circuit are simple and it is relatively low that test environment background and optical system are required, detection efficient is simultaneously effective promoted.Therefore, the technical solution adopted by the present invention is, the single PSD detection methods of Target space position and posture, shine several light sources of indicating member of measured target is made to shine according to specified sequential and coding characteristic, it detects to obtain the specific location of each illuminating source using single PSD, the spatial position coordinate and angular pose of measured target is directly parsed by corresponding signal processing and with reference to algorithm corresponding with light source space structured layout.Present invention is mainly applied to Target space positions and attitude detector occasion.

Description

The single PSD detection methods of Target space position and posture
Technical field
Technical field more particularly to a kind of single PSD of use the present invention relates to Target space position and attitude detector is same When complete Target space position and attitude detector method, aiming and docking system available for aerial unit object, specifically, It is related to Target space position and the single PSD detection methods of posture.
Background technology
Target space position and attitude detector have consequence in military, automation and civil field etc., however Mainly pass through high-speed camera, light for the acquisition of the parameters such as Target space position coordinate and posture angular deflection both at home and abroad at present The measuring apparatus such as electro-theodolite set, and most of is that could realize that the spatial parameter of measured target measures using multiple detectors. Ccd detector is by gathering the image information of measured target and can draw its spatial position and attitude parameter after being handled. What it is due to CCD transmission is image information, and measurement accuracy largely relies on the photo of high pixel, and high pixel request meeting The transmission frame frequency of camera is influenced, therefore the Target space position attitude measurement based on CCD is contradiction in precision and response speed 's.Further, since CCD is Splittable device, pixel size limits the resolution ratio of CCD, and spy is affected by the way of scanning Device response speed is surveyed, and CCD detection process is more demanding to imaging system so that subsequent process circuit design is complicated, also not The severe weather conditions such as night and visibility poor can be met well.
Position-Sensitive Detector PSD is a kind of partly the leading based on lateral photo effect to grow up the twentieth century middle and later periods Body device, the spot intensity and displacement that light source can be radiated on sensitive area by it are converted into current signal, i.e. output electrode Current signal just represents the location information of light source.Compared with CCD, PSD is a kind of continuous type analog device, which overcomes array type The defects of structure definition is limited by pixel dimension, and the way of output need not scan to improve speed of detection while Simplify measuring circuit.PSD is relatively low to test environment background and optical system requirement, therefore can widely apply to industrial inspection The multiple fields such as survey and military aerospace.
Although PSD has many advantages, such as detection accuracy height, fast response time, highly practical, at present both at home and abroad for PSD Application scenario be mainly nonetheless focused upon the detection of Target space position, lack and a kind of measure target empty meta position simultaneously using PSD Put the integrated approach and means with posture.In addition, researcher adopts for most of measurement of Target space position posture at present With multiple detectors and the combination metering system of single light source, big there are system complex, cumbersome, data processing work amount Shortcoming, can be to a certain degree if the multiple light courcess being laid out using single detector and space structureization is combined as detection system Upper promotion detection efficient.
The content of the invention
For existing ccd detector is overcome to be limited in response speed existing for Target space position attitude detector field, differentiate The shortcomings that rate is limited, measuring circuit is complicated, high to test environment and imaging system requirement and PSD fail to realize target empty simultaneously Between position and orientation measurement deficiency, the present invention is directed to propose it is a kind of using PSD to object space three-dimensional position, detection range with And the measuring method of the specific attitude angle of pitch angle, yaw angle, roll angle, i.e., it can be complete while Target space position is detected Into the measurement of attitude angle, with detection response speed is fast, high resolution, signal processing circuit are simple and test environment is carried on the back Scape requires more low significant advantage with optical system.In addition, the present invention is using single PSD and space structureization layout is used in combination Multiple light courcess shine indicating member, to a certain extent can be in this, as Target space position and attitude signal acquisition system Effectively promote detection efficient.For this purpose, the technical solution adopted by the present invention is, the single PSD of Target space position and posture is visited Survey method makes shine several light sources of indicating member of measured target shine according to specified sequential and coding characteristic, utilizes single PSD Detection obtains the specific location of each illuminating source, by corresponding signal processing and combines and light source space structured layout pair The algorithm answered directly parses the spatial position coordinate and angular pose of measured target.
Concrete operation step is:(1) on target-designator according to certain structure and rule installation by illuminating source and its The indicating member that controller is formed, the indicating member keep opposing stationary with target, in this, as inspected object, shine Light source shines according to specified sequential and coding characteristic;(2) photoelectric current that each illuminating source of each moment is detected using PSD is believed Number, the size of the photo-signal just represents the physical location of per moment light source in itself, then by PSD periphery at Reason circuit is converted into voltage signal, and progress A/D turns after eliminating the signal processings such as bias light using amplification, filtering, difference It changes;(3) target location attitude algorithm unit is brought into after A/D is converted and according to the voltage digital amount of certain sequential storage, The lighting timings and coding characteristic Automatic solution that solving unit is specified according to Target indication unit identify each specific luminous Light source is laid out with reference to the space structureization of light source, finally directly parses the spatial three-dimensional position, detection range and angle of target Posture.
Illuminating source can use narrow-band light source or wideband light source.
The features of the present invention and advantageous effect are:
(1) the measured target indicating member space structureization that shines is rationally distributed, applied widely, highly reliable;Shine light Source can use narrow-band light source, and either wideband light source applies to the occasion for having strong background light respectively and remote or dim light is visited The occasion of survey expands the use scope of detection system.(2) PSD improves the speed of detection and precision of system, and using single A detector can not only realize the measurement of Target space position, and can also realize the measurement of targeted attitude, make detection system Simple miniaturization;Since light source shines according to specified sequential and coding characteristic by rule, PSD can distinguish each difference automatically The illuminating source of position, it is easy to operate.(3) strong background light and other can be eliminated using difference method in signal processing unit The influence of interference improves the accuracy of result of detection.(4) position and attitude computation can be parsed directly by obtained information Go out spatial position and the posture of target, it is portable strong without being resolved by numerical value, similar solve target empty at other Between feature occasion in have certain autgmentability.
Description of the drawings:
Fig. 1 is the whole system structure composition schematic diagram of the present invention.
Fig. 2 is the sensor measuring cellular construction schematic diagram of the present invention.
Fig. 3 is the illuminating source space structure schematic layout pattern of the present invention.
Fig. 4 is the Target space position posture of the present invention and each light source position and luminous orbution schematic diagram.
Specific embodiment
In order to which existing ccd detector is overcome to be limited in response speed existing for Target space position attitude detector field, point The shortcomings that resolution is limited, measuring circuit is complicated, high to test environment and imaging system requirement and PSD fail to realize target simultaneously Spatial position and the deficiency of attitude measurement, the present invention provides it is a kind of using PSD to object space three-dimensional position, detection range with And the measuring method of the specific attitude angle of pitch angle, yaw angle, roll angle, i.e., it can be complete while Target space position is detected Into the measurement of attitude angle, with detection response speed is fast, high resolution, signal processing circuit are simple and test environment is carried on the back Scape requires more low significant advantage with optical system.In addition, the present invention is using single PSD and space structureization layout is used in combination Multiple light courcess shine indicating member, to a certain extent can be in this, as Target space position and attitude signal acquisition system Effectively promote detection efficient.
The technical solution adopted in the present invention is:Measured target shine indicating member several light sources according to specified sequential and Coding characteristic shines, and detects to obtain the specific location of each illuminating source using single PSD, by corresponding signal processing simultaneously Spatial position coordinate and the angle of measured target can be directly parsed with reference to algorithm corresponding with light source space structured layout Spend posture.Concrete operation step is:(1) installed on target-designator according to certain structure and rule by illuminating source and its control The indicating member that device processed is formed, the unit and target keep opposing stationary, in this, as inspected object, illuminating source according to Sequential and coding characteristic is specified to shine.(2) photo-signal (this electricity of each illuminating source of each moment is detected using PSD The size of stream signal just represents the physical location of per moment light source in itself), then by PSD peripheral processes circuit by its Voltage signal is converted to, A/D conversions are carried out after eliminating the signal processings such as bias light using amplification, filtering, difference.(3) by A/D It is brought into after conversion and according to the voltage digital amount of certain sequential storage in the attitude algorithm unit of target location, respective algorithms only need Utilize the plan position information and optical system parameter of each point on PSD detection target surfaces, it is possible to calculate each illuminating source Spatial three-dimensional position information, so draw measured target shine the D translation information of indicating member, Three dimensional rotation information and Detection range information;Shine the particular structured parameter information of indicating member according to measured target, passes through simultaneous equations and parameter Conversion, last solution obtain spatial three-dimensional position coordinate, detection range and the angular pose of measured target.
The present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, several illuminating sources are shone finger according to a certain distance and space sequence mounted on measured target Show on unit, the relative position structuring between all light sources.Each light source is according to finger under the driving effect of light emission controller Timing sequence and coding characteristic shine, while sensor measuring unit gathers the optical signal per the moment and is converted to corresponding electric current letter Number, using advance signal processing unit, current signal is converted into voltage signal and is amplified, filters, eliminates bias light etc. Processing, is then converted to digital quantity by A/D and is input to data buffer, the data that microcontroller is read from data buffer First according to PSD electrode sequential storages, then store, finally stored according to the driving order of light source sequentially in time, more than it is each The timing requirements of module are uniformly controlled by programmable logic device.The digital quantity read in order is brought by last microcontroller In the attitude algorithm algorithm of target location, each specifically luminous light can be identified according to specified lighting timings and coding characteristic Source can directly indicate that the spatial three-dimensional position of target is sat according to the position of each illuminating source and space structureization layout Mark, detection range and angular pose.
The present invention detects target in the range of certain distance, must reduce noise signal during actual detection to detection As a result influence.The specific measure for improving signal-to-noise ratio is as shown in Fig. 2, the type selecting of PSD considers effective photosensitive area and spectrum emphatically The two performance parameters of response range.The size of the effective photosensitive areas of PSD determines the moveable scope of measured target, therefore is Make full use of PSD photosensitive areas, when practical application generally adds in imaging lens, focal length, bore and distortion factor in PSD front ends Design parameters is waited to combine system comprehensive selection.Further according to PSD spectral response curves and combine background spectrum distribution, the present invention Using narrow-band light source and select what is matched through wavelength bandwidth and narrow-band light source spectrum in the detection environment for splitting bias light by force Narrow-cut filter so not only can pass through the light energy that narrow-band light source is sent, but also filter out the energy outside sky background medium wave band, The signal-to-noise ratio of system detection can be effectively improved.And using wideband light source under conditions of remote or weak light detection, with increase The light energy that PSD is detected.
The space structure schematic layout pattern of illuminating source as shown in figure 3, several light sources according to certain spatial relationship Structuring is distributed, and can be specifically arranged in two planes, can also be uniformly arranged in single plane respectively, and with being tested Target keeps opposing stationary, and this arrangement mode is as small as possible to the intervention of measured target, improves the reliability of measurement result.
Fig. 4 shows Target space position posture and each light source position and the correspondence of luminous order, canonical reference The parameters (spatial three-dimensional position coordinate, detection range and angular pose) of posture are initial value, and rolling angular deflection yaws Angular deflection and pitching angular deflection are defined as the additional space done on the basis of canonical reference posture conversion.Therefore will send out every time It the position for each light source that optical detection is arrived, can be direct by position and attitude computation according to its space structure distribution mode Spatial three-dimensional position coordinate, detection range, pitch angle and the yaw angle of target are parsed, can be counted according to the adjacent situation that shines twice Calculation obtains the roll angle that target is pivoted, and finally realizes the accurate measurement of Target space position and angular pose.
The present invention is using the Target space position attitude detector method of single PSD with speed of detection is fast, precision is high, signal Process circuit is simple and requires relatively low significant advantage to test environment background and optical system, and in different external environments Under all have the good scope of application.
The above is only the preferred embodiments of the present invention, therefore all constructions according to described in present patent application scope, Feature and the equivalent change or modification done originally, in the protection domain of present patent application.

Claims (3)

1. the single PSD detection methods of a kind of Target space position and posture, it is characterized in that, measured target is made to shine indicating member Several light sources shine according to specified sequential and coding characteristic, detect to obtain the specific position of each illuminating source using single PSD It puts, measured target is directly parsed by corresponding signal processing and with reference to algorithm corresponding with light source space structured layout Spatial position coordinate and angular pose.
2. the single PSD detection methods of Target space position as described in claim 1 and posture, it is characterized in that, concrete operations Step is:(1) finger being made of on target-designator according to certain structure and rule installation illuminating source and its controller Show unit, the indicating member keeps opposing stationary with target, and in this, as inspected object, illuminating source is according to specified sequential It shines with coding characteristic;(2) photo-signal of each illuminating source of each moment, the photoelectric current letter are detected using PSD Number size just represent the physical location of per moment light source in itself, be then converted by PSD peripheral processes circuits For voltage signal, A/D conversions are carried out after eliminating the signal processings such as bias light using amplification, filtering, difference;(3) A/D is converted Target location attitude algorithm unit is brought into afterwards and according to the voltage digital amount of certain sequential storage, in solving unit according to target The lighting timings and coding characteristic Automatic solution that indicating member is specified identify each specific illuminating source, with reference to the sky of light source Between structured layout, finally directly parse the spatial three-dimensional position, detection range and angular pose of target.
3. the single PSD detection methods of Target space position as described in claim 1 and posture, it is characterized in that, illuminating source Narrow-band light source or wideband light source can be used.
CN201711239811.7A 2017-11-30 2017-11-30 The single PSD detection methods of Target space position and posture Pending CN108051005A (en)

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CN109470884A (en) * 2018-10-08 2019-03-15 浙江大学 The system and method that relative angle measures between a kind of star
CN111750773A (en) * 2019-03-29 2020-10-09 南京理工大学 Method for measuring response of different light spot points on position sensitive detector
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CN113390343A (en) * 2021-06-28 2021-09-14 上海工程技术大学 Cooperative target space pose detection device and method thereof
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CN109470884A (en) * 2018-10-08 2019-03-15 浙江大学 The system and method that relative angle measures between a kind of star
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CN111750773B (en) * 2019-03-29 2022-02-18 南京理工大学 Method for measuring response of different light spot points on position sensitive detector
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CN113390343A (en) * 2021-06-28 2021-09-14 上海工程技术大学 Cooperative target space pose detection device and method thereof

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