CN108106637A - A kind of the precision calibration method and device of distribution POS - Google Patents
A kind of the precision calibration method and device of distribution POS Download PDFInfo
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Abstract
The present invention relates to a kind of the precision calibration methods and device of distribution POS, calibrate the first camera of no public view field and the relative pose relation of second camera first；First camera and second camera shoot the first child node target and the second child node target respectively, measure the first child node and the second child node pose in camera coordinates system respectively；The pose data that first camera and second camera are measured are unified to a measuring basis coordinate system, calculate the baseline length and baseline angle between the first child node and the second child node；The baseline length and the precision of baseline angle data that calibration distribution POS is measured.This method and device have the characteristics that precision height, strong antijamming capability, and pose accuracy calibration is carried out available for current low precision, the distributed integrated navigation system of high-precision.
Description
Technical field
The present invention relates to distributed measurement fields, and in particular to a kind of the precision calibration method and device of distribution POS.
Background technology
High-precision POS is by Inertial Measurement Unit (Inertial measurement Unit, IMU), navigation computer system
(POS Computer System, PCS) and GPS (Global Positioning System) are formed.High-precision POS can be
High-resolution air remote sensing system provides high frequency, high-precision time, space and precision information, is improved by kinematic error compensation
Imaging precision and efficiency are the key that realize high-resolution imaging.
China achieves certain progress in terms of single POS imagings, but due to the demand pull of earth observation load, such as collects
Into high-resolution mapping camera, full spectral coverage imaging spectrometer, SAR radars in the multitask load of identical carrier, airborne distribution battle array
Array antenna SAR and flexibility multi-baseline interference SAR and carrier-borne sparse aperture array imaging radar etc., multiple or a variety of load, which are mounted on, to fly
Machine different position can not realize the high precision position attitude measurement of multiple spot and each load data using traditional single POS
Time unification.
Distributed POS, as host node, is each imaged at load on wing i.e. in fuselage installation high-precision IMU and installs one
A low precision IMU is as child node.In aircraft flight, main and sub node measures position at each node, posture number respectively
According to by the way that the high-precision data of host node are passed to child node through means such as lever arm compensation, for improving the position at child node
Appearance measurement accuracy.It realizes and motion compensation is completed to multiple imaging load.
As it can be seen that distribution POS is played a crucial role in terms of multi-load, three-dimensional imaging, and measurement accuracy is to determine
The key index of fixed distribution POS measurement performances, it is also that this field urgently solves to carry out effective precision calibration for distributed POS
One of certainly the technical issues of.
The content of the invention
The present invention proposes a kind of the precision calibration method and device of distribution POS, to solve to lack in the prior art pair
Distributed POS carries out the problem of effective accuracy calibration technology.
It is of the invention to be for solving the technical solution of technical problem：
A kind of precision calibration method of distribution POS, including step：
Calibrate the first camera of no public view field and the relative pose relation of second camera；
The first camera and second camera shoot the first child node target and the second child node target, measurement first respectively
Child node and the second child node pose in camera coordinates system respectively；
The pose data that first camera and second camera are measured are unified to a measuring basis coordinate system, calculate described
Baseline length and baseline angle between first child node and second child node；
The baseline length and the precision of baseline angle data that calibration distribution POS is measured.
Preferably, the first camera of no public view field and the relative pose relation of second camera are calibrated, is specifically included：
It is placed the 3rd target and the 4th target are static as calibration target, and calibrates the 3rd target and the 4th target in advance
The characteristic point put on is in the 3 d space coordinate of same world coordinate system；
First camera and second camera shoot the 3rd target and the 4th target respectively, respectively obtain piece image, by the 3rd target
The vector and distance relation built on mark and the 4th target between multiple characteristic points, calibrates the first camera and second camera
Between position orientation relation.
Preferably, by the vector built between multiple characteristic points on the 3rd target and the 4th target and distance relation, calibration
Go out the position orientation relation between first camera and second camera, specifically include step：
The vector angle built by arbitrary point on the 3rd target and the 4th target is equal in article coordinate system and camera coordinates system
Establish angular relationship formula：
Wherein,For 0,1 point of unit vector built respectively in target a, b in article coordinate system； For
0,1 point of unit vector built respectively in the 3rd target and the 4th target captured by two cameras and first camera；
It is built by the line distance of the i-th characteristic point on the 3rd target and the 4th target article coordinate system and camera coordinates system are equal
Vertical position relationship formula：
Wherein,For i point coordinates in the 3rd target in article coordinate system and the 4th target；For the second phase
I points are in the coordinate of camera coordinates system in the 3rd target and the 4th target captured by machine and first camera.
Preferably, first camera and second camera are gone back before shooting the first child node target and the second child node target respectively
Including step：
Two sub- IMU are installed on corresponding installation node, the first sub- IMU is installed on the first child node, by the second son
IMU is installed on the second child node；
First child node target and the first sub- IMU are rigidly connected, the second child node target and the first sub- IMU is rigidly solid
Even.
Preferably, the first child node and the second child node pose in camera coordinates system respectively are measured, is specifically included：
First camera and second camera shoot the first child node target and the second child node target respectively simultaneously；By the first son
As measuring coordinate system, the combined calibrating method based on orthogonal vector and dynamic filter obtains the coordinate system of the corresponding first camera of node
Relative pose between the first child node target and the first sub- IMU and the second child node target and the second sub- IMU, will measure
The first child node target information and the second child node target information be converted into the position of corresponding first sub- IMU and the second sub- IMU
Appearance information.
Invention additionally discloses a kind of precision calibration device of distribution POS, including first camera, second camera, the first son
Node target, the second child node target, demarcating module, measurement module and calibration module；
The demarcating module, for calibrating the relative pose relation of the first camera of no public view field and second camera；
The first camera and second camera shoot the first child node target and the second child node target, the measurement respectively
Module, for measuring the first child node and the second child node pose in camera coordinates system respectively；
The calibration module, for the pose data of first camera and second camera measurement are unified to a measuring basis
Coordinate system calculates baseline length and baseline angle between first child node and second child node；Calibration is distributed
The baseline length and the precision of baseline angle data that formula POS is measured.
Preferably, which further includes the 3rd target, the 4th target：
It is placed the 3rd target and the 4th target are static as calibration target, and calibrates the 3rd target and the 4th target in advance
The characteristic point put on is in the 3 d space coordinate of same world coordinate system；
The first camera and second camera shoot the 3rd target and the 4th target respectively, respectively obtain piece image,
By the vector and distance relation built between multiple characteristic points on the 3rd target and the 4th target, calibrate the first camera and
Position orientation relation between second camera.
Preferably, demarcating module is used for：
The vector angle built by arbitrary point on the 3rd target and the 4th target is equal in article coordinate system and camera coordinates system
Establish angular relationship formula：
Wherein,For 0,1 point of unit vector built respectively in target a, b in article coordinate system； For
0,1 point of unit vector built respectively in the 3rd target and the 4th target captured by two cameras and first camera；
It is built by the line distance of the i-th characteristic point on the 3rd target and the 4th target article coordinate system and camera coordinates system are equal
Vertical position relationship formula：
Wherein,For i point coordinates in the 3rd target in article coordinate system and the 4th target；For the second phase
I points are in the coordinate of camera coordinates system in the 3rd target and the 4th target captured by machine and first camera.
Preferably, which further includes the first sub- IMU, the second sub- IMU：
First sub- IMU is installed on the first child node, and the second sub- IMU is installed on the second child node；
First child node target and the first sub- IMU are rigidly connected, and the second child node target and the second sub- IMU are rigidly connected.
Preferably, first camera described in the device and second camera for shoot respectively simultaneously the first child node target and
Second child node target；
The measurement module, for using the coordinate system of the corresponding first camera of the first child node as measuring coordinate system, base
The first child node target and the first sub- IMU and the second child node target are obtained in the combined calibrating method of orthogonal vector and dynamic filter
Relative pose between mark and the second sub- IMU turns the first child node target information measured and the second child node target information
Change the posture information of corresponding first sub- IMU and the second sub- IMU into；
The calibration module, for by the position orientation relation unified measurement benchmark of the first camera demarcated and second camera, meter
The baseline length and baseline angle between the first child node and the second child node are calculated, the measurement accuracy of distributed POS is examined
School.
The attainable technique effect of institute is the present invention compared with prior art：
The present invention is directed to the problem of distribution POS precision calibrations, calibrates the phase of two cameras of no public view field first
To position orientation relation, the pose in camera coordinates system, pose data are unified to a measuring basis respectively for two child nodes of measurement
After coordinate system, the baseline length that the baseline length between two child nodes and baseline angle measure distributed POS is calculated
Calibration is carried out with baseline angle data, is changed using vision measurement means measurement pose, realizes non-contact, high-frequency, high-precision
Measurement, the position orientation relation of polyphaser is demarcated using two targets for having demarcated coordinate, camera is made to place from space constraint, extension
Measurement range.And complicated wing flexure modeling process is needed this method avoid measuring methods such as traditional fiber gratings,
Can in practical engineering application large-sized structural parts multiple spot pose, deformation, the measurements such as vibrations, and the number by extending camera
Amount, realizes the calibration to more child nodes, and pose is carried out available for current low precision, the distributed integrated navigation system of high-precision
Precision calibration.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
The precision calibration method and the hardware system composition of one embodiment of device that Fig. 1 is the distributed POS of the present invention
Schematic diagram；
Fig. 2 is the camera calibration schematic diagram of one embodiment of the invention；
Fig. 3 is the flow diagram of one embodiment of the precision calibration method of distribution POS of the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
The invention discloses a kind of the precision calibration methods and device of distribution POS, and the method comprising the steps of：Calibrate nothing
The first camera of public view field and the relative pose relation of second camera；First camera and second camera shoot the first son section respectively
Point target and the second child node target measure the first child node and the second child node pose in camera coordinates system respectively；It will
First camera and the pose data of second camera measurement are unified to a measuring basis coordinate system, calculate the first child node and the
Baseline length and baseline angle between two child nodes；The baseline length and baseline angle data that calibration distribution POS is measured
Precision.
The precision calibration device of distribution POS disclosed by the invention, mainly including first camera, second camera, the first son
Node target, the second child node target, demarcating module, measurement module and calibration module；Demarcating module, for calibrating without public
The first camera of visual field and the relative pose relation of second camera；First camera and second camera shoot the first child node target respectively
Mark and the second child node target, measurement module, for measuring the first child node and the second child node respectively in camera coordinates system
Pose；Calibration module, for the pose data of first camera and second camera measurement are unified to a measuring basis coordinate
System, calculates the baseline length and baseline angle between the first child node and the second child node, and calibration distribution POS is measured
Baseline length and baseline angle data precision.
Referring to shown in Fig. 1, Fig. 2, as a kind of embodiment, system of the invention is formed substantially including first camera
111st, second camera 112, the first child node target 113, the second child node target 114, main IMU110, two sub- IMU, PCS, GPS
(PCS, GPS are not shown in figure) and distributed system mounting structure.
Two sub- IMU are the first sub- IMU115 and the second sub- IMU116.Main IMU is mounted on structure centre point as main section
Point；Two sub- IMU are connected respectively with two targets 113/114, in structure at node to be measured, as child node；It is main and sub
Node all connects PCS with GPS, forms distributed POS system；Two cameras shoot two child nodes respectively.Camera and IMU when
Between synchronous all realized by GPS second pulse.
One embodiment of the precision calibration method of distribution POS of the invention is set forth below, specific implementation step is as follows：
Step S11：The precision calibration experimental enviroment of distributed POS is built first, by host node (high-precision IMU) and two
Child node (low precision IMU) is mounted on the corresponding installation node of flexible structure frame, will be via the vision target of high-precision processing
(the first child node target and the second child node target) is rigidly connected respectively with the one side of sub- IMU.Each camera shoots a target
Mark.
Step S12：It is separately placed the 3rd target a and the 4th target b is static as calibration target, and calibrates the 3rd in advance
Characteristic point is in the 3 d space coordinate of same world coordinate system on target a, the 4th target b.Camera 111,112 shoots target respectively
A, b respectively obtains piece image, by the vector and distance relation built between the upper multiple points of target a, b, calibrate camera 111,
Position orientation relation between 112.
Using two static target a, b, all features of a, b on target are calibrated using laser tracker for two camera calibrations
The three-dimensional coordinate of point.If 111 coordinate system of camera is measuring coordinate system, target a, b characteristic point are remembered respectively in world coordinate system coordinate
For ai(i=1 ..., 9), bi(i=1 ..., 9).Position, posture relation between camera 111,112 are denoted asTarget a
Characteristic point be denoted as in 112 coordinate system coordinate of cameraThe characteristic point of target b is denoted as in 111 coordinate system coordinate of camera
1. the posture relation between vector calibration for cameras 111,112 is constructed first
By a0、a1Unit vector is established in target co-ordinates system coordinateUnit vector can similarly be obtainedThere is folder between two vectors
Angle θ1：
Characteristic point a is calculated by orthogonal iteration algorithm (OI algorithms) simultaneously0, a1It is in 112 coordinate system coordinate of cameraEstablish arrow unit quantity111 times unit vectors of camera can similarly be obtainedTarget a is on 112 coordinate system of camera
Characteristic vectorIt can be gone under 111 coordinate system of camera through rotation transformation：
Under measuring coordinate system, vectorBetween it is angled
It willSubstituting into above formula has：
BecauseAnd θ1It is equal：
In above formula onlyIt is unknown, orderSubscript 011,
012,013 represents vector in the component of X, Y, Z axis, r respectivelyijForI-th row j column elements；Above formula can be then rewritten as：
Above formula is unfolded：
The upper any two characteristic point of target a, b can construct vector.Any two vector can establish above formula.It can solve
2. and then by 1,2 position relationship of distance relation calibration for cameras between the upper characteristic point of target a, b
Distance d is expressed as in article coordinate system w between the upper two characteristic points i of target a, b：
Characteristic point a on target aiIn 112 coordinate system coordinate of camera111 coordinate of camera can be gone to through rotating translation transformation
Under system：
Distance is in camera coordinate system between upper arbitrary two characteristic point of target a, b：
It can thus be concluded that location position relational expression：
Above formulaBy calculating in 1., onlyIt is unknown, and unknown number number is 3, is built by 3 points on sub- target
Vertical equation group, you can solve
Step S13：The camera 111,112 for having demarcated relativeness shoots the first child node of correspondence target of child node respectively
Target 113, the second child node target 114.Combined calibrating method based on orthogonal vector and dynamic filter obtains target at child node
The target information measured is converted into the posture information of child node by the relative pose between sub- IMU；By the two-phase organ demarcated
One measuring basis of system calculates the baseline length between child node 1,2, baseline angle (baseline angle with horizontal plane).
Target plane at two child nodes is shot respectively using two cameras for having demarcated relativeness, obtains target with respect to phase
Machine coordinate system pose variable quantity, then uses the combined calibrating method based on orthogonal vector and dynamic filter to calibrate IMU and correspondence
Relative pose relation between target.
1. using 111 coordinate system of camera as measuring coordinate system, child node 115 is remembered in the position of 111 coordinate system of camera, posture
ForcR1,cT1, child node 116 is denoted as R in the position of 112 coordinate system of camera, posture2,T2.By the camera calibrated in step (2)
111st, the relative position between 112, posture relationPosition relationship of the child node 116 in measuring coordinate system can be obtainedcT2：
Baseline length l is measured：
Baseline angle α：
In formulacT2z,cT1zIt is respectivelycT2,cT1Z-component.
2. distribution POS can export child node 115, the position under 116 each comfortable geographical coordinates and posture simultaneously.Son section
Point is made of low accuracy inertial device, and measurement accuracy is relatively low, therefore by the posture information of high-precision host node via lever arm information
Child node is passed to, improves child node pose accuracy.The baseline length between two child nodes and angle are calculated on this basis
Degree is denoted as lb、αb。
3. by l, α for measuring in 1., the l that calibration distribution POS is measuredb、αbPrecision △ l, △ α：
Shown in Figure 3, as a kind of embodiment, calibration method of the invention can also be summarised as shown in Fig. 3
Three key steps include the use of angle responsibility between vector and demarcate relative attitude between two cameras；It is closed using characteristic point distance
Relative position between system's two cameras of regulation, the position for the child node that two cameras are measured respectively, posture go to measuring coordinate system
Under, and the baseline length of calibration distribution POS measurements, angle-data.
To sum up, the precision calibration method and device of a kind of distribution POS disclosed by the invention, it is complete by monocular vision first
The pose measurement of paired single child node calibrates the relative pose of two cameras using demarcated relativeness two sub- targets
Relation after unified coordinate system, obtains the relative pose between two child nodes, realizes baseline length two child nodes and angle
Measurement.And precision calibration is carried out to the base-line data that distributed POS is measured.It realizes that pose is surveyed using vision measurement means
Amount overcomes traditional polyphaser scaling method space-constrained shortcoming without public view field, uses high-precision three-dimensional measurement of coordinates
Instrument demarcates coordinate point coordinates on two targets in advance, then demarcates two-phase seat in the plane appearance；It is so that high, strong antijamming capability with precision
Feature extends application scenarios, and pose accuracy is carried out in face of distributed low precision, high-precision inertia production at present available on ground
Calibration.
Claims (10)
1. a kind of precision calibration method of distribution POS, which is characterized in that including step：
Calibrate the first camera of no public view field and the relative pose relation of second camera；
The first camera and second camera shoot the first child node target and the second child node target, measurement the first son section respectively
Point and the second child node pose in camera coordinates system respectively；
The pose data that first camera and second camera are measured are unified to a measuring basis coordinate system, calculate described first
Baseline length and baseline angle between child node and second child node；
The baseline length and the precision of baseline angle data that calibration distribution POS is measured.
A kind of 2. precision calibration method of distribution POS according to claim 1, which is characterized in that the step calibration
Go out the first camera of no public view field and the relative pose relation of second camera, specifically include：
It places as calibration target, and is calibrated in advance on the 3rd target and the 4th target using the 3rd target and the 4th target are static
Characteristic point same world coordinate system 3 d space coordinate；
The first camera and second camera shoot the 3rd target and the 4th target respectively, respectively obtain piece image, by
The vector and distance relation built on three targets and the 4th target between multiple characteristic points, calibrates the first camera and second
Position orientation relation between camera.
3. the precision calibration method of a kind of distribution POS according to claim 2, which is characterized in that the step is by
The vector that is built on three targets and the 4th target between multiple characteristic points and distance relation calibrate the first camera and second
Position orientation relation between camera, specifically includes step：
The vector angle built by arbitrary point on the 3rd target and the 4th target is in article coordinate system and the equal foundation of camera coordinates system
Angular relationship formula：
Wherein,For 0,1 point of unit vector built respectively in target a, b in article coordinate system； For the second phase
0,1 point of unit vector built respectively in the 3rd target and the 4th target captured by machine and first camera；
By the line distance of the i-th characteristic point on the 3rd target and the 4th target in article coordinate system and the equal foundation position of camera coordinates system
Put relational expression：
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Wherein,For i point coordinates in the 3rd target in article coordinate system and the 4th target；For second camera and
I points are in the coordinate of camera coordinates system in the 3rd target and the 4th target captured by first camera.
4. the precision calibration method of a kind of distribution POS according to claim 1, which is characterized in that described in the step
First camera and second camera further include step before shooting the first child node target and the second child node target respectively：
Two sub- IMU are installed on corresponding installation node, the first sub- IMU is installed on the first child node, and the second sub- IMU is pacified
Loaded on the second child node；
First child node target and the first sub- IMU are rigidly connected, the second child node target and the first sub- IMU are rigidly connected.
A kind of 5. precision calibration method of distribution POS according to claim 4, which is characterized in that the step measurement
First child node and the second child node pose in camera coordinates system respectively, including：
The first camera and second camera shoot the first child node target and the second child node target respectively simultaneously；By the first son
As measuring coordinate system, the combined calibrating method based on orthogonal vector and dynamic filter obtains the coordinate system of the corresponding first camera of node
Relative pose between the first child node target and the first sub- IMU and the second child node target and the second sub- IMU, will measure
The first child node target information and the second child node target information be converted into the position of corresponding first sub- IMU and the second sub- IMU
Appearance information.
6. a kind of precision calibration device of distribution POS, which is characterized in that including first camera, second camera, the first child node
Target, the second child node target, demarcating module, measurement module and calibration module；
The demarcating module, for calibrating the relative pose relation of the first camera of no public view field and second camera；
The first camera and second camera shoot the first child node target and the second child node target, the measurement mould respectively
Block, for measuring the first child node and the second child node pose in camera coordinates system respectively；
The calibration module, for the pose data of first camera and second camera measurement are unified to a measuring basis coordinate
System, calculates the baseline length and baseline angle between first child node and second child node；Calibration distribution POS
The baseline length and the precision of baseline angle data measured.
7. the precision calibration device of a kind of distribution POS according to claim 6, which is characterized in that further include the 3rd target
Mark, the 4th target：
It places as calibration target, and is calibrated in advance on the 3rd target and the 4th target using the 3rd target and the 4th target are static
Characteristic point same world coordinate system 3 d space coordinate；
The first camera and second camera shoot the 3rd target and the 4th target respectively, respectively obtain piece image, by
The vector and distance relation built on three targets and the 4th target between multiple characteristic points, calibrates the first camera and second
Position orientation relation between camera.
8. a kind of precision calibration device of distribution POS according to claim 7, which is characterized in that the demarcating module,
For：
The vector angle built by arbitrary point on the 3rd target and the 4th target is in article coordinate system and the equal foundation of camera coordinates system
Angular relationship formula：
Wherein,For 0,1 point of unit vector built respectively in target a, b in article coordinate system； For the second phase
0,1 point of unit vector built respectively in the 3rd target and the 4th target captured by machine and first camera；
By the line distance of the i-th characteristic point on the 3rd target and the 4th target in article coordinate system and the equal foundation position of camera coordinates system
Put relational expression：
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Wherein,For i point coordinates in the 3rd target in article coordinate system and the 4th target；For second camera and
I points are in the coordinate of camera coordinates system in the 3rd target and the 4th target captured by first camera.
9. the precision calibration device of a kind of distribution POS according to claim 6, which is characterized in that further include the first son
IMU, the second sub- IMU：
First sub- IMU is installed on the first child node, and the second sub- IMU is installed on the second child node；
First child node target and the first sub- IMU are rigidly connected, and the second child node target and the second sub- IMU are rigidly connected.
10. a kind of precision calibration device of distribution POS according to claim 9, it is characterised in that：
The first camera and second camera are used to shoot the first child node target and the second child node target respectively simultaneously；
The measurement module, for using the coordinate system of the corresponding first camera of the first child node as measuring coordinate system, based on just
Hand over vector sum dynamic filter combined calibrating method obtain the first child node target and the first sub- IMU and the second child node target and
The the first child node target information measured and the second child node target information are converted by the relative pose between the second sub- IMU
The posture information of corresponding first sub- IMU and the second sub- IMU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153914.XA CN108106637B (en) | 2018-02-22 | 2018-02-22 | Precision calibration method and device for distributed POS (point of sale) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810153914.XA CN108106637B (en) | 2018-02-22 | 2018-02-22 | Precision calibration method and device for distributed POS (point of sale) |
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| CN110672094A (en) * | 2019-10-09 | 2020-01-10 | 北京航空航天大学 | Distributed POS multi-node multi-parameter instant synchronous calibration method |
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| CN117557659A (en) * | 2024-01-10 | 2024-02-13 | 吉林大学 | Opposite camera global calibration method and system based on one-dimensional target and turntable |
| CN117557659B (en) * | 2024-01-10 | 2024-03-19 | 吉林大学 | Opposite camera global calibration method and system based on one-dimensional target and turntable |
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