CN109269525B - Optical measurement system and method for take-off or landing process of space probe - Google Patents

Optical measurement system and method for take-off or landing process of space probe Download PDF

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Publication number
CN109269525B
CN109269525B CN201811291123.XA CN201811291123A CN109269525B CN 109269525 B CN109269525 B CN 109269525B CN 201811291123 A CN201811291123 A CN 201811291123A CN 109269525 B CN109269525 B CN 109269525B
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orientation
target
module
coordinate
landing
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CN109269525A (en
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唐明章
王立武
张章
王洁
张欢
张剑勇
吕智慧
郭李杨
张兴宇
王治国
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Beijing Institute of Space Research Mechanical and Electricity
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Beijing Institute of Space Research Mechanical and Electricity
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04Interpretation of pictures
    • G01C11/06Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/08Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04Interpretation of pictures
    • G01C11/06Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/28Special adaptation for recording picture point data, e.g. for profiles

Abstract

An optical measurement system and method for a take-off or landing process of a space probe comprise: the system comprises a calibration module, an imaging module and a data processing module; the imaging module images the takeoff or landing process of the space detector to be detected and transmits an imaging result to the data processing module; the calibration module calibrates the inner orientation element and the outer orientation element of the imaging module and transmits the inner orientation element and the outer orientation element to the data processing module; the data processing module receives the imaging result transmitted by the imaging module and receives the internal orientation element and the external orientation element transmitted by the calibration module; and calculating the motion parameters of the space detector to be detected in the take-off or landing process according to the imaging result, the inner orientation element and the outer orientation element. The invention adopts a binocular pose measurement algorithm based on control points to accurately measure physical quantities such as the spatial position, the attitude and the like of the space detector in the take-off process of the surface of the extraterrestrial celestial body, and obtains motion parameters such as the speed, the acceleration, the rotation angular velocity and the like of the space detector.

Description

Optical measurement system and method for take-off or landing process of space probe
Technical Field
The invention belongs to the field of spacecraft remote sensing, and relates to an optical measurement system and method for a take-off or landing process of a space detector.
Background
In a space task, physical quantities such as relative positions, postures and speeds of moving objects in a large-range scene need to be accurately measured. With the deep development of major special work for deep space exploration, the safe takeoff of the space detector on the surface of the extraterrestrial celestial body is an important component of space exploration engineering, and some physical quantities and motion parameters of the space detector in the takeoff process are important indexes for judging whether the space detector normally operates or not.
Conventional measurement methods are classified into contact measurement and non-contact measurement. Since the space probe does not allow access to additional measuring devices, only contactless external measuring means can be selected for the measurement. The optical measurement is a non-contact measurement method, and has the advantages of simple device, low cost, high efficiency and measurement accuracy and the like. The method can overcome the influence of factors such as the shape, the size and the external environment of the target to be measured on the measurement, and is suitable for measuring the motion parameters of the moving target in a large-range scene.
The optical measurement mainly comprises monocular measurement and binocular measurement, the monocular measurement method requires less hardware resources, the camera calibration process before measurement and the implementation process of measurement are simpler, but the monocular measurement method has a small visual field range and is not suitable for measurement of large scenes. Although the binocular measurement is more in hardware and higher in cost compared with the monocular measurement, and the calibration before the measurement is complicated, the binocular measurement is suitable for the measurement of a large-range scene, and the measurement cost is far lower than that of non-contact measurement methods such as laser radar. Since the binocular measurement directly calculates the distance using the parallax, the measurement accuracy is higher than that of the monocular measurement.
The optical measurement method is sensitive to ambient illumination, and the existing large-scale scene moving target parameter measurement technology cannot overcome the influence of illumination on measurement, so that the imaging quality is poor, and the precision of a measurement result is reduced.
The existing binocular pose measurement method cannot realize synchronous image acquisition when a large-scale outdoor ground test is carried out, and the precision of a measurement result is indirectly influenced.
The invention provides an optical measurement system and method for a take-off or landing process of a space probe according to the requirements of engineering tasks. And the all-weather moving target pose measurement is realized through a binocular measurement algorithm based on the control points. The measurement system is used for carrying out the takeoff test of the surface of the extraterrestrial celestial body under the external environments of simulating the gravity, illumination and the like of the extraterrestrial celestial body, the position precision is 1cm, and the posture precision is 0.1 degrees.
The measuring system and the method are characterized in that in the data displayed in the domestic open, the staring optical measurement method is used for the first time to realize the motion parameter measurement of the space detector in the take-off process of the surface of the extraterrestrial celestial body, and the measuring system and the measuring method are in the leading domestic and international advanced positions.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the optical measurement system and the optical measurement method for the take-off or landing process of the space detector are provided, and the defects of the prior art adopting a contact measurement scheme and a monocular measurement scheme are overcome. The method comprises the steps of arranging cooperative mark points with accurately known coordinates under a space detector coordinate system on a space detector, utilizing a calibrated three-dimensional high-speed camera to collect images in the take-off process of the space detector, and calculating the motion parameters of the space detector in the take-off process of the extraterrestrial celestial surface by adopting a binocular pose measurement algorithm based on control points.
The invention is realized by the following technical scheme:
an optical measurement system for a takeoff or landing process of a space probe, comprising: the system comprises a calibration module, an imaging module, a data processing module, a target, a calibration target and coordinate conversion module and a synchronous triggering module;
an imaging module: imaging the takeoff or landing process of the space detector to be detected, and transmitting the imaging result to a data processing module;
a calibration module: calibrating an inner orientation element and an outer orientation element of an imaging module, and transmitting the inner orientation element and the outer orientation element to a data processing module;
a data processing module: receiving the imaging result transmitted by the imaging module, and receiving the inner orientation element and the outer orientation element transmitted by the calibration module; and calculating the motion parameters of the space detector to be detected in the take-off or landing process according to the imaging result, the inner orientation element and the outer orientation element.
The target is fixed on an external space detector;
the coordinate conversion module is used for determining the position coordinates of the target under a space detector fixed coordinate system and transmitting the position coordinates of the target under the space detector fixed coordinate system to the data processing module; meanwhile, determining the position coordinates of the calibration target in a geodetic coordinate system; transmitting the position coordinates of the calibration target under the geodetic coordinate system to a calibration module;
the calibration module receives the position coordinates of the calibration target transmitted by the coordinate conversion module under the geodetic coordinate system, calibrates the inner orientation element and the outer orientation element of the high-speed imager by using the calibration target according to the position coordinates of the calibration target under the geodetic coordinate system, and transmits the inner orientation element and the outer orientation element to the data processing module;
the data processing module receives the inner orientation element and the outer orientation element transmitted by the calibration module and the imaging result transmitted by the imaging module, and firstly, the position coordinate of the target under a geodetic coordinate system is determined according to the imaging result, the inner orientation element and the outer orientation element; and then receiving the position coordinates of the target transmitted by the coordinate conversion module under a space detector fixed coordinate system, and resolving the motion parameters of the space detector to be detected under the geodetic coordinate system in the take-off or landing process according to the position coordinates of the target under the space detector fixed coordinate system, the position coordinates of the target under the geodetic coordinate system and the imaging result.
The coordinate conversion module is realized by adopting a total station and a coordinate conversion target.
The imaging module comprises two high-speed imagers used for imaging the space detector in the take-off or landing process, the image acquisition frequency of the high-speed camera is more than 185 frames/s, the arrangement positions of the two high-speed imagers meet the requirement that when the two high-speed imagers image the space detector to be detected in the take-off or landing process, the included angle value range of the optical axes of the high-speed imagers is 30-120 degrees, at least 4 target targets appear in the common view field of the two high-speed imagers, and the 4 target targets are not coplanar.
The synchronous triggering module is used for enabling the high-speed imager to synchronously image the take-off or landing process of the space detector to be detected.
The motion parameters of the space detector to be detected in the takeoff or landing process under the geodetic coordinate system comprise motion displacement, motion attitude, flight speed, flight acceleration and flight angular velocity of the space detector to be detected.
A method for measuring the takeoff or landing process of a space probe by using the optical measuring system for the takeoff or landing process of the space probe comprises the following steps:
1) calibrating the inner orientation element and the outer orientation element of the imaging module;
2) imaging the takeoff or landing process of the space detector to be detected by using an imaging module to obtain imaging data of the takeoff or landing process of the space detector to be detected;
3) and resolving motion parameters of the space detector under a geodetic coordinate system in the take-off or landing process according to the internal orientation element and the external orientation element determined in the step 1) and the imaging data determined in the step 2).
The method for calibrating the inner orientation element and the outer orientation element of the imaging module in the step 1) specifically comprises the following steps:
and determining the position coordinates of the calibration target in the geodetic coordinate system, and calibrating the inner orientation element and the outer orientation element of the imaging module by using the calibration target according to the position coordinates of the calibration target in the geodetic coordinate system.
The imaging module comprises two high-speed imagers, the image acquisition frequency of the high-speed camera is more than 185 frames/s, and the arrangement positions of the two high-speed imagers meet the requirement that when the two high-speed imagers image the take-off or landing process of a space detector to be detected, the included angle of the optical axes of the high-speed imagers ranges from 30 degrees to 120 degrees; and the synchronous trigger module is utilized to enable the high-speed imager to synchronously image the take-off or landing process of the space detector to be detected.
The method for calculating the motion parameters of the space probe under the geodetic coordinate system in the takeoff or landing process of the space probe in the step 3) specifically comprises the following steps:
31) fixing a target on a space detector to be detected;
32) determining the position coordinates of the target under a space detector fixed connection coordinate system;
33) determining the position coordinates of the target under a geodetic coordinate system according to the internal orientation elements, the external orientation elements and the imaging data of the imaging module;
34) according to the position coordinate of the target determined in the step 33) under the geodetic coordinate system, the position coordinate of the target determined in the step 32) under the space detector fixed connection coordinate system and the imaging data, the motion parameters of the space detector to be detected under the geodetic coordinate system in the take-off or landing process are solved.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention adopts an optical measurement method to measure the motion parameters of the space detector in the take-off and landing processes, adopts a non-contact measurement method, overcomes the influence of factors such as the shape, the size and the external environment of the target to be measured on the measurement, and can effectively measure the motion parameters of the space detector in the take-off and landing processes, the position precision is 1cm, and the attitude precision is 0.1 degree.
2) The invention adopts a binocular pose measurement algorithm based on control points to measure the motion parameters of the space detector in the take-off and landing processes, and overcomes the defects that the monocular pose measurement algorithm has a small visual field range and is not suitable for large-scene measurement.
3) The wireless synchronous trigger receiving device in the synchronous trigger module is adopted to collect images, theoretical analysis is carried out to obtain that wireless synchronous trigger receiving test is required before formal measurement, and when the synchronous trigger time error is less than 1ms, the measurement error is small, so that the test condition of a large outdoor ground test can be met.
4) The spatial detector is fixedly connected with the movement velocity and the movement acceleration of the origin of the coordinate system relative to the geodetic coordinate system, the movement angular velocity is obtained by carrying out data filtering on the movement displacement and the movement attitude of the spatial detector relative to the geodetic coordinate system at each moment through a white noise observation data polynomial optimal filter, the movement velocity, the movement acceleration and the movement angular velocity can be directly obtained through the movement displacement and the movement attitude, and the calculation efficiency is high.
Drawings
FIG. 1 is a block diagram of a measurement system according to the present invention;
FIG. 2 is a diagram of a synchronous triggering error according to the present invention.
Detailed Description
The invention provides an optical measurement system and method for a space probe in a take-off or landing process, which are particularly suitable for measuring the take-off motion process of extraterrestrial celestial bodies. The invention adopts a binocular pose measurement algorithm based on control points to accurately measure physical quantities such as the spatial position, the attitude and the like of the space detector in the take-off process of the surface of the extraterrestrial celestial body, and obtains motion parameters such as the speed, the acceleration, the rotation angular velocity and the like of the space detector by a data filtering method. During measurement, one high-speed camera is debugged and moved, so that the influence of illumination on measurement can be overcome, and all-weather test tracking is realized. The binocular high-speed camera is controlled in a wireless synchronous triggering mode, the testing conditions of a large outdoor ground test can be met, synchronous triggering test is carried out before the test, and the influence of synchronous errors on precision can be reduced to the minimum. And simulating the external environments such as gravity, illumination and the like of the extraterrestrial celestial body, and carrying out the takeoff test of the extraterrestrial celestial body surface, wherein the position precision is 1cm, and the posture precision is 0.1 degrees. The method belongs to the field of measuring the motion parameters of a space detector in the take-off and landing process of an extraterrestrial celestial body surface by using a staring optical measurement method for the first time.
The invention is described in further detail below with reference to the following figures and specific examples:
as shown in fig. 1, an optical measurement system for a takeoff or landing process of a space probe according to the present invention includes: the system comprises a calibration module, an imaging module, a data processing module, a target, a calibration target, a synchronous triggering module and a coordinate conversion module;
the target is fixed on an external space detector;
a coordinate conversion module: determining the position coordinates of the target under a space detector fixed coordinate system, and transmitting the position coordinates of the target under the space detector fixed coordinate system to a data processing module; meanwhile, determining the position coordinates of the calibration target in a geodetic coordinate system; transmitting the position coordinates of the calibration target under the geodetic coordinate system to a calibration module; the method is realized by adopting a total station and a coordinate conversion target.
A calibration module: receiving the position coordinates of the calibration target transmitted by the coordinate conversion module under a geodetic coordinate system, calibrating the inner orientation element and the outer orientation element of the high-speed imager by using the calibration target according to the position coordinates of the calibration target under the geodetic coordinate system, and transmitting the inner orientation element and the outer orientation element to the data processing module;
an imaging module: imaging the takeoff or landing process of the space detector to be detected, and transmitting the imaging result to a data processing module; the high-speed imaging device comprises two high-speed imagers used for imaging a space detector in a take-off or landing process, the image acquisition frequency of a high-speed camera is more than 185 frames/s, the arrangement positions of the two high-speed imagers meet the requirement that when the two high-speed imagers image the take-off or landing process of a space detector to be detected, the included angle value range of the optical axes of the high-speed imagers is 30-120 degrees, at least 4 target targets appear in the common view field of the two high-speed imagers, and the 4 target targets are not coplanar.
The synchronous triggering module is used for enabling the high-speed imager to synchronously image the take-off or landing process of the space detector to be detected.
A data processing module: receiving the inner orientation element and the outer orientation element transmitted by the calibration module and the imaging result transmitted by the imaging module, and firstly determining the position coordinate of the target under a geodetic coordinate system according to the imaging result, the inner orientation element and the outer orientation element; and then receiving the position coordinates of the target transmitted by the coordinate conversion module under a space detector fixed coordinate system, and resolving the motion parameters of the space detector to be detected under the geodetic coordinate system in the take-off or landing process according to the position coordinates of the target under the space detector fixed coordinate system, the position coordinates of the target under the geodetic coordinate system and the imaging result, wherein the motion parameters comprise the motion displacement, the motion attitude, the flight speed, the flight acceleration and the flight angular speed of the space detector to be detected.
The invention relates to a method for measuring a take-off or landing process of a space detector by using an optical measuring system for the take-off or landing process of the space detector, which comprises the following steps:
1) determining the position coordinates of the calibration target under a geodetic coordinate system by using the coordinate conversion module, and transmitting the position coordinates of the calibration target under the geodetic coordinate system to the calibration module; and the calibration module receives the position coordinates of the calibration target transmitted by the coordinate conversion module in the geodetic coordinate system, and calibrates the internal orientation element and the external orientation element of the imaging module by using the calibration target according to the position coordinates of the calibration target in the geodetic coordinate system.
2) Imaging the takeoff or landing process of the space detector to be detected by using an imaging module to obtain imaging data of the takeoff or landing process of the space detector to be detected;
3) fixing a target on a space detector to be detected;
4) determining the position coordinates of the target under a space detector fixedly connected coordinate system by using a coordinate conversion module;
5) determining the position coordinates of the target under a geodetic coordinate system by using a data processing module according to the internal orientation elements, the external orientation elements and the imaging data of the imaging module obtained by calibration of the calibration module;
6) and resolving motion parameters of the space detector to be detected in the take-off or landing process in the geodetic coordinate system according to the position coordinates of the target determined in the step 5) in the geodetic coordinate system, the position coordinates of the target determined in the step 4) in the space detector fixed connection coordinate system and the imaging data.
Examples
The imaging module comprises 2 sets of tripods and tripod heads, 2 notebook computers and 2 high-speed imagers; the coordinate conversion module comprises a plurality of cooperative targets and 1 total station; the synchronous trigger module comprises 1 set of wireless synchronous trigger receiving device; the data processing module comprises 1 computer and a set of three-dimensional motion optical measurement data processing software. Wherein:
the tripod and the tripod head are used for fixing the position of the high-speed imager;
the notebook computer comprises: and debugging parameters such as exposure time, aperture size, automatic gain and the like of the high-speed imager, and displaying and storing the image acquired by the high-speed imager.
A high-speed imager: the device is arranged on a tripod and a tripod head, is connected with a notebook computer of a data processing module, and is used for shooting and recording the taking-off and landing movement process of the space detector. When 2 high-speed imagers are used for shooting the same target from different positions, the intersection positioning can be carried out on the space control point by utilizing the line-line intersection principle, and the space three-dimensional coordinate of the space control point under the camera coordinate system is obtained.
A coordinate conversion module: the cooperative target comprises a target, a calibration target and a coordinate conversion target. The target is fixed on the target and used for measuring the pose; the calibration target is used for calibrating the internal and external parameters of the high-speed imager in the imaging module; the coordinate conversion target is used for coordinate conversion. The measuring method obtains the image point coordinates of the target by a manual extraction mode during resolving, so that the selection of the target type is not required, the central point position of the target is ensured to be clear and the image is clear, and the target material is a reflective material due to the adaptation to the measuring environment under the dark condition.
Total station: and accurately obtaining the space three-dimensional coordinates of the target, the calibration target and the coordinate conversion target.
A synchronous triggering module: in a large outdoor ground test, 2 high-speed imagers in an imaging module are synchronously triggered to acquire images.
Before measurement, a target, a calibration target and a coordinate conversion target need to be uniformly fixed on a target surface of a space detector facing a high-speed imager.
Target arrangement mode: the method comprises the steps that part of non-coplanar characteristic points in a target, such as screws, rivets and the like on the target, coordinates of the characteristic points under a coordinate system fixedly connected with a space detector are known in the manufacturing process of the space detector, coordinates of the target under the coordinate system fixedly connected with the space detector can be obtained through a total station dotting, the space three-dimensional coordinates of the characteristic points on the target and the target can be obtained firstly, and the coordinates of the characteristic points under the coordinate system fixedly connected with the space detector are combined, and the coordinates of the target under the coordinate system fixedly connected with the detector are obtained through coordinate system conversion. If the target to be detected is large, the total station cannot obtain the space three-dimensional coordinates of all the target targets at one time, the position of the movable total station is clicked, and the coordinates of the target targets under a space detector fixed connection coordinate system are finally obtained through coordinate conversion.
Fixing a calibration target and a coordinate conversion target: and a plurality of calibration targets and coordinate conversion targets are uniformly arranged on the fixed target rods and the movable target rods around the target motion range. And (3) dotting the target by using a total station, and converting a coordinate system to obtain a spatial three-dimensional coordinate of the calibration target in a geodetic coordinate system. The target on the fixed target rod is absolutely immobile, the total station only needs to perform dotting once, and the moving target rod needs to be dotted, acquired and confirmed before each measurement.
The high-speed imager faces to a target to be measured, namely a space detector to be measured, is distributed on two sides of the target to be measured, the position and the posture of the high-speed imager are adjusted, and after the test is started, the position of the high-speed imager is unchanged, so that the intersection angle of the imager is 30-120 degrees, and the optimal intersection angle is 90 degrees. In order to meet the resolving condition, at least 4 different-surface target cooperation mark points exist in the common view field of the camera. In order to ensure effective measurement, the whole process of taking off and landing of the space detector can be shot, and meanwhile, the view field of the high-speed imager is as small as possible. When the high-speed imager focuses, the target is required to be imaged clearly, and the definition of the calibration target and the definition of the conversion target are achieved simultaneously. The time of sunlight entering the lens is reduced as much as possible, and the influence of illumination on the test is overcome.
The wireless trigger receiving device in the synchronous trigger module needs to perform synchronous test before formal test, so that the synchronous trigger device is ensured to be normal and the synchronous trigger time error is smaller than 1 ms. And after the test is normal, the camera is adjusted to a pre-trigger mode, and the trigger time is set as off-center trigger.
The synchronous precision that high-speed imager triggered influences the measuring precision, if reduce synchronous triggering time error, then will reduce the object displacement that synchronous error brought, and then reduce the position error that synchronous error brought, theoretical analysis as follows:
as shown in fig. 2, A, B is a high-speed imager, O 'is an ideal object point, V is a speed direction detected by the space to be detected, O is an object point obtained by actual calculation, OC is an object displacement caused by a synchronization error, and then a position error caused by the synchronization error is OO'.
Wherein:
the two high-speed imagers are Phantom Flex4k cameras, the highest resolution is 4096 × 2048 pixels, the physical size of the pixels of the cameras is about 6.75 μm, the camera lenses are zoom lenses, two corresponding notebook computers, two sets of synchronous trigger devices, two sets of tripods and holders, a Leica total station (TCR1203) and accessories thereof, and a plurality of black and white opposite vertex angle marks.
The measuring steps are as follows:
1) 4 black and white opposite vertex angle target targets are respectively adhered to two adjacent surfaces of the detector, the adhesion positions of the target targets are also dispersed as much as possible, and the work of the verifier is not influenced. And (3) dotting known coordinate points on each target and the instrument by adopting a Leica total station, and obtaining the coordinates of the target under a coordinate system fixedly connected with the detector through coordinate conversion.
2) And reasonably fixing the calibration target and the coordinate conversion target on the test field tower and the ground moving target rod according to the approximate range of the motion of the detector. The sticking positions of the targets are required to be dispersed as much as possible, and each subsequent high-speed imager can see at least 7 mark points on the tower and 6 mark points on the ground. And accurately measuring each target characteristic point and the verifier angular point by adopting a Leica total station, establishing a test field coordinate system, and obtaining the coordinates of the calibration target under the test field coordinate system through coordinate conversion.
3) The space detector is installed on a test stand, and the target faces the high-speed imager.
4) The two high-speed imagers are erected and positioned to be distributed on the southeast and the northeast of a test field all the time, the intersection angle of the two high-speed imagers is kept between 30 degrees and 120 degrees, it is ensured that at least 7 targets on a tower and 6 targets on the ground can be seen in each high-speed camera view field, and the camera view field is required to be as small as possible while the whole process of takeoff of the verifier is taken all the time. The camera should focus so that the target points on the surface of the verifier are clear and the clarity of the tower and the ground control points is also considered. The frame rate of all the test cameras at this time is 200 frames per second. And (4) carrying out synchronous testing before formal testing, adjusting the camera to a pre-trigger mode after normal testing, and setting the trigger time to be triggered in a biased mode.
5) And (3) carrying out image acquisition on the calibration target by using the high-speed imager, and calibrating the inner and outer orientation elements of the 2 high-speed cameras in a test field coordinate system by adopting a calibration method based on control points according to the image point coordinates of the calibration target obtained by the high-speed imager and the coordinates of the calibration target in the test field coordinate system.
6) The universal hanging wheel of the test stand controls the space detector to take off, the wireless synchronous trigger receiving device is adopted to control 2 high-speed imagers to acquire images, and the images are acquired from the static state of the space detector.
7) After the takeoff movement is finished and the detector is static, the target is dotted by using the total station, and the coordinate of the origin of the fixed coordinate system of the detector under the coordinate system of the test field at the moment is obtained by using coordinate conversion and is used as the measurement reference value of the movement displacement of the detector at the last moment.
8) After the test is finished, preprocessing such as enhancing, denoising and the like is firstly carried out on the image collected by the high-speed imager.
9) And manually extracting the target in the first frame of image to obtain the image point coordinates of the target. The method comprises the steps of firstly obtaining coordinates of a target under a geodetic coordinate system according to coordinates of image points of a cooperative target and inner and outer orientation elements of a high-speed imager by adopting a binocular pose measurement algorithm based on control points, and then resolving motion displacement and motion attitude of a space detector fixed connection coordinate system relative to the geodetic coordinate system through an absolute orientation principle according to the coordinates of the target under a detector fixed connection coordinate system and the coordinates under the geodetic coordinate system. And obtaining the motion speed, the motion acceleration and the motion angular velocity through data filtering according to the motion displacement and the motion attitude.
10) In the data processing module, after the first frame of picture is read during data processing, the next frame of picture is automatically entered. And (3) according to the result of the image point positioning and tracking, judging the number of the image points with the same name in the pictures acquired by the 2 high-speed imagers at the same time, wherein when the number of the image points with the same name is more than 4, the motion parameter calculation can be continuously carried out, and when the number of the image points with the same name is less than 4, the tracking calculation is stopped.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (5)

1. An optical measurement system for a takeoff or landing process of a space probe, comprising: the system comprises a calibration module, an imaging module and a data processing module;
an imaging module: imaging the takeoff or landing process of the space detector to be detected, and transmitting the imaging result to the data processing module;
a calibration module: calibrating an inner orientation element and an outer orientation element of an imaging module, and transmitting the inner orientation element and the outer orientation element to a data processing module;
a data processing module: receiving the imaging result transmitted by the imaging module, and receiving the inner orientation element and the outer orientation element transmitted by the calibration module; calculating the motion parameters of the space detector to be detected in the take-off or landing process according to the imaging result, the inner orientation element and the outer orientation element;
further comprising: the system comprises a target, a calibration target and a coordinate conversion module;
the target is fixed on an external space detector;
the coordinate conversion module is used for determining the position coordinates of the target under a space detector fixed coordinate system and transmitting the position coordinates of the target under the space detector fixed coordinate system to the data processing module; meanwhile, determining the position coordinates of the calibration target in a geodetic coordinate system; transmitting the position coordinates of the calibration target under the geodetic coordinate system to a calibration module;
the calibration module receives the position coordinates of the calibration target transmitted by the coordinate conversion module under the geodetic coordinate system, calibrates the inner orientation element and the outer orientation element of the high-speed imager by using the calibration target according to the position coordinates of the calibration target under the geodetic coordinate system, and transmits the inner orientation element and the outer orientation element to the data processing module;
the data processing module receives the inner orientation element and the outer orientation element transmitted by the calibration module and the imaging result transmitted by the imaging module, and firstly, the position coordinate of the target under a geodetic coordinate system is determined according to the imaging result, the inner orientation element and the outer orientation element; then receiving the position coordinates of the target transmitted by the coordinate conversion module under a space detector fixed coordinate system, and resolving the motion parameters of the space detector to be detected under the geodetic coordinate system in the take-off or landing process according to the position coordinates of the target under the space detector fixed coordinate system, the position coordinates of the target under the geodetic coordinate system and the imaging result;
the imaging module comprises two high-speed imagers used for imaging the takeoff or landing process of the space detector, the image acquisition frequency of the high-speed imagers is more than 185 frames/s, the arrangement positions of the two high-speed imagers meet the requirement that when the two high-speed imagers image the takeoff or landing process of the space detector to be detected, the included angle value range of the optical axes of the high-speed imagers is 30-120 degrees, at least 4 target targets appear in the common view field of the two high-speed imagers, and the 4 target targets are not coplanar;
the motion parameters of the space detector to be detected in the takeoff or landing process under the geodetic coordinate system comprise motion displacement, motion attitude, flight speed, flight acceleration and flight angular velocity of the space detector to be detected.
2. The optical measurement system for takeoff or landing process of space probe as claimed in claim 1, wherein said coordinate transformation module is implemented by using a total station and a coordinate transformation target.
3. The optical measurement system for the takeoff or landing process of the space probe as claimed in claim 1, further comprising a synchronous triggering module; the synchronous triggering module is used for enabling the high-speed imager to synchronously image the take-off or landing process of the space detector to be detected.
4. A method for measuring the takeoff or landing process of a space probe by using the optical measuring system for the takeoff or landing process of the space probe as claimed in claim 3, which is characterized by comprising the following steps:
1) calibrating the inner orientation element and the outer orientation element of the imaging module;
2) imaging the takeoff or landing process of the space detector to be detected by using an imaging module to obtain imaging data of the takeoff or landing process of the space detector to be detected;
3) resolving motion parameters of the space detector under a geodetic coordinate system in the take-off or landing process according to the internal orientation element and the external orientation element determined in the step 1) and the imaging data determined in the step 2);
the imaging module comprises two high-speed imagers, the image acquisition frequency of each high-speed imager is more than 185 frames/s, and the arrangement positions of the two high-speed imagers meet the requirement that when the two high-speed imagers image the take-off or landing process of a space detector to be detected, the included angle of the optical axes of the high-speed imagers ranges from 30 degrees to 120 degrees; the synchronous trigger module is utilized to enable the high-speed imager to synchronously image the take-off or landing process of the space detector to be detected;
the method for calculating the motion parameters of the space probe under the geodetic coordinate system in the takeoff or landing process of the space probe in the step 3) specifically comprises the following steps:
31) fixing a target on a space detector to be detected;
32) determining the position coordinates of the target under a space detector fixed connection coordinate system;
33) determining the position coordinates of the target under a geodetic coordinate system according to the internal orientation elements, the external orientation elements and the imaging data of the imaging module;
34) according to the position coordinate of the target determined in the step 33) under the geodetic coordinate system, the position coordinate of the target determined in the step 32) under the space detector fixed connection coordinate system and the imaging data, the motion parameters of the space detector to be detected under the geodetic coordinate system in the take-off or landing process are solved.
5. The method for performing the measurement of the takeoff or landing process of the spatial probe as claimed in claim 4, wherein the step 1) of calibrating the inner orientation element and the outer orientation element of the imaging module specifically comprises:
and determining the position coordinates of the calibration target in the geodetic coordinate system, and calibrating the inner orientation element and the outer orientation element of the imaging module by using the calibration target according to the position coordinates of the calibration target in the geodetic coordinate system.
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