CN110095089A - A kind of measurement method and system of aircraft rotation angle - Google Patents
A kind of measurement method and system of aircraft rotation angle Download PDFInfo
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- CN110095089A CN110095089A CN201910202461.XA CN201910202461A CN110095089A CN 110095089 A CN110095089 A CN 110095089A CN 201910202461 A CN201910202461 A CN 201910202461A CN 110095089 A CN110095089 A CN 110095089A
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- coded target
- rotation angle
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- angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The present invention provides the measurement method and system of a kind of aircraft rotation angle, and method includes: attaching coded target paster on vehicle rudder to be measured；Calibration acquisition equipment；The image of the coded target of coded target paster is acquired by the acquisition equipment demarcated and rebuilds the three-dimensional point cloud model of coded target, calculates the rotary shaft of the vehicle rudder；Respectively acquisition initial position and rotation after final position the coded target paster coded target image and respectively rebuild three-dimensional point cloud model combine and rotary shaft establish target-based coordinate system；In target-based coordinate system, the rotation angle of vehicle rudder to be measured is obtained by the angle between each identical coded target in the three-dimensional point cloud model in final position after the three-dimensional point cloud model of calculating initial position and rotation.Using measuring method, mechanical destruction will not be generated to vehicle rudder compared to traditional-handwork measurement method；Method is easy to operate, and measurement result is accurate.
Description
Technical field
The measurement method of angle is rotated the present invention relates to test field of measuring technique more particularly to a kind of aircraft and is
System.
Background technique
Vehicle rudder angular measurement is an important test item in aircraft ground general assembly test, passes through control instruction
System can be controlled electronically with testing flying vehicle in the comparison of the actual rotation angle of the rotation angle and rudder face of the vehicle rudder of sending
Whether the matching between system and machine driven system is qualified.Mainly have following three in aircraft rotation angle measurement field at present
Kind measurement scheme: 1, based on the measurement method of protractor；2, based on the measurement method of obliquity sensor；3, it is based on monocular vision system
The measurement method of system.Measurement method based on protractor is to be after rudder face rotation, measures rudder face and fixed machine by protractor
Angle between the wing obtains the rotation angle of rudder face.Measurement method based on obliquity sensor is that obliquity sensor is utilized folder
The toolings such as tool are fixed on rudder face, and the rotation angle of rudder face is measured by angular transducer.Single camera vision system passes through shooting patch
The image for investing the circle on rudder face surface determines the coordinate of characteristic circle after Digital Image Processing, is become using pin-hole imaging and projection
It changes principle and establishes image space coordinate resolving model, calculate normal relative direction and the relative position in the center of circle of characteristic circle, rudder
Face angle displacement is deflected to obtain rotation angle by the normal direction of the circle.
The measurement method operating process very complicated of protractor, precision is low, is difficult to carry out in the nonplanar situation of rudder face
Measurement.Sensor, which is mounted on the fixed form on vehicle rudder mainly, two kinds of binding and clamping, and no matter which kind of mode is all deposited
It is being difficult to determine the problem of the spatial relation between sensor measurement axis and rudder face shaft, while the work of fixed sensor
Dress be mounted on vehicle rudder there is cross clamp cause injure vehicle rudder, owe clamp cause tooling to fall off risk,
Rudder face rotate when, can not real-time monitoring tooling clamped condition.The measurable angular range of monocular vision is small, passes through the characteristic circle center of circle
The method precision that normal direction calculates angle is low.
Lack the measurement method and system of a kind of accurate aircraft rotation angle in the prior art.
Summary of the invention
The present invention in order to solve the existing problems, provides the measurement method and system of a kind of aircraft rotation angle.
The technical solution adopted by the present invention is as described below:
A kind of measurement method of aircraft rotation angle, includes the following steps: S1: attaching coding on vehicle rudder to be measured
Index point paster；S2: calibration acquisition equipment；S3: the coded target paster is acquired by the acquisition equipment demarcated
Coded target image and rebuild the three-dimensional point cloud model of the coded target, calculated by the three-dimensional point cloud model
The rotary shaft of the vehicle rudder；S4: final position after acquiring initial position respectively by the acquisition equipment and rotate
The image of the coded target of the coded target paster simultaneously rebuilds three-dimensional point cloud model respectively, according to two three-dimensional points
Cloud model and the rotary shaft establish target-based coordinate system；S5: in the target-based coordinate system, by calculating the initial position
After three-dimensional point cloud model and the rotation in the three-dimensional point cloud model in final position between each identical coded target
Angle obtain the rotation angle of the vehicle rudder to be measured.
Preferably, the different coded target paster of at least five is pasted.
Preferably, by obtaining the scaling board with coded target in the image mark of at least eight different location and posture
The fixed acquisition equipment.
Preferably, the step S3 includes: S31: being found under different angle by the encoded radio of the coded target
The identical coded target, obtains the three-dimensional coordinate point of the coded target in the three-dimensional point cloud model；S32: right
The corresponding three-dimensional coordinate point of each coded target carries out space circle fitting operation, obtains each coding maker
The three-dimensional coordinate point in the corresponding space circle center of circle of point；S33: the three of the space circle center of circle are corresponded to each coded target
It ties up coordinate points and carries out straight line fitting operation, obtain object vector, wherein the object vector is the rotary shaft.
Preferably, the different angle includes at least 5 angles.
Preferably, the step S5 includes: S51: by the three-dimensional point cloud of the initial position and the final position
Model conversion is into the target-based coordinate system and calculates the angle between the identical coded target, obtains angle set；
S52: calculating the average value of the angle by the angle set, obtains the rotation angle of the vehicle rudder to be measured.
Preferably, the coded target on the coded target paster includes circular feature and annular feature.
Preferably, the acquisition equipment includes two cameras.
The present invention also provides a kind of measuring systems of aircraft rotation angle, comprising: acquisition unit, for acquiring coding mark
The image data of the coded target of will point paster；Processing unit；For realizing method a method as claimed in any one of claims 1-8.
Preferably, the acquisition unit includes two cameras.
The invention has the benefit that provide a kind of measurement method of aircraft rotation angle, using measuring method,
It only needs to attach coded target paster in vehicle rudder, vehicle rudder will not be generated compared to traditional-handwork measurement method
Mechanical destruction；Further, aircraft rudder can be calculated in a very short period of time (Millisecond) by shooting operation twice
Face rotates angle, and method is easy to operate, and measurement result is accurate.
Detailed description of the invention
Fig. 1 is a kind of measurement method schematic diagram of aircraft rotation angle in the embodiment of the present invention.
Fig. 2 is a kind of method schematic diagram for demarcating rotary shaft in the embodiment of the present invention.
Fig. 3 is a kind of method schematic diagram of the rotation angle of calculating aircraft rudder face in the embodiment of the present invention.
Fig. 4 is a kind of measuring system schematic diagram of aircraft rotation angle in the embodiment of the present invention.
Fig. 5 is a kind of acquisition unit schematic diagram of aircraft rotation angle in the embodiment of the present invention.
Fig. 6 is the acquisition unit schematic diagram of another aircraft rotation angle in the embodiment of the present invention.
Fig. 7 is the vehicle rudder schematic diagram that coded target paster is pasted in the embodiment of the present invention.
Fig. 8 (a) is a kind of schematic diagram of coded target paster in the embodiment of the present invention.
Fig. 8 (b) is the schematic diagram of another coded target paster in the embodiment of the present invention.
Fig. 8 (c) is the schematic diagram of another coded target paster in the embodiment of the present invention.
Fig. 9 is the schematic diagram for carrying out space circle fitting in the embodiment of the present invention to a coded target.
Figure 10 is the schematic diagram that in the embodiment of the present invention multiple coded targets are carried out with space circle fitting.
Wherein, 1,2- camera, 3- control box, 4- computer, 5- acquisition unit, 6- camera, 7- camera, 8- light source, 9- fly
Row device rudder face, 10- coded target paster, the space circle center of circle of 11- coded target composition, 12- coded target is 30 ° of positions
It sets, 13- coded target is 50 ° of positions, and 14- coded target is 80 ° of positions, and 15- coded target is in 120 ° of positions, 16-
Coded target is 140 ° of positions.
Specific embodiment
The present invention is described in detail by specific embodiment with reference to the accompanying drawing, for a better understanding of this hair
It is bright, but following embodiments are not intended to limit the scope of the invention.In addition, it is necessary to illustrate, diagram provided in following embodiments
The basic conception that only the invention is illustrated in a schematic way, in attached drawing only display with related component in the present invention rather than according to reality
Component count, shape when implementation and size are drawn, when actual implementation each component shape, quantity and ratio can for it is a kind of with
The change of meaning, and its assembly layout form may also be increasingly complex.
Embodiment 1
As shown in Figure 1, a kind of measurement method of aircraft rotation angle, includes the following steps:
S1: coded target paster is attached on vehicle rudder to be measured；
Coded target has unique characteristic information, and coded target includes circular feature and annular feature.Pass through number
Word image processing techniques can carry out the identification of coding characteristic point to image, calculate the image of coding characteristic point in the picture
Coordinate.In a kind of specific embodiment, 5 different coded target pasters are pasted, it is to be understood that can also glue more
In 5 coded target pasters.
S2: calibration acquisition equipment；
In one embodiment, acquisition equipment includes two cameras.Scaling board with encoded point is placed in camera
Under visual field, scaling board is obtained in the camera image of different location and posture by mobile scaling board, crosses digital image processing techniques,
Identify the image coordinate of encoded point and the corresponding encoded radio of encoded point in ten groups of images；It is calculated by binocular stereo vision principle
Inside and outside parameter between two measuring head cameras out.
In a kind of specific embodiment, by mobile scaling board, photo is rented from least eight angle shot 8 altogether, in this way
The camera model equation of the unknown number including at least six such as elements of exterior orientation and camera intrinsic parameter can just be calculated.
S3: the image of the coded target of the coded target paster is acquired simultaneously by the acquisition equipment demarcated
The three-dimensional point cloud model for rebuilding the coded target calculates the rotation of the vehicle rudder by the three-dimensional point cloud model
Axis；
The acquisition equipment for having demarcated inside and outside parameter carries out the vehicle rudder for having posted coded target paster
It takes pictures, obtains the encoded radio and image coordinate of coded target by digital image processing techniques, reconstruct coded target
Three-dimensional point cloud model.
S4: the coded target patch in final position after initial position and rotation is acquired respectively by the acquisition equipment
The image of the coded target of paper simultaneously rebuilds three-dimensional point cloud model respectively, according to two three-dimensional point cloud models and the rotation
Axis establishes target-based coordinate system；
S5: in the target-based coordinate system, after three-dimensional point cloud model and the rotation by calculating the initial position
Angle in the three-dimensional point cloud model in final position between each identical coded target obtains the aircraft to be measured
The rotation angle of rudder face.
As shown in Fig. 2, in a kind of specific embodiment, above-mentioned steps S3 includes:
S31: it is found by the encoded radio of the coded target identical in the three-dimensional point cloud model under different angle
The coded target, obtain the three-dimensional coordinate point of the coded target；
In a kind of specific embodiment, different angle includes at least 5 angles.
S32: the three-dimensional coordinate point corresponding to each coded target carries out space circle fitting operation, obtains every
The three-dimensional coordinate point in the corresponding space circle center of circle of a coded target；
S33: the three-dimensional coordinate point for corresponding to the space circle center of circle to each coded target carries out straight line fitting fortune
It calculates, obtains object vector, wherein the object vector is the rotary shaft.
As shown in figure 3, in a kind of specific embodiment, above-mentioned steps S5 includes:
S51: the three-dimensional point cloud model in the initial position and the final position is transformed into the coordinates of targets
In system and the angle between the identical coded target is calculated, obtains angle set；
S52: calculating the average value of the angle by the angle set, obtains the rotation of the vehicle rudder to be measured
Angle.
Embodiment 2
The present invention provides a kind of measuring system of aircraft rotation angle, comprising: acquisition unit and processing unit, wherein
Acquisition unit is used to acquire the image data of the coded target of coded target paster；Processing unit is for controlling the acquisition
Unit；Handle described image data；The rotation angle for calculating vehicle rudder to be measured, realizes method as described in example 1 above.
As shown in figure 4, it further includes a control that acquisition unit, which includes camera 1 and camera 2, in a kind of specific embodiment
Box 3 processed, two cameras are connected with control box 3 respectively, collectively constitute acquisition unit 5；Processing unit has processing capacity
Computer 4, control box 3 are connected with computer 4.Processing unit is by sending instruction control camera 1 and camera 2, camera 1 and phase
2 acquired image data of machine pass computer 4 back by controlling box 3, and computer 4 can analyze image after obtaining data
With processing.
It is understood that in order to keep hardware device simpler, system of the invention can without control box, function by
Computer replaces, i.e., only includes two cameras and computer.
As shown in Figure 5 and Figure 6, acquisition unit of the invention can also be that camera 6 and camera 7 and light source 8 form.
It is understood that computer of the invention includes: processor, memory and stores in the memory simultaneously
The computer program that can be run on the processor, such as the process of measurement of aircraft rotation angle.The processor executes
The step in the measurement method embodiment of above-mentioned each aircraft rotation angle, such as Fig. 1 institute are realized when the computer program
The step S1-S5 shown.Alternatively, the processor realizes each unit in above-mentioned each Installation practice when executing the computer program
Function, such as acquisition unit and processing unit.
It is understood that the schematic diagram of the measuring system of aircraft rotation angle provided in an embodiment of the present invention.The reality
Apply the processing unit of the aircraft rotation angle of example include: it is illustrative, the computer program can be divided into one or
Multiple units, one or more of units are stored in the memory, and are executed by the processor, to complete this
Invention.One or more of units can be the series of computation machine program instruction section that can complete specific function, the instruction
Section is for describing implementation procedure of the computer program in the measurement of aircraft rotation angle.
The processing unit can be desktop PC, notebook, palm PC and cloud server etc. and calculate equipment.
The processing unit may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that the schematic diagram
The only example of processing unit does not constitute the restriction to processing unit, may include components more more or fewer than diagram,
Perhaps certain components or different components are combined, such as the processing unit can also connect including input-output equipment, network
Enter equipment, bus etc..
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of processing unit, utilizes each portion of various interfaces and the entire processing unit of connection
Point.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions of processing unit.The memory can mainly include storing program area and storage data area, wherein storing program area
It can application program (such as sound-playing function, image player function etc.) needed for storage program area, at least one function etc.；
Storage data area, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.In addition, storage
Device may include high-speed random access memory, can also be hard including nonvolatile memory, such as hard disk, memory, plug-in type
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
If the acquisition unit in the measuring system of the aircraft rotation angle is realized in the form of SFU software functional unit
And when sold or used as an independent product, it can store in a computer readable storage medium.Based on such
Understand, the present invention realizes all or part of the process in above-described embodiment method, can also instruct phase by computer program
The hardware of pass is completed, and the computer program can be stored in a computer readable storage medium, which exists
When being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer journey
Sequence code, the computer program code can be source code form, object identification code form, executable file or certain intermediate shapes
Formula etc..The computer-readable medium may include: any entity or device, note that can carry the computer program code
Recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium
Deng.It should be noted that the content that the computer-readable medium includes can be real according to legislation in jurisdiction and patent
The requirement trampled carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium
It does not include electric carrier signal and telecommunication signal.
Embodiment 3
Illustrate method of the invention below by a kind of more specific example.
1. pasting coded target paster 10 on vehicle rudder 9 to be measured；
As shown in fig. 7,5 different coded target pasters 10 are attached at aircraft 9 surface of vehicle rudder to be measured.
As shown in Fig. 8 (a)~Fig. 8 (c), coded target paster 10 has characteristic information, and characteristic information contains: round special
Sign, ring-like feature.Feature can be identified by digital image processing techniques, obtain the coding of index point.
2. arrangement acquisition equipment simultaneously demarcates acquisition equipment；Acquisition equipment is two cameras and survey in the present embodiment
Measure box；Processing unit is computer.
To be placed in the visual field of camera with the scaling board of coded target, adjust the focal length of camera and aperture be allowed to can
To clearly photograph the coded target on scaling board, by adjusting scaling board angle and posture, computer controls gauge head and claps
It takes the photograph scaling board and passes computer back in the image of each position, and by image.
Computer by solved according to the encoded radio and image coordinate of encoded point in camera image two cameras intrinsic parameter and
External parameter.
In the present embodiment, by mobile scaling board, photo is rented from 8 angle shots 8 altogether, can just calculate packet in this way
Include the camera model equation of elements of exterior orientation and camera intrinsic parameter etc. 6 unknown numbers.It is understood that in variant embodiment
In, unknown number can be greater than 6.
3. acquiring the image of the coded target of coded target paster by the acquisition equipment demarcated and rebuilding coding
The three-dimensional point cloud model of index point calculates the rotary shaft of the vehicle rudder by three-dimensional point cloud model；According to digital picture
Processing obtains the image coordinate of coded target, according to binocular stereo vision principle, the camera inside and outside parameter solved using calibration,
Available coded target is using benchmark camera as the three-dimensional point cloud model of the three-dimensional space of coordinate origin.
Rotary aircraft rudder face simultaneously carries out Image Acquisition, coded target under available 5 different angles using camera
Three-dimensional point cloud model.
Because vehicle rudder is rotated around fixed rotary shaft, therefore identical coded target one in all three-dimensional point cloud models
Be scheduled on one in rotary shaft with point for the center of circle and perpendicular in the space circle of rotary shaft.
As shown in Figure 9 and Figure 10, identical coded target progress space circle in each model is chosen to be fitted to obtain several groups
The space circle center of circle.All space circle centers of circle are fitted again, gained straight line is the rotary shaft of vehicle rudder, and establishes seat
Mark system.
Specifically, being looked for by the three-dimensional point cloud under 5 different angles of computer acquisition by the encoded radio of coded target
Identical index point into different three-dimensional point clouds, coded target 30 ° of positions 12 coordinate points coded target 50 ° of positions
13 coordinate points, coded target are in 80 ° of positions 14, coded target in 120 ° of positions, coded target 140 ° of positions 16
Coordinate points be respectively P0~P4.
To P0~P4 carries out space circle fitting operation, obtains the space circle center of circle of the coded target composition in the space circle center of circle
11, three-dimensional coordinate point PC0。
Aforesaid operations are carried out to other coded targets and obtain the three-dimensional coordinate point PC in the space circle center of circle0~PCn, to PC0
~PCnStraight line fitting operation is carried out, vector VEC is obtainedAxisAs rotary shaft.
4. acquiring the coded target patch in final position after initial position and rotation respectively by the acquisition equipment
The image of the coded target of paper simultaneously rebuilds three-dimensional point cloud model respectively, according to two three-dimensional point cloud models and the rotation
Axis establishes target-based coordinate system；
Target-based coordinate system is constructed after obtaining rotary shaft, specifically, first acquiring the image of the coded target of initial position
And rebuild three-dimensional point cloud model；Vehicle rudder is adjusted to 0 ° of angle position, i.e. initial position, is controlled relatively to vehicle rudder
Carry out Image Acquisition.
Then, it obtains the image of the coded target in final position after rotating and rebuilds three-dimensional point cloud model；Adjustment flight
Device rudder face, which rotates to, to be needed to measure under fixed angle, is carried out Image Acquisition to the coded target on rudder face by camera and is rebuild
Three-dimensional point cloud model, and point cloud model is transformed under coordinate system coord.
Coordinate system coord is that the positive direction of selection rotary shaft is Z axis positive direction, the three-dimensional point of initial position and final position
The next same characteristic point of the cloud model plane vertical with Z axis positive direction is XoY plane, acquires XoY plane and Z axis intersection point is sat
Origin is marked,For X-axis positive direction,Obtain vectorFor Y-axis positive direction, coordinate system coord is established.
5. in the target-based coordinate system, by whole after the three-dimensional point cloud model of the calculating initial position and the rotation
Angle in the three-dimensional point cloud model of point position between each identical coded target obtains the aircraft rudder to be measured
The rotation angle in face.
Because vehicle rudder is rotated around fixing axle, identical characteristic point one is scheduled on one and puts down under each angle
On face, and the plane where each characteristic point is parallel to each other.
The three-dimensional point cloud model of initial position is transformed into shaft and sat by the coordinate system coord being calculated according to rotary shaft
Final mask Model1 is obtained under mark system；The three-dimensional point cloud model in final position is transformed under coordinate system coord and is obtained finally
Model M edel2.
Vehicle rudder pivoting angle is that two coordinate points are formed in the subpoint and coordinate origin of XOY plane
Angle between vector, calculates the angle in two three-dimensional point cloud models between all respective coordinates points, and average value is flight
Device rudder face pivoting angle.
At coordinate system coord, the identical two o'clock P1 and P2 of selected characteristic number from Medol1 and Medel2, asks two respectively
Point and the subpoint P1` and P2` under coordinate system coord in X/Y plane, obtain two vectors OP1` and OP2`；Seek two vectors
Angle obtains ∠ A1.In this way, angle ∠ A2, ∠ A3, ∠ A4, the ∠ A5 for successively acquiring each corresponding points acquire 5 spies
The average value that sign point obtains angle is to rotate angle.
In this way, 5 groups of experiments have been done.As a result it is as shown in the table for the measurement number data obtained:
1 measurement data of table
| Serial number | The practical rotation angle of rudder face | Measurement angle | Deviation |
| 0 | 20 | 19.99 | 0.01 |
| 1 | 15 | 15.01 | 0.01 |
| 2 | 15 | 14.99 | 0.01 |
| 3 | 20 | 20.00 | 0.0 |
| 4 | 10 | 9.98 | 0.02 |
As seen from the above table, using the measurement method of aircraft rotation angle of the invention, precision can achieve 0.02；This hair
Bright method uses measuring method, it is only necessary to attach coded target paster in vehicle rudder, survey compared to traditional-handwork
Amount method will not generate mechanical destruction to vehicle rudder；It further, can be by shooting operation twice when extremely short
Interior (Millisecond) calculates vehicle rudder rotation angle, and method is easy to operate, and measurement result is accurate.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of measurement method of aircraft rotation angle, which comprises the steps of:
S1: coded target paster is attached on vehicle rudder to be measured；
S2: calibration acquisition equipment；
S3: image and the reconstruction of the coded target of the coded target paster are acquired by the acquisition equipment demarcated
The three-dimensional point cloud model of the coded target calculates the rotary shaft of the vehicle rudder by the three-dimensional point cloud model；
S4: the coded target paster in final position after acquiring initial position respectively by the acquisition equipment and rotate
The image of coded target simultaneously rebuilds three-dimensional point cloud model respectively, is built according to two three-dimensional point cloud models and the rotary shaft
Vertical target-based coordinate system；
S5: in the target-based coordinate system, pass through terminal after the three-dimensional point cloud model of the calculating initial position and the rotation
Angle in the three-dimensional point cloud model of position between each identical coded target obtains the vehicle rudder to be measured
Rotation angle.
2. a kind of measurement method of aircraft rotation angle as described in claim 1, which is characterized in that paste at least five not
The same coded target paster.
3. a kind of measurement method of aircraft rotation angle as described in claim 1, which is characterized in that by obtaining with volume
The scaling board of code mark point acquires equipment described at least eight different location and the image calibration of posture.
4. a kind of measurement method of aircraft rotation angle as described in claim 1, which is characterized in that the step S3 packet
It includes:
S31: identical institute in the three-dimensional point cloud model under different angle is found by the encoded radio of the coded target
Coded target is stated, the three-dimensional coordinate point of the coded target is obtained；
S32: the three-dimensional coordinate point corresponding to each coded target carries out space circle fitting operation, obtains each institute
State the three-dimensional coordinate point in the corresponding space circle center of circle of coded target；
S33: the three-dimensional coordinate point for corresponding to the space circle center of circle to each coded target carries out straight line fitting operation, obtains
To object vector, wherein the object vector is the rotary shaft.
5. a kind of measurement method of aircraft rotation angle as claimed in claim 4, which is characterized in that the different angle is extremely
It less include 5 angles.
6. a kind of measurement method of aircraft rotation angle as described in claim 1, which is characterized in that the step S5 packet
It includes:
S51: the three-dimensional point cloud model in the initial position and the final position is transformed into the target-based coordinate system
And the angle between the identical coded target is calculated, obtain angle set；
S52: calculating the average value of the angle by the angle set, obtains the rotation angle of the vehicle rudder to be measured
Degree.
7. a kind of measurement method of aircraft rotation angle as described in claim 1-6 is any, which is characterized in that the coding
Coded target on index point paster includes circular feature and annular feature.
8. a kind of measurement method of aircraft rotation angle as described in claim 1-6 is any, which is characterized in that the acquisition
Equipment includes two cameras.
9. a kind of measuring system of aircraft rotation angle characterized by comprising
Acquisition unit, the image data of the coded target for acquiring coded target paster；
Processing unit；For realizing method a method as claimed in any one of claims 1-8.
10. the measuring system of aircraft as claimed in claim 9 rotation angle, which is characterized in that the acquisition unit includes
Two cameras.
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| CN110879048A (en) * | 2019-12-10 | 2020-03-13 | 南昌航空大学 | Real-time monitoring method for blade torsion angle based on mark point detection |
| CN111637851A (en) * | 2020-05-15 | 2020-09-08 | 哈尔滨工程大学 | Aruco code-based visual measurement method and device for plane rotation angle |
| CN111912381A (en) * | 2020-06-15 | 2020-11-10 | 成都飞机工业（集团）有限责任公司 | Airplane control surface angle measuring method based on binocular vision principle |
| CN112729221A (en) * | 2020-11-30 | 2021-04-30 | 成都飞机工业（集团）有限责任公司 | Method for measuring deflection angle of airplane control surface |
| CN114964137A (en) * | 2022-04-18 | 2022-08-30 | 中航西安飞机工业集团股份有限公司 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
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| CN114964137A (en) * | 2022-04-18 | 2022-08-30 | 中航西安飞机工业集团股份有限公司 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
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