CN110095659A - Deep space exploration rover communication antenna pointing accuracy dynamic testing method - Google Patents
Deep space exploration rover communication antenna pointing accuracy dynamic testing method Download PDFInfo
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- CN110095659A CN110095659A CN201910357975.2A CN201910357975A CN110095659A CN 110095659 A CN110095659 A CN 110095659A CN 201910357975 A CN201910357975 A CN 201910357975A CN 110095659 A CN110095659 A CN 110095659A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
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Abstract
The present invention discloses a kind of deep space exploration rover communication antenna pointing accuracy dynamic testing method, this method by carrying out inner parameter and calibrating external parameters to camera respectively, and all standing of the every camera to rover is realized by adjusting camera measurement height, distance, shooting angle, the real-time synchronization for obtaining communication antenna is taken pictures and photo saves；For every group of measurement photo, using image characteristics extraction, Feature Points Matching, forward intersection and resection measurement in a closed series realize communication antenna under rover body coordinate system the Automatic solution of directional information and combine rover in east northeast under coordinate system pose information measurement as a result, antenna in east northeast the dynamic directional information under coordinate system during determining test；The measured result in test process is compared with the control target value of antenna simultaneously, determines the dynamic pointing accuracy of communication antenna.For the measurement accuracy that the present invention is directed toward communication antenna better than 0.04 °, measurement frequency is not less than 12Hz, effective guarantee model ground test task.
Description
Technical field
The invention belongs to spacecraft the field of test technology, and in particular to the direction in a kind of communication antenna motion process
Precision dynamic test macro is also related to a kind of pointing accuracy test method that communication antenna movement is carried out using the test macro,
Communication antenna dynamic pointing accuracy can be surveyed in the deep space exploration rover ground test task of current and future development
Examination evaluation.
Background technique
Using the goddess in the moon No. three/No. tetra- and the following Mars probes to need to carry the moon in the deep space exploration task of representative
The rovers such as vehicle or Marsokhod complete the detection to the moon or Mars environment.In order to realize control instruction and spy in orbit
The transmission of measured data, rover, which needs to install communication antenna and controls it, is accurately directed to the earth or orbit ring around device.With Mars
For the Marsokhod of detection mission, directional aerial is fixed on Marsokhod rear, and expansion lock state, antenna are under working condition
It acts, be directed toward over the ground or around device by Two-shaft drive mechanism.In order to ensure communication antenna can be accurately directed to target, develop
Need to carry out communication antenna pointing accuracy test job in the process.
Communication antenna pointing accuracy test assignment is divided into static test and dynamic test both of which.Communication antenna and the earth
Since speed of related movement is very low when being communicated, only need to carry out static test can be met the requirements, i.e. control directional aerial refers to
To target direction, using being actually pointed to for theodolite or laser tracker means precise measurement communication antenna, passes through and compare error
It can determine the pointing accuracy of communication antenna.With the expansion of deep space exploration task and abundant, rover also need and orbit ring around
Device is communicated, since the two speed of related movement is larger, it is therefore necessary to carry out dynamic test.By taking Marsokhod as an example, communication
Antenna will carry out data transmission with Mars orbit ring around device, and the speed of related movement of the two is up to 1 °/s, in order to ensure communication antenna
It can be accurately directed to surround device in rotation process, need to increase in development process the dynamic test assignment of antenna-point accuracy,
It is required that its in east northeast directional information under coordinate system and Marsokhod body coordinate system of precise measurement during antenna movement, is surveyed
Accuracy of measurement is better than 0.05 °, and measurement frequency is not less than 10Hz.
By the constraint of theodolite and laser tracker measurement means, traditional static measurement means can not be applied to dynamic and test
In task.Through investigating, inertial survey technique is the main measurement means of current large-scale antenna dynamic pointing accuracy test, passes through top
Spiral shell instrument and accelerometer can measure the relative rotation angle of antenna.However it is in east northeast that rover communication antenna, which needs measure,
Absolute directional information under ground and rover body coordinate system, inertia measurement can only measure relative starting position in motion process
Relative rotation.In addition, since the antenna dynamic testing time is longer, null offset existing for inertial survey technique and accumulative mistake
The disadvantages of poor, leads to low measurement accuracy, therefore the technology is unable to satisfy measurement request.
Measurement accuracy is high, measurement efficiency is high, non-contact, measurement range is big, it is a large amount of to measure simultaneously because having for vision measurement
The advantages such as point will be applied to deep space exploration rover communication antenna pointing accuracy dynamic test assignment, realize communication antenna movement
The accurate measurement of directional information and accuracy evaluation in the process.
Summary of the invention
The present invention is proposed for the dynamic testing requirement of communication antenna pointing accuracy in deep space exploration rover development process
A kind of deep space exploration rover communication antenna pointing accuracy dynamic test system, rover body and communication day in the test macro
A large amount of vision target points are pasted on line respectively and calibrate the relationship of itself and respective coordinate system, it is more by being laid around rover
Camera of standing carries out measurement of taking pictures in real time to the vision cooperative target on measured object, can be to the direction of communication antenna in motion process
Precision carries out test assessment, to ensure to carry out data transmission with orbit ring around device in its operation on orbit.
In addition, invention also discloses a kind of deep space exploration rover communication antenna pointing accuracy dynamic testing method, it should
Method is the high-precision measurement method based on multi-vision visual, and this method can be by laying multistation camera around rover
Vision cooperative target on measured object take pictures measurement in real time, can pointing accuracy to communication antenna in motion process into
Row test.
The present invention is achieved through the following technical solutions:
Deep space exploration rover communication antenna pointing accuracy dynamic testing method, comprising the following steps:
1) calibration of camera is carried out to all measurement cameras, is measured using angle measurement model, demarcated by angle measurement flat
Logo is fixed to be changed into Precision Angle-Measuring Equipment for camera, i.e., picture point coordinate information is converted to corresponding azimuth and pitch angle is believed
Breath, angle measurement accuracy are better than 2 "；
2) more cameras are set up around rover, realize every by adjusting camera measurement height, distance, shooting angle
All standing of the camera to rover keeps camera to stablize after the completion of adjustment；Recycle station meter to the external orientation of all cameras
Parameter is demarcated, and the relative bearing relationship between camera is established；
3) rover is supported by retainer and is fixed, measure body and place common point respectively using laser tracker
Three-dimensional coordinate, in conjunction with common point coordinate system transfer algorithm determine rover body coordinate system with respect to east northeast coordinate system pose
Relationship is completed rover orientation, and is synchronized using sync identification device to master control computer and the time of measurement industrial personal computer；
It is rotated by communication control antenna by desired trajectory, while measuring industrial personal computer control synchronizer trigger and being provided for all cameras
Synchronous triggering signal realizes that camera takes pictures to the real-time synchronization of communication antenna in rotation and photo saves, and measurement frequency is not less than
10Hz；
4) it is directed to every group of measurement photo, is combined using image characteristics extraction, Feature Points Matching, forward intersection and resection
Measurement realizes that communication antenna the Automatic solution of directional information and in east northeast is sat in conjunction with rover under rover body coordinate system
Mark is lower pose information measurement as a result, determining the dynamic directional information of antenna during test in east northeast under coordinate system；Simultaneously
Measured result in test process is compared with the control target value of antenna, determines the dynamic pointing accuracy of communication antenna.
Wherein, Automatic solution is the dynamic image characteristic point automatic identification combined based on space back projection with optical flow method
With come carry out, the specific implementation process is as follows:
A) according to the naming rule of vision target point single machine calibration result, in first group of measurement of multiple camera sync pulse jammings
In photo, 4 image characteristic points on antenna and rover ontology are chosen respectively and carry out initial matching, are established using PNP algorithm every
The relative bearing relationship of a camera coordinates system and antenna coordinate system and rover body coordinate system；
B) vision target point single machine calibration result is combined, determines antenna and rover sheet using vision back projection measurement model
Vision target point corresponding picture point coordinate in each camera image on body, the image gone out by actual extracting in traversal image
Characteristic point, find in two groups of points apart from closest approach, if distance is less than certain threshold value, then it is assumed that be same corresponding points, thus
The one-to-one correspondence for realizing all image characteristic points and vision target point on antenna and rover in image, completes picture point automatic
Match.
Further, after the completion of picture point Auto-matching, vision measurement model (forward intersection and resection group are recycled
Close measurement), the relative bearing relationship for completing antenna coordinate system and rover body coordinate system measures, so that it is determined that group measurement is shone
Antenna directional information corresponding to piece；
Further, it is determined that after first group of the corresponding antenna directional information of measurement photo, then for next group of measurement photograph
Piece, if a pair of of picture point distance in two adjacent groups photo is less than certain threshold value, it is determined that it is same that this is corresponding to picture point
Vision target point completes image in next group of picture using light stream matching process in conjunction with the matching result of upper one group of image
The automatic initial matching of point；To be sequentially completed the automatic data processing of subsequent all measurement images.
Wherein, the building of forward intersection and resection combine measurement model the following steps are included:
1) front can be constructed using camera inside and outside parameter calibration result by the vision target point that two or more camera covers
Intersection measurement model；It is only capable of the vision target point covered by single camera, constructs rear using camera internal parameter calibration result
Intersection measurement model；
2) the extensive equation group of the above two model construction of simultaneous realizes vision target by total optimization algorithm process
Resolving of the point in measuring system coordinate system down space three-dimensional coordinate；
3) combine single machine calibration result and common point coordinate system transfer algorithm that can calculate communication antenna coordinate system to patrolling
The relative bearing relationship of visual organ body coordinate system, so that it is determined that the corresponding communication antenna of group measurement photo is sat in rover ontology
Mark is lower directional information.
Wherein, the threshold value is several pixel magnitudes.
The present invention is directed to using Marsokhod as communication antenna pointing accuracy in the deep space exploration rover development process of representative
Face dynamic test new demand, proposes the dynamic precision measurement method based on multi-vision visual and develops corresponding system, realize to movement
The test assessment of communication antenna pointing accuracy in the process, it can be ensured that data biography can be carried out around device with orbit ring in its operation on orbit
It is defeated.For the measurement accuracy that the system is directed toward communication antenna better than 0.04 °, measurement frequency is not less than 12Hz, effective guarantee model
Ground test task.
Detailed description of the invention:
Fig. 1 is the schematic diagram of deep space exploration rover communication antenna pointing accuracy dynamic test system of the invention.Wherein,
1- visual sensor, 2- laser tracker, 3- industrial personal computer (containing test software), 4-synchronizer triggers, 5- vision cooperative target
Mark, the public target spot of 6- body, the public target spot in the ground 7-, 8- east northeast coordinate system, 9- rover body coordinate system, 10- it is logical
Line coordinates system, Iflytech.
Fig. 2 for east northeast in deep space exploration rover communication antenna pointing accuracy dynamic test of the invention coordinate system calibration
Step schematic diagram.
Fig. 3 is Marsokhod body coordinate system in deep space exploration rover communication antenna pointing accuracy dynamic test of the invention
Demarcating steps schematic diagram.
Fig. 4 is rover single machine calibration step in deep space exploration rover communication antenna pointing accuracy dynamic test of the invention
Rapid schematic diagram.
Specific embodiment:
Detailed description of the preferred embodiments with reference to the accompanying drawing, these examples are only exemplary
, it is no intended to it limits the scope of the invention.Deep space exploration rover communication antenna pointing accuracy dynamic is tested below
System structure be described in detail, show that deep space exploration rover communication antenna of the invention is directed toward essence referring to Fig. 1, Fig. 1
Spend the schematic diagram of dynamic test system.Wherein, according to deep space exploration rover communication antenna pointing accuracy ground test task need
It asks, has developed the dynamic vision measuring system based on polyphaser, which surveys
Test system, visual sensor, laser tracker, industrial personal computer, synchronizer trigger, vision target point, public affairs including being no less than four
Target spot, A-frame, visual sensor are distributed in the deep space exploration rover surrounding with communication antenna altogether, and laser tracker is set
The deep space exploration rover side between any two visual sensor is set, industrial personal computer is electrically connected with synchronizer trigger, deep space
It detects and pastes vision target point on the communication antenna and body of rover and calibrate its three-dimensional under respective coordinate system in advance
Coordinate information；Then by demarcating with establishing test site east northeast respectively coordinate system and rover body coordinate system and determining the two
Relative bearing relationship, to obtain posture information of the rover in east northeast in coordinate system, wherein deep space exploration rover distance
Several public target spots are not arranged in distal side, and visual sensor and laser tracker are separately positioned on A-frame, industrial personal computer figure
Realize that antenna is patrolling in test process as feature extraction, Feature Points Matching, forward intersection and resection combine measurement method
The Automatic solution of directional information under visual organ coordinate system itself, in conjunction with posture information calibration knot under rover in east northeast coordinate system
Fruit determines directional information of the antenna in east northeast under coordinate system；Finally the control target value of test result and antenna is compared
It is right, determine the dynamic pointing accuracy of communication antenna.
Before the dynamic pointing accuracy of communication antenna determines, first have to utilize prism square, theodolite, gyrotheodolite etc.
Calibration is oriented to rover, rover body coordinate system, rover single machine, detailed process is as follows:
The orientation calibration of 1 rover
1a east northeast coordinate system calibration
1) prism square is fixed on the rigid support of test site, is set up theodolite T1 and gyrotheodolite T2 and is collimated respectively
The two neighboring normal surface of prism square is mutually taken aim at using two theodolites, with can establish local east northeast coordinate system and prism square
The posture relationship of coordinate system, by prism square coordinate origin with being set as east northeast coordinate origin, so as to establish prism square coordinate
It is the relative bearing relationship of with east northeast coordinate system；
2) two transits forward intersection measuring point principle is utilized, measuring point is oriented by theodolite T1 and T3, determines place
Common point three-dimensional coordinate under prism square coordinate system；
3) in conjunction with 1) establish prism square coordinate system and east northeast coordinate system relative bearing relationship, can determine place
Common point in east northeast three-dimensional coordinate under coordinate system, with completing the east northeast calibration of coordinate system.
The calibration of 1b rover body coordinate system
1) in the fixed no less than 4 non-coplanar common points of rover body, using laser tracker simultaneously to rover
Auricle pin hole center and body common point measure, and obtain its three-dimensional coordinate under laser tracker coordinate system；
2) known three-dimensional coordinate of the rover auricle pin hole center under rover body coordinate system is utilized, common point is utilized
Coordinate system transfer algorithm can determine the relative bearing relationship of rover body coordinate system Yu laser tracker coordinate system；
3) the coordinate system transformational relation established in 2) is combined, 1) the middle body common point three-dimensional coordinate measured can be transformed into
Under rover body coordinate system, to establish the spatial relationship with body coordinate system, the calibration of rover body coordinate system is completed.
The calibration of 1c rover single machine
Each a large amount of vision target points of Self-adhesive on communication antenna and rover body, and it is calibrated in respective coordinate system
Under three-dimensional coordinate, to determine that communication antenna coordinate system and rover body coordinate system relative bearing relationship, the above process be
Rover single machine calibration process, specific scaling method are as follows:
1) a large amount of vision target points are pasted on communication antenna and rover body, guarantee that antenna direction is appointed in test process
Where to there is 1 target points that can be covered by camera.Multiple public target points are arranged around rover simultaneously；
2) rover and communication antenna is kept to stablize, using one camera Digital Photogrammetric System in multiple positions to directional aerial
Upper target point Ai, target point M in roverjAnd the public target point C in groundkMeasurement of taking pictures is carried out, obtains it in photogrammetric coordinate system
It is lower three-dimensional coordinate (XPa, YPa, ZPa)、(XPm, YPm, ZPm)、(XPc, YPc, ZPc)；
3) communication antenna prism square is collimated using theodolite, and true by two transits forward intersection measurement means
Determine the public target point C in groundkCoordinate (the X under directional aerial prism square coordinate systemCc, YCc, ZCc), turned by common point coordinate system
Scaling method can establish relative pose relationship between antenna prism square coordinate system and photogrammetric coordinate system, may thereby determine that orientation
Target point A on antennaiThree-dimensional coordinate (the X under itself prism square coordinate systemCa, YCa, ZCa), recycle known antenna prism square
The relative bearing relationship of coordinate system and antenna local Coordinate System can determine target point A on directional aerialiIn antenna own coordinate
It is OA-XAYAZALower three-dimensional coordinate (Xa, Ya, Za), complete the single machine calibration of vision target point on communication antenna；
4) target point public on rover body is measured using laser tracker, the body made in conjunction with 1b feast-brand mark
The spatial relationship of upper public target point and rover body coordinate system, can establish laser tracker and rover body coordinate system
Relative bearing relationship.It recycles laser tracker to measure the public target point in ground, determines the public target point C in groundkIt is making an inspection tour
Three-dimensional coordinate (X under device body coordinate systemMc, YMc, ZMc), in conjunction with the public target point C in ground measured in 2)kIn photogrammetric seat
Three-dimensional coordinate (X under mark systemPc, YPc, ZPc), it establishes rover body coordinate system by common point coordinate system transfer algorithm and takes the photograph
Shadow measures relative pose relationship between coordinate system, may thereby determine that vision target point M in roverjIn rover body coordinate system
OM-XMYMZMLower three-dimensional coordinate (Xm, Ym, Zm), complete the single machine calibration of vision target point in rover.
After the completion of calibration process, the present invention particularly obtains deep space exploration rover communication antenna pointing accuracy dynamic
Test method embodies are as follows:
1) with the carrying out east northeast coordinate system calibration of 1a section method is combined, determines three of place common point in east northeast under coordinate system
Tie up coordinate；
2) it combines 1b section method to carry out the calibration of rover body coordinate system, determines body common point in rover ontology coordinate
Three-dimensional coordinate under system；
3) each a large amount of vision target points of Self-adhesive on communication antenna and rover body are completed to make an inspection tour in conjunction with 1c section method
The calibration of device single machine, calibrates three-dimensional coordinate of the vision target point under respective coordinate system on communication antenna and rover body；
4) internal reference calibration is carried out to all cameras using camera angle measurement model calibration platform；
5) more cameras are set up around rover, realize every phase by adjusting camera measurement distance, shooting angle etc.
All standing of the machine to rover keeps camera to stablize after the completion of adjustment；
6) calibration unification is carried out using external direction parameter of the station meter to all cameras, establishes the opposite side between camera
Position relationship；
7) rover is supported by retainer and is fixed, completed rover using laser tracker and orient, establish rover
The position orientation relation of body coordinate system with respect to east northeast coordinate system；
8) master control computer and the time of measurement industrial personal computer are synchronized using sync identification device；
9) master control computer sends instruction communication control antenna and is rotated by desired trajectory, while industrial personal computer and synchronous touching
Hair device, which controls more cameras and synchronizes, takes pictures in real time to the communication antenna of rotation and saves photo, and measurement frequency is not less than
10Hz；
10) it is directed to every group of measurement photo, utilizes image characteristics extraction, Feature Points Matching, forward intersection and resection phase
The Automatic solution of communication antenna directional information under rover coordinate system itself during test is realized in conjunction with technologies such as measurements；
11) rover orientation in 7) is combined as a result, determining that dynamic of the antenna in east northeast under coordinate system refers to during test
To information；
12) measured result of communication antenna directional information and control target value during contrastive test, complete communication antenna
The evaluation of dynamic pointing accuracy.
Wherein, since camera filming frequency is higher in test process and the testing time is longer, measurement photo is generally up to thousands of
Group, data processing difficulty are big, it is therefore necessary to automatic data processing means be taken to realize that communication antenna dynamic is directed toward in test process
The determination of information.By vision measurement volume, in order to realize antenna coordinate system with respect to rover coordinate system spatial pose relationship
Measurement, it is necessary first to correspond the characteristic point extracted in the vision target point and image on antenna and rover, i.e.,
Feature Points Matching process.However the influence that camera subject visual angle and object block, each camera photographed antenna during rotation
Vision target point be it is continually changing, it is how automatic in every group of photo and accurately to complete Image Feature Point Matching be to realize
The difficult point of automatic data processing.For this purpose, have studied the dynamic image characteristic point that is combined with optical flow method based on space back projection from
Dynamic identification matching technique, concrete methods of realizing are as follows:
1) according to the naming rule of vision target point single machine calibration result, in first group of measurement of multiple camera sync pulse jammings
In photo, 4 image characteristic points on antenna and rover ontology are chosen respectively and carry out initial matching, can be built using PNP algorithm
Found the relative bearing relationship of each camera coordinates system and antenna coordinate system and rover body coordinate system；
2) according to vision target point single machine calibration result, antenna and tour be can determine using vision back projection measurement model
Vision target point corresponding picture point coordinate in each camera image on device ontology is gone out by actual extracting in traversal image
Image characteristic point, find in two groups of points apart from closest approach, if distance is less than certain threshold value (usual several pixel magnitudes),
Same corresponding points are considered, to realize in image that vision target point is one by one on all image characteristic points and antenna and rover
It is corresponding, picture point Auto-matching is completed, this method is space back projection image point match method.Recycle vision measurement model
(forward intersection and resection measurement in a closed series), the relative bearing that antenna coordinate system and rover body coordinate system can be completed are closed
System's measurement, so that it is determined that antenna directional information corresponding to group measurement photo；
3) it is directed to next group of measurement photo, since two adjacent groups photograph taking time interval is very short, the amplitude of antenna rotation
Very little, therefore picture point changes in coordinates of the same space point in two adjacent groups photo is less (being generally only several pixels), such as
In fruit two adjacent groups photo a pair of of picture point distance be less than certain threshold value, then can determine this it is corresponding to picture point be same view
Feel target point, this method is picture point light stream matching method.In conjunction with the matching result of upper one group of image, light stream matching process is utilized
The automatic initial matching of picture point in next group of picture can be completed；
1) and 2) 4) complete in next group of image after the initial matching of antenna and rover picture point, in conjunction with the anti-throwing in
Image method, can be completed the Auto-matching of all picture points in next group of image, to accurately determine next group of measurement photo institute
Corresponding antenna directional information.And so on can successively realize it is subsequent it is all measurement image automatic data processing.
Wherein, completion is the same as a pair for realizing image characteristic point and vision target point after group photograph image Feature Points Matching
It answers, can realize that the vision target space of points is three-dimensional by optimization algorithm according to the extensive equation group of vision measurement model construction
Communication antenna coordinate system can be completed to rover body coordinate system in conjunction with common point coordinate system transfer algorithm in the resolving of coordinate
The determination of relative bearing relationship.However during actual test camera subject shooting angle and antenna occlusion constraint, on measured object
Capable of being covered by two or more cameras of having of vision target point, some is only capable of being covered by single camera.It is final in order to improve
Measurement accuracy, this system take the measurement model construction method that forward intersection and resection combine, concrete methods of realizing
It is as follows:
1) front can be constructed using camera inside and outside parameter calibration result by the vision target point that two or more camera covers
Intersection measurement model；
2) it is only capable of the vision target point covered by single camera, constructs resection using camera internal parameter calibration result
Measurement model；
3) the extensive equation group of the above two model construction of simultaneous realizes vision target by total optimization algorithm process
Resolving of the point in measuring system coordinate system down space three-dimensional coordinate；
4) combine single machine calibration result and common point coordinate system transfer algorithm that can calculate communication antenna coordinate system to patrolling
The relative bearing relationship of visual organ body coordinate system, so that it is determined that the corresponding communication antenna of group measurement photo is sat in rover ontology
Mark is lower directional information.
Although the detailed description and description of the specific embodiments of the present invention are given above, it should be noted that
We can carry out various equivalent changes and modification to above embodiment according to the concept of the present invention, and generated function is made
It, should all be within protection scope of the present invention when with the spirit still covered without departing from specification and attached drawing.
Claims (6)
1. deep space exploration rover communication antenna pointing accuracy dynamic testing method, comprising the following steps:
1) calibration of camera is carried out to all measurement cameras, is measured using angle measurement model, passes through angle measurement calibrating platform mark
It is fixed that camera is changed into Precision Angle-Measuring Equipment, i.e., picture point coordinate information is converted into corresponding azimuth and pitch angle information,
Angle measurement accuracy is better than 2 "；
2) more cameras are set up around rover, realize every camera by adjusting camera measurement height, distance, shooting angle
All standing to rover keeps camera to stablize after the completion of adjustment；Recycle station meter to the external direction parameter of all cameras
It is demarcated, establishes the relative bearing relationship between camera；
3) rover is supported by retainer and is fixed, measure the three-dimensional of body and place common point respectively using laser tracker
Coordinate, in conjunction with common point coordinate system transfer algorithm determine rover body coordinate system with respect to east northeast coordinate system pose close
System is completed rover orientation, and is synchronized using sync identification device to master control computer and the time of measurement industrial personal computer；It is logical
It crosses communication control antenna to be rotated by desired trajectory, while measuring industrial personal computer control synchronizer trigger and being provided together for all cameras
Trigger signal is walked, realizes that camera takes pictures to the real-time synchronization of communication antenna in rotation and photo saves, measurement frequency is not less than
10Hz；
4) it is directed to every group of measurement photo, utilizes image characteristics extraction, Feature Points Matching, forward intersection and resection measurement in a closed series
Realize that communication antenna the Automatic solution of directional information and combines rover in east northeast coordinate system under rover body coordinate system
Lower pose information measurement is as a result, determine during test antenna in east northeast the dynamic directional information under coordinate system；It will survey simultaneously
Measured result during examination is compared with the control target value of antenna, determines the dynamic pointing accuracy of communication antenna.
2. the method for claim 1, wherein Automatic solution is the dynamic combined based on space back projection with optical flow method
Image characteristic point automatic identification matches to carry out, the specific implementation process is as follows:
A) according to the naming rule of vision target point single machine calibration result, in first group of measurement photo of multiple camera sync pulse jammings
In, 4 image characteristic points on antenna and rover ontology are chosen respectively and carry out initial matching, establish each phase using PNP algorithm
The relative bearing relationship of machine coordinate system and antenna coordinate system and rover body coordinate system；
B) vision target point single machine calibration result is combined, is determined on antenna and rover ontology using vision back projection measurement model
Vision target point corresponding picture point coordinate in each camera image, the characteristics of image gone out by actual extracting in traversal image
Point, find in two groups of points apart from closest approach, if distance is less than certain threshold value, then it is assumed that be same corresponding points, to realize
The one-to-one correspondence of all image characteristic points and vision target point on antenna and rover, completes picture point Auto-matching in image.
3. method according to claim 2, wherein after the completion of picture point Auto-matching, recycle vision measurement model (front
Intersection and resection measurement in a closed series), the relative bearing relationship for completing antenna coordinate system and rover body coordinate system measures, from
And determine antenna directional information corresponding to group measurement photo.
4. method as claimed in claim 3, wherein after determining first group of the corresponding antenna directional information of measurement photo, then
For next group of measurement photo, if a pair of of picture point distance in two adjacent groups photo is less than certain threshold value, it is determined that this is right
Corresponding picture point is same vision target point, in conjunction with the matching result of upper one group of image, is completed using light stream matching process
The automatic initial matching of picture point in next group of picture；Complete the initial matching of antenna and rover picture point in next group of image
Afterwards, then the back projection method, the Auto-matching of all picture points in next group of image can be completed, under accurately determining
Antenna directional information corresponding to one group of measurement photo is sequentially completed the automatic data processing of subsequent all measurement images.
5. method as claimed in claim 3, wherein the building of measurement model that forward intersection and resection combine include with
Lower step:
1) forward intersection can be constructed using camera inside and outside parameter calibration result by the vision target point that two or more camera covers
Measurement model；It is only capable of the vision target point covered by single camera, constructs resection using camera internal parameter calibration result
Measurement model；
2) the extensive equation group of the above two model construction of simultaneous realizes that vision target point exists by total optimization algorithm process
The resolving of measuring system coordinate system down space three-dimensional coordinate；
3) combine single machine calibration result and common point coordinate system transfer algorithm that can calculate communication antenna coordinate system to rover
The relative bearing relationship of body coordinate system, so that it is determined that the corresponding communication antenna of group measurement photo is in rover body coordinate system
Lower directional information.
6. the method according to claim 1 to 5, wherein the threshold value is several pixel magnitudes.
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| CN201910357975.2A CN110095659B (en) | 2019-04-30 | 2019-04-30 | Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device |
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