CN110866954B - Method for measuring high-precision attitude of bullet target under length constraint - Google Patents
Method for measuring high-precision attitude of bullet target under length constraint Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a method for measuring the height precision attitude of a bullet target under length constraint. Shooting the missile target in the target hitting process by using a binocular stereoscopic vision convergence measuring system, obtaining an image of the missile target when hitting the target, and obtaining the world coordinate of the missile target. The problem that the precision of an image measuring system along the projectile body direction is insufficient is solved by using the known length from the projectile head to the tail of the missile target, and a three-dimensional high-precision measuring result is obtained, so that the high-precision projectile body posture is obtained.
Description
Technical Field
The invention belongs to the technical field of projectile attitude measurement, and particularly relates to a method for measuring the high-precision attitude of a projectile under length constraint.
Background
The posture of the target has important influence on the damage effect when the target is shot, and the high-precision measurement of the posture of the target when the target is shot is an important parameter index for evaluating and analyzing the damage effect of the bullet. But the target landing process is a highly dynamic process and can not be used for contact measurement or non-contact close-distance station distribution measurement due to the destructive effect of the target landing process.
The radar method is a well-developed target detection method, but the radar method has the advantages of large system, complex technology and high price, is more suitable for detecting and tracking over-the-horizon large targets, has lower absolute accuracy for detecting short-distance high-speed small targets, and is not suitable for measuring the posture and the speed of bullets before landing.
The high-speed camera measurement is used for shooting moving target images at different moments to form a series of sequence images, the sequence images not only contain speed information of the target, but also contain attitude information of the target, and the attitude and the speed value of the moving target can be obtained by analyzing and processing the sequence images. However, the precision of the camera in the shooting direction is not high, so that the posture precision of the missile in the posture directly acquired by common binocular intersection is not high.
The image measurement has good applicability to the landing process of the bullet, but the measurement accuracy of the posture of the bullet target is poor due to the fact that the observation distance is long and the intersection angle is small (smaller than 60 degrees), and the task requirement cannot be met by a general method for arranging a binocular camera on one side. Although the binocular small-angle intersection image measuring method has high two-dimensional measurement accuracy in an image plane, the measurement accuracy in the direction of the optical axis of the camera is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a method for measuring the high-precision attitude of a shot target under length constraint. The invention corrects the positioning error of the camera by combining the known missile length, and can realize the attitude precision within 0.1 degree.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a method for measuring the high-precision attitude of a bullet target under length constraint comprises the following steps:
firstly, a binocular stereoscopic vision intersection measuring system is built.
The binocular stereoscopic vision convergence measuring system comprises two CCD cameras with the same focal length; the two CCD cameras are arranged on two sides of the target in a bilateral symmetry mode, the missile target enters the two-phase machine view field area from the space between the left camera and the right camera, and the left camera and the right camera are used for recording images of the process from the time the missile enters the two-phase machine view field area to the time the missile target reaches the target.
And secondly, calibrating the binocular stereoscopic vision intersection measuring system to obtain the internal and external parameters of the left camera and the right camera in the binocular stereoscopic vision intersection measuring system.
And thirdly, shooting the missile target in the target hitting process by using a binocular stereoscopic vision convergence measuring system to obtain an image of the missile target when hitting.
And fourthly, acquiring world coordinates of the missile target.
World coordinates of the missile target include the missile nose pheadCoordinate (x)head,yhead,zhead) And tail ptailThe coordinate is (x)tail,ytail,ztail) (ii) a Calculating the warhead p by triangulation method based on the internal and external parameters of the left and right cameras obtained by calibration in the second stepheadCoordinate (x)head,yhead,zhead) And tail ptailCoordinate (x)tail,ytail,ztail)。
And fifthly, correcting the positioning error.
The length L from the missile warhead to the missile tail of the missile target is known, and L is used for the missile warhead coordinate pheadAnd missile tail coordinate ptailCorrecting to obtain corrected bullet guide head coordinate p'headAnd missile tail coordinate p'tail。
Sixthly, according to the corrected bullet guide head coordinate p'headAnd missile tail coordinate p'tailAnd calculating the attitude of the missile target.
Further, in the first step of the present invention, the method for determining the position coordinates of the left and right cameras is as follows:
the middle point of the missile body when the missile target is perpendicular to the target is taken as an original point O', the direction perpendicular to the surface of the target is taken as a z-axis, and the straight line parallel to the surface of the target and perpendicular to the z-axis is taken as an x-axis.
The detection area is a square area which takes an original point O' as a center and has the side length of qxq (q is determined according to the length L from a missile target to the tail of the missile, and q is twice or more of the length of the missile), and the left camera and the right camera are arranged on the left side and the right side of the detection area; the circumscribed circle of the detection area qxq is taken as the effective field of view area of the left camera and the right camera,the effective field area has a center O' and a radius
The field angles of the two cameras are both 2 alpha, the included angles between the two cameras and the z-axis are both phi, and then the position coordinates of the left camera and the right camera are as follows:
in the invention, the calibration method of the camera adopts the conventional calibration method in the field. Firstly, collecting a calibration plate image, guiding the collected calibration plate image into Matlab, and then obtaining internal and external parameters of a left camera and a right camera by adopting a Zhang Zhengyou calibration method (Matlab with functions), wherein the internal parameters comprise focal lengths f of the left camera and the right cameraa、fbThe external parameters include a translation matrix T between the left and right camerasabAnd a rotation matrix Rab。
In the invention, a translation matrix T between the left camera and the right cameraabAnd a rotation matrix RabThe following were used:
further, in the fourth step of the present invention, the leader pheadCoordinate (x)head,yhead,zhead) And tail ptailCoordinate (x)tail,ytail,ztail) The following were used:
in the formula (f)a、fbThe focal lengths of the left camera and the right camera are both f, (x)head,yhead,zhead) As a leader coordinate phead，(xtail,ytail,ztail) As the missile tail coordinate ptail，TabIs a translation matrix between the left and right cameras, RabIs a rotation matrix between the left and right cameras, (X)tail_a,Ytail_a)、(Xtail_b,Ytail_b) Coordinates of missile tail points under a left camera image plane coordinate system and a right camera image plane coordinate system are taken as image coordinates; (X)head_a,Yhead_a)、(Xhead_b,Yhead_b) The coordinates of the head point of the missile are in the coordinate systems of the left camera image plane and the right camera image plane.
Furthermore, in the fifth step of the present invention, the corrected projectile head coordinate p'headAnd missile tail coordinate p'tailThe following are:
(x'head-x'tail)2+(y'head-y'tail)2+(z'head-z′tail)2＝L2
wherein (x'head,y'head,z'head) Missile head p 'for correcting positioning error'headWorld coordinate value of (x'tail,y'tail,z'tail) To correct for positioning error rear missile tail p'tailThe world coordinate value of (2).
Wherein, x'head＝xhead,y′head＝yhead,x′tail＝xtail,y′tail＝ytail，z′tail＝ztailCorrected missile head z'headThe coordinate values are obtained by solving the following equation:
further, the posture of the missile target obtained in the sixth step of the invention is as follows:
Δx＝x'head-x'tail
Δy＝y'head-y'tail
Δz＝z'head-z'tail
in the formula, alpha is a clip angle between a missile target and an x axis, beta is a clip angle between the missile target and a y axis, and gamma is a clip angle between the missile target and a z axis;
then alpha, beta and gamma are obtained by the calculation of the formula, namely the posture of the missile target.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention provides a method for measuring the attitude of a missile body by using a binocular stereoscopic vision intersection measuring system, which comprises the steps of arranging two cameras of the binocular stereoscopic vision intersection measuring system at two sides of the rear side of the missile tail, and compensating the problem of insufficient accuracy of an image measuring system along the direction of the missile body by using the known length from the missile target warhead to the tail of the missile, so as to obtain a three-dimensional high-accuracy measuring result, thereby obtaining the high-accuracy missile body attitude.
Drawings
FIG. 1 is a schematic view of a binocular stereo vision convergence measurement system layout;
fig. 2 is a measuring schematic diagram of a binocular stereo vision convergence measuring system.
Detailed Description
The embodiment provides a method for measuring the high-precision attitude of a bullet target under length constraint, which comprises the following steps:
firstly, building a binocular stereoscopic vision intersection measuring system;
referring to fig. 1, the binocular stereoscopic vision intersection measuring system comprises two CCD cameras symmetrically arranged left and right, and the focal lengths of the left and right cameras are both f. As shown in figure 1, a left camera and a right camera are bilaterally symmetrical to a target, a missile to be shot enters a two-camera field of view area from the middle of the left camera and the right camera, the left camera and the right camera record images of the process from the time the missile enters the field of view to the time the missile target reaches the target, and the posture of the missile target landing process is analyzed through the images. ,
as shown in FIG. 1, the midpoint of the projectile body when the target of the missile is perpendicular to the target is taken as the origin O', the direction perpendicular to the target surface is taken as the z-axis, and the straight line parallel to the target surface and perpendicular to the z-axis is taken as the x-axis. The detection area is an area where the missile is located when the missile lands on the target, the detection area is a square area which takes an original point as a center and has the side length of qxq (q is determined according to the length L of the actual missile, and the length of q is twice the length of the missile in the embodiment), and the left camera and the right camera are arranged on the left side and the right side of the detection area.
The circumscribed circle of the detection area qxq is taken as the effective view field of the left camera and the right camera, the center of the effective view field is O', the center of the effective view field is the midpoint of the missile body when the missile is perpendicularly hit, and the radius is
Determining the layout positions of the two cameras according to the coordinate relationship, and obtaining the position coordinates of the left camera and the right camera as follows:
the field angle of the two cameras is 2 alpha, and the included angle between the two cameras and the z-axis is phi, so that the effective field of view satisfying the detection area q multiplied by q can be obtained.
Secondly, calibrating the binocular stereo vision intersection measuring system to obtain internal parameters (focal length f) of the left and right cameras and a translation matrix T between the left and right cameras as external parameters in the binocular stereo vision intersection measuring systemabAnd a rotation matrix Rab；
In the formula, TabIs a translation matrix between the left camera a and the right camera b, RabIs a rotation matrix between the left camera a and the right camera b.
The calibration method of the camera adopts the conventional calibration method in the field, and the calibration is as follows:
(1) and collecting a calibration plate image.
Fixing the positions of the two cameras, placing the chessboard pattern calibration plate at the position of the missile target, enabling the chessboard pattern to occupy more camera field ranges as much as possible, sequentially changing the direction of the calibration plate, and obtaining five different images;
(2) calibrating the camera by a Zhang Zhengyou calibration method (Matlab with function), and obtaining the internal and external parameters of the camera, wherein the steps are as follows:
i) and importing the image. The Stereo Camera calibration kit attached to Matlab was opened, and the images captured by the left and right cameras in (1) were imported.
ii) fill in the actual value of the side length of each grid of the checkerboard, the checkerboard grid used in this example has a side length of 25 mm.
iii) calculating internal and external parameters. The image of the checkerboard can be previewed and successfully detected, then calibration is started, calibration results are obtained by clicking calibration, and the internal and external parameters are obtained.
And thirdly, shooting the missile in the target landing process by using a binocular stereoscopic vision convergence measuring system to obtain an image of the missile in the target landing process.
And fourthly, acquiring world coordinates of the bullet target.
World coordinates of the missile target include the missile nose pheadCoordinate (x)head,yhead,zhead) And tail ptailThe coordinate is (x)tail,ytail,ztail)。
Calculating the warhead p by triangulation method based on the internal and external parameters of the left and right cameras obtained by calibration in the second stepheadCoordinate (x)head,yhead,zhead) And tail ptailCoordinate (x)tail,ytail,ztail)。
In the formula (f)a、fbThe focal lengths of the left camera and the right camera are both f, (x)head,yhead,zhead) As a leader coordinate phead，(xtail,ytail,ztail) As the missile tail coordinate ptail，TabIs a translation matrix between the left and right cameras, RabIs a rotation matrix between the left and right cameras, (X)tail_a,Ytail_a)、(Xtail_b,Ytail_b) In the acquired image of the missile when the missile is in the target, the coordinates of the tail point of the missile under the image plane coordinate systems of the left camera and the right camera are image coordinates; (X)head_a,Yhead_a)、(Xhead_b,Yhead_b) The coordinates of the head point of the missile in the acquired image of the missile when the missile is in the target are under the coordinate systems of the image planes of the left camera and the right camera.
Fifthly, correcting the positioning error;
the length L from the missile warhead to the missile tail of the missile target is known, and L is used for the missile warhead coordinate pheadAnd missile tail coordinate ptailCorrecting to obtain corrected bullet guide head coordinate p'headAnd missile tail coordinate p'tail。
The warhead coordinate p obtained by the previous stepheadIs P (x)head,yhead,zhead) Missile tail coordinate ptailIs P (x)tail,ytail,ztail). And correcting the coordinate values of the warhead and the tail by using L.
(x'head-x'tail)2+(y'head-y′tail)2+(z'head-z′tail)2＝L2
Wherein (x'head,y'head,z'head) Missile head p 'for correcting positioning error'headWorld coordinate value of (x'tail,y'tail,z'tail) For correcting tail p of missile after positioning errortailThe world coordinate value of (2).
Due to the imaging characteristics of the camera, the coordinate precision of the image plane parallel to the camera is high, and the coordinate precision of the image plane perpendicular to the camera is low, so that the precision of x and y values of world coordinates of the tail of the warhead is high, and the precision of z value is poor. X, y coordinates before and after correction are unchanged, i.e. x'head＝xhead,y′head＝yhead,x′tail＝xtail,y′tail＝ytail. Because the tail of the missile is closer to the camera, the z coordinate of the tail of the missile is more accurate than the z coordinate of the head of the missile, and the z coordinate of the tail of the missile is assumedtailValue is correct, i.e. z'tail＝ztailAnd then corrected missile head z'headThe coordinate values are obtained by solving the following equation:
and sixthly, calculating the posture of the missile target.
Using corrected leader tail p'head、p'tailThe world coordinates can be used for calculating the attitude of the missile, and the calculation process is as follows:
two points are known: p'head＝(x'head,y'head,z'head)，p'tail＝(x'tail,y'tail,z'tail)
Δx＝x′head-x′tail
Δy＝y′head-y′tail
Δz＝z'head-z'tail
In the formula, alpha is an included angle between the guided missile and an X axis, beta is an included angle between the guided missile and a Y axis, and gamma is an included angle between the guided missile and a Z axis.
Then alpha, beta and gamma can be calculated by the above formula, namely the posture of the missile.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. A method for measuring the high-precision attitude of a bullet target under length constraint is characterized by comprising the following steps:
firstly, building a binocular stereoscopic vision intersection measuring system;
the binocular stereoscopic vision convergence measuring system comprises two CCD cameras with the same focal length; the two CCD cameras are arranged on the two sides of the target in a bilateral symmetry mode, the missile target enters a two-phase machine view field area from a position between the left camera and the right camera, and the left camera and the right camera are used for recording images of the process from the time that the missile enters the two-phase machine view field area to the time that the missile target reaches the target; the method for determining the position coordinates of the left camera and the right camera comprises the following steps:
taking the middle point of a missile body when a missile target is perpendicular to the target as an original point O', taking the direction perpendicular to the surface of the target as a z-axis, and taking a straight line parallel to the surface of the target and perpendicular to the z-axis as an x-axis;
the detection area is a square area with the origin O' as the center and the side length of q multiplied by q, and the left camera and the right camera are arranged on the left side and the right side of the detection area; using the circumscribed circle of the detection area qxq as the effective view field area of the left and right cameras, the circle center of the effective view field area is O', and the radius is
The field angles of the two cameras are both 2 alpha, and the included angles between the two cameras and the z axis are both
The position coordinates of the left and right cameras are:
secondly, calibrating the binocular stereoscopic vision intersection measuring system to obtain the binocular stereoscopic vision intersectionMeasuring internal and external parameters of a left camera and a right camera in the system; wherein the internal parameters of the left and right cameras comprise the focal lengths f of the left and right camerasa、fbThe external parameters of the left and right cameras include a translation matrix T between the left and right camerasabAnd a rotation matrix RabTranslation matrix T between left and right camerasabAnd a rotation matrix RabThe following were used:
thirdly, shooting the missile target in the target hitting process by using a binocular stereoscopic vision convergence measuring system to obtain an image of the missile target when hitting;
fourthly, acquiring world coordinates of the missile target;
world coordinates of the missile target include the missile nose pheadCoordinate (x)head,yhead,zhead) And tail ptailThe coordinate is (x)tail,ytail,ztail) (ii) a Calculating the warhead p by triangulation method based on the internal and external parameters of the left and right cameras obtained by calibration in the second stepheadCoordinate (x)head,yhead,zhead) And tail ptailCoordinate (x)tail,ytail,ztail)；
Fifthly, correcting the positioning error;
the length L from the missile warhead to the missile tail of the missile target is known, and L is used for the missile warhead coordinate pheadAnd missile tail coordinate ptailCorrecting to obtain corrected bullet guide head coordinate p'headAnd missile tail coordinate p'tailThe following are:
(x'head-x'tail)2+(y'head-y'tail)2+(z'head-z'tail)2＝L2
wherein (x'head,y'head,z'head) Missile head p 'for correcting positioning error'headWorld coordinate value of (x'tail,y'tail,z'tail) To correct for positioning error rear missile tail p'tailThe world coordinate value of (1);
wherein, x'head＝xhead,y′head＝yhead,x′tail＝xtail,y′tail＝ytail，z′tail＝ztailCorrected missile head z'headThe coordinate values are obtained by solving the following equation:
sixthly, according to the corrected bullet guide head coordinate p'headAnd missile tail coordinate p'tailCalculating the attitude of the missile target;
Δx＝x′head-x′tail
Δy＝y′head-y′tail
Δz＝z′head-z′tail
in the formula, alpha is a clip angle between a missile target and an x axis, beta is a clip angle between the missile target and a y axis, and gamma is a clip angle between the missile target and a z axis;
then alpha, beta and gamma are obtained by the calculation of the formula, namely the posture of the missile target.
2. The method for measuring the high-precision attitude of the missile target under the length constraint according to claim 1, wherein in the first step, q is determined according to the length L from the missile target's missile nose to the missile tail, and q is more than twice the length of the missile.
3. The method for measuring the high-precision attitude of the target under the length constraint according to claim 1, wherein in the second step, the calibration method comprises the following steps: firstly, collecting a calibration plate image, guiding the collected calibration plate image into Matlab, and then obtaining the internal and external parameters of the left and right cameras by adopting a Zhangyou calibration method in Matlab.
4. The method for measuring the high-precision attitude of a target under length constraint according to claim 1, wherein in the fourth step, the projectile head pheadCoordinate (x)head,yhead,zhead) And tail ptailCoordinate (x)tail,ytail,ztail) The following were used:
in the formula (f)a、fbThe focal lengths of the left camera and the right camera are both f, (x)head,yhead,zhead) As a leader coordinate phead，(xtail,ytail,ztail) As the missile tail coordinate ptail，TabIs a translation matrix between the left and right cameras, RabIs a rotation matrix between the left and right cameras,(Xtail_a,Ytail_a)、(Xtail_b,Ytail_b) Coordinates of missile tail points under a left camera image plane coordinate system and a right camera image plane coordinate system are taken as image coordinates; (X)head_a,Yhead_a)、(Xhead_b,Yhead_b) The coordinates of the head point of the missile are in the coordinate systems of the left camera image plane and the right camera image plane.
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