CN111044017A - External orientation element calibration and complete machine assembly method for large-field-of-view aerial scanner - Google Patents
External orientation element calibration and complete machine assembly method for large-field-of-view aerial scanner Download PDFInfo
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- CN111044017A CN111044017A CN201911164931.4A CN201911164931A CN111044017A CN 111044017 A CN111044017 A CN 111044017A CN 201911164931 A CN201911164931 A CN 201911164931A CN 111044017 A CN111044017 A CN 111044017A
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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
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
- G01C1/04—Theodolites combined with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention relates to an exterior orientation element calibration and complete machine assembly method of an aviation large-visual-field scanner, which comprises the following steps: calibrating the installation error of the reference cube mirror and the scanner; carrying out installation and posture calibration of a camera; adjusting the installation posture of the camera according to the direction and the numerical value of the deviation amount; adjusting the positions of the two photoelectric theodolites, and measuring the measured surface of the cubic mirror of the measured camera; calibrating the installation error of the POS cubic mirror and the POS; adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS; calibrating the POS cubic mirror and the reference cubic mirror; adjusting the installation posture of the POS installation plate relative to the base according to the installation error direction and magnitude of the POS cubic mirror and the POS; the positions of the two photoelectric theodolites are adjusted, and the first surface and the second surface which are vertical to each other are measured by the cubic mirror of the measured camera. The invention does not need the coordinate system rotation calculation process in the calibration process, is beneficial to guiding assembly and improving the assembly efficiency.
Description
Technical Field
The invention relates to the technical field of aerial remote sensing imaging, and particularly belongs to an external orientation element calibration and complete machine assembly method of an aerial large-field-of-view scanner.
Background
A certain aviation scanner performs large-range swinging and scanning movement on the ground to drive an internal camera load to perform large-angle scanning imaging. The position and posture measuring system (POS) is arranged on the upper part of the scanner base and does not directly sense the motion of the camera, so that coordinate transformation and synthesis are carried out on POS data and scanner motion posture data, and the exterior orientation element data of the camera is obtained through calculation. Due to the influence of the installation error of the POS, the POS data and the scanner motion attitude data are directly synthesized and have errors with the real external orientation element data, calibration and compensation are needed, and the influence of the installation error is controlled within an acceptable range. The calibration accuracy of the installation error is allowed to be
D phi is an installation error calibration accuracy allowed value, △ s is a positioning error allowed value, △ P is a POS position measurement error, D is a flying height, △ c is a POS attitude measurement error, △ theta is a scanner angle measurement error, and N is the number of influencing factor entities influencing positioning accuracy.
Two common geometric calibration techniques for aerial cameras are provided: one method is a balance method, a certain number of targets are distributed in a calibration field as control points, the accurate coordinates of the control points are obtained through ground measurement, and then the measurement data of a camera is corrected; one is to fill the camera field of view with a target plate and correct for camera distortion (internal orientation elements) in the laboratory.
The above contents only relate to the calibration contents of the push-broom type aerial camera, can meet the external orientation element calibration requirements of the aerial camera for directly measuring the external orientation element of the camera by the POS, cannot meet the external orientation element calibration requirements of a large-view-field scanner with the POS installed on a scanner base, and cannot be used for complete machine assembly and system integration of the precise aerial camera.
Disclosure of Invention
The invention aims to provide an external orientation element data calibration and complete machine assembly method of an aviation large-visual-field scanner, which realizes the mounting error control of the external orientation element data of the scanner through two means of error calibration and mounting adjustment.
The invention relates to an external orientation element calibration and complete machine assembly method for an aviation large-field-of-view scanner, which comprises the following steps: calibrating the installation error of the reference cube mirror and the scanner; carrying out installation and posture calibration of a camera; according to the deviation measureAdjusting the installation posture of the camera according to the direction and the numerical value; adjusting the positions of two photoelectric theodolites T1 and T2, and measuring the measured surface of the cubic mirror of the measured camera; calibrating the installation error of the POS cubic mirror and the POS; adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS; calibrating the POS cubic mirror and the reference cubic mirror; adjusting the installation posture of the POS installation plate relative to the base according to the installation error direction and magnitude of the POS cubic mirror and the POS; adjusting the positions of two photoelectric theodolites, measuring the first surface and the second surface which are vertical to each other by the cubic mirror of the measured camera, and performing auto-collimation measurement on the first cubic mirror by the photoelectric theodolite T1 to obtain the pitch angle of the photoelectric theodolite T1 as
The photoelectric theodolite T2 carries out auto-collimation measurement on the second cubic mirror to obtain the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of the electro-optic theodolite T1
And the pitch angle of the electro-optic theodolite T2 is
The second surface pitch angle deviation between the cubic mirrors
Is composed of
According to one embodiment of the external orientation element calibration and complete machine assembly method of the large-field-of-view aerial scanner, the rotation axis of the scanner is calibrated to the reference cubic mirror through the scanner shaft end plane mirror and the two theodolites.
Of an airborne large field-of-view scanner according to the inventionAn embodiment of a method for calibrating exterior orientation elements and assembling a complete machine, wherein the installation and posture calibration of a camera comprises the following steps: installing a camera into the scanner, respectively carrying out collimation measurement on the same side surfaces of a reference cubic mirror and a camera cubic mirror by adopting two theodolites, carrying out auto-collimation measurement on a cubic mirror by using a photoelectric theodolite T1, and obtaining the azimuth angle and the pitch angle of the photoelectric theodolite T1 as
The photoelectric theodolite T2 performs auto-collimation measurement on the second cubic mirror to obtain the azimuth angle and the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement, and the azimuth angle and the pitch angle of the obtained station theodolite T1 are respectively
Azimuth and pitch angles of T2
Surface azimuth deviation between the cubic mirrors
Comprises the following steps:
deviation of pitch angle
Comprises the following steps:
obtaining azimuth and pitch deviations of a reference cube and a camera cube
According to an embodiment of the external orientation element calibration and complete machine assembly method of the large field-of-view aerial scanner, the adjusting of the installation posture of the camera according to the deviation direction and the numerical value comprises the following steps: adjusting the installation attitude of the camera according to the direction and the numerical value of the deviation amount, simultaneously carrying out the installation and the attitude calibration of the camera, and adjusting the attitude of the camera until the attitude of the camera is adjusted
And d phi is an allowable value of the calibration accuracy of the installation error.
According to an embodiment of the external orientation element calibration and complete machine assembly method of the aviation large visual field scanner, the positions of the two photoelectric theodolites are adjusted, the measured first surface and the perpendicular second surface of the cubic mirror are measured, the photoelectric theodolite T1 performs auto-collimation measurement on the first cubic mirror, and the pitch angle of the photoelectric theodolite T1 is obtained
The photoelectric theodolite T2 carries out auto-collimation measurement on the second cubic mirror to obtain the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of the electro-optic theodolite T1
And the pitch angle of the electro-optic theodolite T2 is
The second surface pitch angle deviation between the cubic mirrors
Is composed of
Adjusting the camera pose until the pitch offset between the two cube mirrors
According to one embodiment of the external orientation element calibration and complete machine assembly method of the large visual field aerial scanner, the POS cube mirror and the POS are calibrated,
POS and POS cubic mirror are initially installed on the POS mounting panel, adopt gyrotheodolite T3 to carry out collimation measurement to cube mirror X direction, read northbound data N1, adopt electro-theodolite T1 to carry out collimation measurement to cube mirror Y direction, read horizontal data M1, read POS northbound data N2 to and roll data M2, then the installation error of POS cubic mirror and POS is:
△M＝M2-M1，△N＝N2-N1(6)。
according to an embodiment of the external orientation element calibration and complete machine assembly method of the large field-of-view aerial scanner, the adjusting of the installation posture of the POS cubic mirror comprises the following steps:
and adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS, and repeatedly adjusting the installation posture of the POS cubic mirror to ensure that △ M and △ N are not more than d phi.
According to an embodiment of the external orientation element calibration and complete machine assembly method of the large field-of-view aerial scanner, the calibration of the POS cubic mirror and the reference cubic mirror comprises the following steps:
two theodolites are adopted to respectively carry out collimation measurement on the first surfaces on the same sides of the reference cubic mirror and the POS cubic mirror, and the photoelectric theodolite T1 carries out auto-collimation measurement on the first cubic mirror to obtain the photoelectric theodoliteAzimuth and pitch angles of T1
The photoelectric theodolite T2 performs auto-collimation measurement on the second cubic mirror to obtain the azimuth angle and the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the azimuth angle and the pitch angle of the electro-optic theodolite T1
The azimuth angle and the pitch angle of the photoelectric theodolite T2 are respectively
The azimuthal deviation of the surface 1 between the cubic mirrors
Comprises the following steps:
deviation of pitch angle
Comprises the following steps:
obtaining the azimuth and pitch deviations of the reference cube and the POS cube
According to an embodiment of the external orientation element calibration and complete machine assembly method of the large-field-of-view aerial scanner, the installation posture of the POS installation plate relative to the base is adjusted according to the installation error direction and magnitude of the POS cubic mirror and the POSAnd repeatedly calibrating the POS cubic mirror and the reference cubic mirror to ensure that
Are not greater than d phi.
The invention provides a method for calibrating exterior orientation elements of an aerial scanner by using cubic mirrors, which is characterized by using three cubic mirrors as a reference. Firstly, calibrating a rotation axis of a scanner to a reference cubic mirror, and adjusting the installation error of the reference cubic mirror; and secondly, installing a camera into the scanner, and calibrating the zero position of the scanner. And then, calibrating the POS coordinate system to the POS cubic mirror, and adjusting the installation error of the POS cubic mirror. And finally, respectively carrying out collimation measurement on the POS cubic mirror and the reference cubic mirror through the two theodolites to obtain the installation error data of the POS and the scanner, and adjusting the installation posture of the POS.
Drawings
FIG. 1 is a schematic diagram of the product equipment configuration and cube mirror mounting;
FIG. 2 is a schematic diagram of calibration of a cube mirror by two electro-optic theodolites;
FIG. 3 is a schematic diagram of the calibration of the installation tolerances of the POS cube and POS.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
FIG. 1 is a schematic view showing the structural shape of a product device and the installation of a cubic mirror, as shown in FIG. 1, a scanner is a two-axis motion mechanism with a rolling and pitching structure, a POS is installed on a scanner base without directly sensing the motion of a camera, a reference cubic mirror is installed on the scanner base, and the POS cubic mirror are installed on a POS installation plate. Fig. 2 is a schematic diagram of calibration of a cube mirror by two electro-optic theodolites, wherein:
azimuth angle and pitch angle for the electro-optic theodolite T1 to perform auto-collimation measurement on the cube mirror 1;
azimuth angle and pitch angle for the electro-optic theodolite T2 to perform auto-collimation measurement on the cube mirror 2;
aiming at the T2 azimuth angle and the pitch angle of the photoelectric theodolite T1,
aiming the photoelectric theodolite T1 azimuth angle and pitch angle for the photoelectric theodolite T2. FIG. 3 is a schematic diagram showing the calibration of the mounting error of the POS cube mirror and the POS, wherein the X-axis, the Y-axis and the Z-axis of the cube mirror are parallel to the X-axis, the Y-axis and the Z-axis of the POS mirror and have the same direction. The POS X-axis outputs an included angle relative to the north direction. The gyrotheodolite T3 performs collimation measurement on the X direction of the cube mirror, and the theodolite T1 performs collimation measurement on the Y direction of the cube mirror.
The exterior orientation element data of the aerial scanner comprises three factors of POS data, scanner motion angle data and installation error between the POS and the scanner. The POS data and the scanner motion angle data are obtained through real-time measurement in work, and the installation error between the POS and the scanner needs to be obtained through calibration. After the installation error is calibrated, installation adjustment or error compensation can be carried out according to a calibration result.
The invention relates to an external orientation element calibration and complete machine assembly method of an aviation large-field-of-view scanner, which comprises the following steps:
(1) calibration of mounting error of reference cube mirror and scanner
The rotation axis of the scanner is calibrated to the reference cubic mirror through the scanner shaft end plane mirror and the two theodolites.
(2) Camera mounting and attitude calibration
Installing a camera into a scanner (at the moment, the camera cube is calibrated and adjusted, and two adjacent vertical planes of the camera cube are parallel to a camera visual axis and a detector focal plane respectively), adopting two theodolites to perform collimation measurement on the same side surface 1 of the reference cube and the camera cube respectively, and performing auto-collimation measurement on the cube 1 by using a photoelectric theodolite T1 shown in figure 2 to obtain an azimuth angle and a pitch angle of T1 which are respectively
The electro-optic theodolite T2 performs auto-collimation measurement on the cube mirror 2 to obtain an azimuth angle and a pitch angle of T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the azimuth angle and the pitch angle of T1 respectively
Azimuth angle and pitch angle of T2
The azimuthal deviation of the surface 1 between the cubic mirrors
Is composed of
Deviation of pitch angle
Is composed of
Obtaining azimuth and pitch deviations of a reference cube and a camera cube
(3) Camera pose adjustment step one
Adjusting the installation posture of the camera according to the direction and the numerical value of the deviation amount, and simultaneously repeating the step (2) until the installation posture of the camera is adjusted
And d phi is an allowable value of the calibration accuracy of the installation error, and is shown as a formula (1).
(4) Second step of adjusting the camera pose
Adjusting the positions of two photoelectric theodolites, measuring the surface 2 vertical to the measured surface 1 of the cubic mirror measured in the steps 2 and 3, and performing auto-collimation measurement on the cubic mirror 1 by the photoelectric theodolite T1 to obtain a pitch angle of T1
The electro-optic theodolite T2 performs auto-collimation measurement on the cube mirror 2 to obtain the pitch angle of T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of T1
Pitch angle of T2
The pitch angle deviation of the inter-cubic-mirror surface 2
Is composed of
Adjusting the camera pose until the pitch offset between the two cube mirrors
(5) POS cube mirror and POS mounting error calibration
POS and POS cube initial installationOn the POS mounting plate, as shown in fig. 3, a gyrotheodolite T3 is used for performing collimation measurement on the X direction of the cube mirror, north orientation data N1 is read, a photoelectric theodolite T1 is used for performing collimation measurement on the Y direction of the cube mirror, horizontal data M1 is read, POS north orientation data N2 is read, and rolling data M2 is read, so that the mounting error of the POS cube mirror and the POS is △ M-M2-M1，△N＝N2-N1(6)
(6) POS cube mounting attitude adjustment
And (4) adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS, and repeating the step (6) to adjust the installation posture of the POS cubic mirror to ensure that △ M and △ N are not larger than d phi.
(7) Calibration of POS cube and reference cube
Two theodolites are used to measure the alignment of the same side surfaces 1 of the reference cube and the POS cube, respectively, as shown in fig. 2. The electro-optic theodolite T1 performs auto-collimation measurement on the cube mirror 1 to obtain an azimuth angle and a pitch angle of T1
The electro-optic theodolite T2 performs auto-collimation measurement on the cube mirror 2 to obtain an azimuth angle and a pitch angle of T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the azimuth angle and the pitch angle of T1 respectively
Azimuth angle and pitch angle of T2
Surface between cubic mirrors1 deviation in azimuth
Is composed of
Deviation of pitch angle
Is composed of
Obtaining the azimuth and pitch deviations of the reference cube and the POS cube
(8) POS installation attitude adjustment step one
Adjusting the installation posture of the POS installation plate relative to the base according to the installation error direction and magnitude of the POS cubic mirror and the POS, and repeating the step (7) to ensure that
Are not greater than d phi.
(9) POS mounting posture adjusting step two
Adjusting the positions of two photoelectric theodolites, measuring the surface 2 vertical to the measured surface 1 of the cubic mirror measured in the steps 7 and 8, and performing auto-collimation measurement on the cubic mirror 1 by the photoelectric theodolite T1 to obtain a pitch angle of T1 as
The electro-optic theodolite T2 performs auto-collimation measurement on the cube mirror 2 to obtain the pitch angle of T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of T1
Pitch angle of T2
The pitch angle deviation of the inter-cubic-mirror surface 2
Is composed of
Compared with the prior art, the invention has the beneficial effects that:
1) the method has the advantages that the adjustment link of the installation posture of the cubic mirror is introduced in the calibration process, and the installation error is controlled to be near zero, so that the error of the direct addition and subtraction method for measuring the posture of the cubic mirror is reduced, the rotation calculation process of a coordinate system in the calibration process is not needed, the assembly is guided, and the assembly efficiency is improved.
2) Compared with the traditional three-dimensional measurement mode of building a station by 4 theodolites, the method for measuring the attitude among the cubic mirrors saves the number of the theodolites, simplifies the calculation processing process, converts the three-dimensional measurement into two one-dimensional measurement and adjustment and shortens the measurement time.
3) And the mounting postures of the POS and the camera are adjusted according to the calibration result, so that the precision of system integration and mounting is improved, and the geometric precision of the camera is improved.
4) The assembly precision is controlled within the tolerance of the calibration accuracy of the installation error, the product state is changed, the measurement and analysis are easy, and the fault is convenient to position quickly.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An exterior orientation element calibration and complete machine assembly method for an aviation large-field-of-view scanner is characterized by comprising the following steps:
calibrating the installation error of the reference cube mirror and the scanner;
carrying out installation and posture calibration of a camera;
adjusting the installation posture of the camera according to the direction and the numerical value of the deviation amount;
adjusting the positions of two photoelectric theodolites T1 and T2, and measuring the measured surface of the cubic mirror of the measured camera;
calibrating the installation error of the POS cubic mirror and the POS;
adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS;
calibrating the POS cubic mirror and the reference cubic mirror;
and adjusting the installation posture of the POS installation plate relative to the base according to the installation error direction and magnitude of the POS cubic mirror and the POS.
2. The method for calibrating exterior orientation elements and assembling complete machine of an aviation large-field-of-view scanner as claimed in claim 1, wherein the rotation axis of the scanner is calibrated to the reference cube through the scanner axial end plane mirror and two theodolites.
3. The method for calibrating exterior orientation elements and assembling the complete machine of the large field-of-view aeronautical scanner according to claim 1, wherein the mounting and attitude calibration of the camera comprises:
installing a camera into the scanner, respectively carrying out collimation measurement on the same side surfaces of a reference cubic mirror and a camera cubic mirror by adopting two theodolites, carrying out auto-collimation measurement on a cubic mirror by using a photoelectric theodolite T1, and obtaining the azimuth angle and the pitch angle of the photoelectric theodolite T1 as
And
photoelectric theodolite T2 carries out self-collimation measurement on second cubic mirrorMeasuring to obtain the azimuth angle and the pitch angle of the photoelectric theodolite T2 respectively
And
the electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement, and the azimuth angle and the pitch angle of the obtained station theodolite T1 are respectively
And
azimuth and pitch angles of T2
And
surface azimuth deviation between the cubic mirrors
Comprises the following steps:
deviation of pitch angle
Comprises the following steps:
obtaining azimuth and pitch deviations of a reference cube and a camera cube
And
4. the method for calibrating exterior orientation elements and assembling the complete machine of the large-field-of-view airborne scanner as recited in claim 1, wherein adjusting the installation attitude of the camera according to the direction and the numerical value of the deviation comprises:
adjusting the installation attitude of the camera according to the direction and the numerical value of the deviation amount, simultaneously carrying out the installation and the attitude calibration of the camera, and adjusting the attitude of the camera until the attitude of the camera is adjusted
And d phi is an allowable value of the calibration accuracy of the installation error.
5. The method for calibrating exterior orientation elements and assembling complete machine of an aviation large-field-of-view scanner as claimed in claim 1, wherein the positions of two electro-optic theodolites are adjusted, the measured first surface and the perpendicular second surface of the cubic mirror are measured, the electro-optic theodolite T1 performs auto-collimation measurement on the first cubic mirror, and the pitch angle of the electro-optic theodolite T1 is obtained
The photoelectric theodolite T2 carries out auto-collimation measurement on the second cubic mirror to obtain the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of the electro-optic theodolite T1
And the pitch angle of the electro-optic theodolite T2 is
The second surface pitch angle deviation between the cubic mirrors
Is composed of
Adjusting the camera pose until the pitch offset between the two cube mirrors
6. The method for calibrating exterior orientation elements and assembling complete machine of an aviation large-field-of-view scanner as claimed in claim 1, wherein the calibration of the installation errors of the POS cube mirror and the POS is performed,
POS and POS cubic mirror are initially installed on the POS mounting panel, adopt gyrotheodolite T3 to carry out collimation measurement to cube mirror X direction, read northbound data N1, adopt electro-theodolite T1 to carry out collimation measurement to cube mirror Y direction, read horizontal data M1, read POS northbound data N2 to and roll data M2, then the installation error of POS cubic mirror and POS is:
△M＝M2-M1，△N＝N2-N1(6)。
7. the method for calibrating exterior orientation elements and assembling complete machine of an aerial large-field-of-view scanner as claimed in claim 6, wherein the adjusting of the installation attitude of the POS cube comprises:
and adjusting the installation posture of the POS cubic mirror according to the installation error direction and magnitude of the POS cubic mirror and the POS, and repeatedly adjusting the installation posture of the POS cubic mirror to ensure that △ M and △ N are not more than d phi.
8. The method for calibrating exterior orientation elements and assembling complete machine of an aerial large field-of-view scanner as claimed in claim 1, wherein the calibration of the POS cube and the reference cube comprises:
two theodolites are adopted to respectively carry out collimation measurement on the first surfaces on the same sides of the reference cubic mirror and the POS cubic mirror, the photoelectric theodolite T1 carries out auto-collimation measurement on the first cubic mirror, and the azimuth angle and the pitch angle of the photoelectric theodolite T1 are respectively obtained
And
the photoelectric theodolite T2 performs auto-collimation measurement on the second cubic mirror to obtain the azimuth angle and the pitch angle of the photoelectric theodolite T2
And
the electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the azimuth angle and the pitch angle of the electro-optic theodolite T1
And
the azimuth angle and the pitch angle of the photoelectric theodolite T2 are respectively
And
the azimuthal deviation of the surface 1 between the cubic mirrors
Comprises the following steps:
deviation of pitch angle
Comprises the following steps:
obtaining the azimuth and pitch deviations of the reference cube and the POS cube
9. The method for calibrating exterior orientation elements and assembling complete machine of an aviation large-field-of-view scanner as recited in claim 8,
adjusting the positions of two photoelectric theodolites, measuring the first surface and the second surface which are vertical to each other by the cubic mirror of the measured camera, and performing auto-collimation measurement on the first cubic mirror by the photoelectric theodolite T1 to obtain the pitch angle of the photoelectric theodolite T1 as
The photoelectric theodolite T2 carries out auto-collimation measurement on the second cubic mirror to obtain the pitch angle of the photoelectric theodolite T2
The electro-optic theodolite T1 and the electro-optic theodolite T2 carry out mutual aiming measurement to obtain the pitch angle of the electro-optic theodolite T1
And the pitch angle of the electro-optic theodolite T2Is composed of
The second surface pitch angle deviation between the cubic mirrors
Is composed of
10. The method for calibrating exterior orientation elements and assembling complete machine of an aerial large-field-of-view scanner as claimed in claim 9, wherein the mounting attitude of the POS mounting plate with respect to the base is adjusted according to the direction and magnitude of the mounting error between the POS cube and the POS, and the calibration of the POS cube and the reference cube is repeated to make the POS cube and the reference cube calibrated
And
are not greater than d phi.
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| CN111707451A (en) * | 2020-05-27 | 2020-09-25 | 中国科学院西安光学精密机械研究所 | Device and method for calibrating orientation elements and distortion in interference type imaging spectrometer |
| CN111964693A (en) * | 2020-07-21 | 2020-11-20 | 中国科学院长春光学精密机械与物理研究所 | High-precision calibration method for internal and external orientation elements of surveying and mapping camera |
| CN112197790A (en) * | 2020-09-10 | 2021-01-08 | 天津津航技术物理研究所 | Geometric precision calibration method for airborne high-precision geographical indication photoelectric turret |
| CN112747711A (en) * | 2020-12-30 | 2021-05-04 | 中国科学院长春光学精密机械与物理研究所 | Calibration method for relative pose of cube mirror |
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| CN114353756A (en) * | 2021-11-30 | 2022-04-15 | 中国科学院西安光学精密机械研究所 | Method for calibrating installation angle of area array surveying and mapping camera POS system |
| CN114353756B (en) * | 2021-11-30 | 2023-01-06 | 中国科学院西安光学精密机械研究所 | Method for calibrating installation angle of area array surveying and mapping camera POS system |
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