CN111238441B - Angular deviation measuring method, angular deviation measuring device, and storage medium - Google Patents
Angular deviation measuring method, angular deviation measuring device, and storage medium Download PDFInfo
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- CN111238441B CN111238441B CN202010093788.0A CN202010093788A CN111238441B CN 111238441 B CN111238441 B CN 111238441B CN 202010093788 A CN202010093788 A CN 202010093788A CN 111238441 B CN111238441 B CN 111238441B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
The application discloses an angular deviation measuring method for measuring angular deviation information of a target object on a carrier relative to the carrier, comprising the following steps: a first measurement device (100), a second measurement device (200), and a computing device (300) communicatively coupled to the first measurement device (100) and the second measurement device (200). Wherein the first measurement device (100) is configured to measure vehicle attitude measurement information relating to an attitude of the vehicle; a second measurement device (200) for measuring target object attitude measurement information relating to an attitude of the target object; a computing device (300) is configured to determine first angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information.
Description
Technical Field
The present application relates to the field of measurement technologies for detecting a vehicle, and more particularly, to an angular deviation measurement method for measuring angular deviation information of a target object on a vehicle relative to the vehicle.
Background
Currently, existing vehicles (e.g., aircraft) require commissioning prior to use or periodic inspection during use. Whether the attitude of a specified target object set on a vehicle with respect to the attitude of the vehicle meets a specification is detected in the process of debugging and checking. For example, whether the axis of the target object is parallel to the vehicle crankshaft axis, or whether the angle between the axis of the specified target object and the vehicle crankshaft axis conforms to a predetermined angle is detected. For example, whether the axis of the engine shaft provided on the wing of the vehicle is parallel to the crankshaft of the vehicle or at an angle corresponding to a predetermined angle.
In this case, it is necessary to measure information on the angular deviation of the axis of the target object with respect to the axis of the machine shaft of the vehicle (i.e. the angle between the axis of the target object and the axis of the machine shaft). Currently, the measurement work usually requires manual measurement. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
Aiming at the problems that in the prior art, the work of detecting the angle deviation information of a target object on a carrier relative to the carrier needs to be completed by multiple persons in a cooperation mode, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable, an effective solution scheme is not available at present.
Disclosure of Invention
The disclosure provides an angle deviation measuring method, which at least solves the problems that in the prior art, the work of detecting the angle deviation information of a target object on a carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the work efficiency is low, the use is inconvenient, and the method is not suitable for field work.
According to an aspect of the present application, there is provided an angular deviation measurement method for measuring angular deviation information of a target object on a vehicle with respect to a second measurement apparatus, comprising: acquiring vehicle attitude measurement information related to an attitude of the vehicle from the first measurement device; acquiring target object attitude measurement information related to the attitude of the target object from the second measurement device; and determining first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
According to a second aspect of embodiments of the present application, there is provided a storage medium comprising a stored program, wherein the method described above is performed by a processor when the program is run.
According to a third aspect of embodiments of the present application, there is provided an angular deviation measurement apparatus for measuring angular deviation information of a target object on a vehicle with respect to the vehicle, including: a processor; and a memory coupled to the processor for providing instructions to the processor for processing the following processing steps: acquiring vehicle attitude measurement information related to an attitude of the vehicle from the first measurement device; acquiring target object attitude measurement information related to the attitude of the target object from the second measurement device; and determining first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
According to the aspect of the embodiment, the first measurement device in the angular deviation measurement apparatus is used to measure the vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Thus, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measurement method. Therefore, the whole process can be realized only by respectively operating the first measuring equipment and the second measuring equipment by one person. Further, the problems that in the prior art, the work of detecting the angle deviation information of the target object on the carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable are solved.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, as illustrated in the accompanying drawings.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a schematic view of an angular deviation measuring system that implements an angular deviation measuring method according to embodiment 1 of the present application;
FIG. 2 is a schematic flow chart of a method for measuring an angular deviation according to embodiment 1 of the present application;
FIG. 3 is a schematic diagram for calculating angular deviation information of a first axis and a second axis according to embodiment 1 of the present application;
fig. 4A is a schematic view of the attitude of a vehicle with a first measurement device according to embodiment 1 of the present application;
fig. 4B is a schematic illustration of a horizontal reference point of the carrier according to example 1 of the present application;
FIG. 4C is a schematic view of a heading point of the vehicle according to embodiment 1 of the disclosure;
FIG. 5 is a schematic view of a centering rod according to embodiment 1 of the present application;
fig. 6 is a schematic diagram of measuring a second axis of a target object using an optical collimating device of a second measuring apparatus according to embodiment 1 of the present application;
fig. 7 is a schematic diagram of euler angles between a carrier coordinate system and a geographic coordinate system of an optical collimating apparatus according to embodiment 1 of the present application;
FIG. 8 is a schematic cross-sectional view of an optical collimating apparatus according to embodiment 1 of the present application;
fig. 9 is a schematic structural diagram of an optical system of an optical collimating apparatus according to embodiment 1 of the present application;
FIG. 10A is a schematic view of a detection image formed by co-projecting a first reticle and a second reticle onto an imaging plane according to embodiment 1 of the present application, wherein the axis of the optical alignment device according to FIG. 10A is not aligned with the second axis of the target object;
FIG. 10B is a further schematic view of a detection image formed by co-projecting the first reticle and the second reticle onto the imaging plane according to embodiment 1 of the present application, wherein the axis of the optical alignment device according to FIG. 10B is not aligned with the second axis of the target object;
fig. 11A is a schematic view of a detection image formed by jointly projecting a first reticle and a second reticle onto an imaging plane according to embodiment 1 of the present application, wherein a pitch angle of the second axis of the target object with respect to the optical collimator is not zero according to fig. 11A;
fig. 11B is a further schematic view of a detection image formed by jointly projecting the first reticle and the second reticle onto the imaging plane according to embodiment 1 of the present application, wherein an azimuth angle of the second axis of the target object with respect to the optical collimating device according to fig. 11B is not zero;
FIG. 12 is a schematic cross-sectional inside view of a second measuring device according to embodiment 1 of the present application;
fig. 13 is a schematic bottom view of a second measuring device according to embodiment 1 of the present application; and
fig. 14 is a schematic view of an angular deviation measuring apparatus according to embodiment 2 of the present application.
Detailed Description
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing the embodiments of the disclosure herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Geographic coordinate system (t system for short): origin at the centre of gravity, x, of the object to be measured t The axis points east, y t Axis north, z t The axis points along the vertical to the sky, commonly referred to as the northeast coordinate system. There are also different references to geographic coordinate systems, such as northwest, northeast, etc. The different orientation of the coordinate system only affects the different signs of the projection components of a certain vector in the coordinate system, and does not affect the explanation of the basic principle of the navigation of the tested object and the accuracy of the calculation result of the navigation parameters.
Vector coordinate system (b series for short): the carrier coordinate system is fixed on the measured object and its origin is at the gravity center, x, of the measured object b With axis pointing forwards of the longitudinal axis of the object to be measured, y b The axis pointing to the right of the object to be measured, z b Axis vertical Ox b y b The plane is upward.
Example 1
Fig. 1 is a schematic diagram of an angular deviation measurement system for implementing an angular deviation measurement method according to an embodiment of the present application, and referring to fig. 1, the angular deviation measurement system is used for measuring angular deviation information of a target object on a vehicle relative to the vehicle, and includes a first measurement device 100, a second measurement device 200, and a calculation device 300.
The first measurement apparatus 100 is for measuring vehicle attitude measurement information relating to an attitude of the vehicle; the second measurement device 200 is used for measuring target object attitude measurement information related to the attitude of the target object; the computing device 300 is communicatively connected to the first measuring device 100 and the second measuring device 200.
Thus, according to the first aspect of the present embodiment, on the basis of the angular deviation measurement system, an angular deviation measurement method is proposed for measuring angular deviation information of a target object on a vehicle with respect to the vehicle, and the method may be implemented, for example, by the computing apparatus 300 shown in fig. 1. Fig. 2 is a schematic flow chart of the angular deviation measurement method, and referring to fig. 2, the method includes:
s202: acquiring vehicle attitude measurement information related to the attitude of the vehicle from the first measurement apparatus 100;
s204: acquiring target object attitude measurement information related to an attitude of the target object from the second measurement apparatus 200; and
s206: first angle deviation information of the target object with respect to the vehicle is determined based on the vehicle attitude measurement information and the target object attitude measurement information.
Specifically, referring to fig. 1, the first measurement apparatus 100 in the angular deviation measurement system is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The vehicle attitude measurement information may then be acquired from the first measurement apparatus 100 and the target object attitude measurement information may be acquired from the second measurement apparatus 200 by the computing apparatus 300, and first angular deviation information of the target object relative to the vehicle may be determined from the vehicle attitude measurement information and the target object attitude measurement information. Which may be a computing device such as a computer processor or the like.
As described in the background, existing measurement work typically requires manual measurement by hand. However, the manual measurement mode requires multiple persons to complete the measurement, so that the method has the disadvantages of long time consumption, complex procedure (for example, multiple persons are required to complete the measurement in a cooperative manner), low working efficiency, inconvenient use, unsuitability for field work and the like.
In view of this, according to the aspect of the present embodiment, the first measurement device 100 in the angular deviation measurement system is used to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device 200 is used to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device 300 may then determine first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information. Therefore, the calibration of the target object on the carrier is completed according to the first angle deviation information measured by the angle deviation measuring system.
And the whole process can be realized by only one person operating the first measuring device 100 and the second measuring device 200 respectively. Further, the problems that in the prior art, the work of detecting the angle deviation information of the target object on the carrier relative to the carrier needs to be completed by cooperation of multiple persons, so that the time consumption is long, the procedure is complex, the working efficiency is low, the use is inconvenient, and the field work is not suitable are solved.
Alternatively, the operation of determining first angular deviation information of the second axis with respect to the first axis from the vehicle attitude measurement information and the target object attitude measurement information includes: determining vehicle attitude information of the vehicle based on the vehicle attitude measurement information; determining target object attitude information of the target object according to the target object attitude measurement information; and determining first angle deviation information of the target object relative to the vehicle according to the vehicle attitude information and the target object attitude information.
Specifically, referring to fig. 3, the computing apparatus 300 may determine first angle deviation information of the target object with respect to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. For example, the computing apparatus 300 may first determine vehicle attitude information for a first axis of the vehicle from the vehicle attitude measurement information. The computing device 300 may then determine target object pose information for the target object based on the target object pose measurement information (the pose information for the second axis of the target object is the target object pose information for the target object). Finally, the computing device 300 may determine first angular deviation information of the target object relative to the vehicle based on the vehicle pose information and the target object pose information. So as to obtain the angle deviation information of the target object on the carrier relative to the carrier, and further complete the calibration of the target object on the carrier.
Optionally, the vehicle attitude information comprises first pitch angle information and first azimuth angle information of the vehicle. The target object attitude information includes second pitch angle information and second azimuth angle information of the target object. And an operation of determining first angle deviation information from the vehicle attitude information and the target object attitude information, including: and determining azimuth angle deviation, pitch angle deviation and roll angle deviation of the target object relative to the vehicle according to the first azimuth angle information, the second azimuth angle information, the first pitch angle information and the second pitch angle information.
Specifically, referring to fig. 3, for example, a first axis of the vehicle and a second axis of the target object may be regarded as two out-of-plane spatial lines of space. Therefore, in the specific calculation process, the computing device 300 may project the three-dimensional orthogonal plane (roll plane, pitch plane, and azimuth plane) along the three-dimensional orthogonal plane in the northeast coordinate system, so as to obtain the roll difference angle, pitch difference angle, and azimuth difference angle between the two spatial non-coplanar straight lines, and the specific solid geometry knowledge is not described herein again.
Thus, in this way, it is possible to determine target object angle deviation information with respect to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information measured by the first measurement apparatus 100 and the second measurement apparatus 200. Specifically, further specific details regarding the vehicle attitude measurement information and the target object attitude measurement information will be described later. Further, although in the present embodiment, the concept of the first axis of the carrier and the second axis of the target object is introduced, this is merely to facilitate understanding of the technical solution of the present embodiment by those skilled in the art. It is within the scope of the present disclosure as long as the angular deviation between the target object and the vehicle can be determined using the information measured by the measuring device in the system described in the present embodiment.
Alternatively, the first surveying device 100 is a geodetic surveying device, and the vehicle attitude measurement information includes a first set of coordinate information including coordinate information of a plurality of reference points provided on the outer surface of the vehicle. And an operation of determining vehicle attitude information from the vehicle attitude measurement information, including: vehicle attitude information is determined from coordinate information of the plurality of reference points.
Specifically, referring to fig. 4A, in the case where a user needs to make attitude measurements of a vehicle (e.g., an aircraft), the user may determine a plurality of reference points on the outer surface of the vehicle. In which, for example, the frame structure of the carrier is rigid and does not deform easily, it is possible to choose a reference point on the rigid frame structure, thus ensuring that the position of the reference point with respect to the machine axis does not change. Referring to fig. 4B and 4C, five reference points such as a horizontal reference point a, a horizontal reference point B, a horizontal reference point C, a heading reference point a ', and a heading reference point B' may be provided on the body of the vehicle, for example. Wherein the horizontal reference point C and the horizontal reference point B are symmetrical about the crankshaft. Since these five reference points are provided on the frame structure of the vehicle, the relative positions of these five reference points do not change regardless of the change in the attitude of the vehicle, and the positional relationship with the machine shaft is also fixed. Therefore, in the case of performing attitude measurement on the vehicle, the above five reference points can be selected as the reference points of the vehicle. Further, the horizontal reference point a, the horizontal reference point B, and the horizontal reference point C among the five reference points are distributed on the same horizontal plane in a state where the carrier is flat. The heading reference point A 'and the heading reference point B' are traditional heading reference points (located on the lower surface of the carrier body). By the relationship that the five reference points are located at fixed positions of the body coordinate system, as long as the coordinates of the five reference points are known, the position of the carrier on the crankshaft and the crankshaft plane in the coordinate system can be calculated by the calculating device 300 according to the relationship between the coordinate information of the reference points and the crankshaft plane, and the attitude parameters of the body in the coordinate system can be obtained.
Further, referring to fig. 4A, the user may perform measurements related to a plurality of reference points using the geodetic apparatus and determine coordinate information of the plurality of reference points from the measurement results of the geodetic apparatus. Wherein the geodetic apparatus may be, but is not limited to, a total station, wherein the total station may be used, for example, to measure coordinate information of the target object.
Further, the computing device may determine attitude information of the vehicle from coordinate information of the plurality of reference points. The attitude information of the vehicle may include, for example, a roll angle, a pitch angle, an azimuth angle, and the like of the vehicle in space.
The computing device 300 can thus acquire the coordinate information of the reference points on the vehicle from the geodetic apparatus and then calculate the attitude information of the vehicle from the coordinate information of the reference points, achieving the effect of completing accurate measurement of the attitude of the vehicle in a short time. And the geodetic equipment is convenient to carry, and can finish the measurement work of the carrier attitude in the field. Further, the technical problems that in the state that the carrier is not used, the method for measuring the attitude of the carrier needs to be completed by multiple persons in a cooperation mode, so that the method is long in time consumption, complex in procedure (for example, the method needs to be completed by multiple persons in a cooperation mode), low in working efficiency, inconvenient to use, not suitable for field work and the like are solved.
Alternatively, the plurality of reference points includes a first part of the reference points, and the operation of determining the posture information of the vehicle from the coordinate information of the plurality of reference points includes: determining plane information of a reference plane associated with the carrier from the coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state; and determining vehicle attitude information from the plane information.
Specifically, referring to fig. 4B, the plurality of fiducials includes a first partial fiducial. Where the first part of the reference points may be three points on a plane parallel to the carrier, for example points a, B and C in figure 4B. And the computing device 300 may determine the attitude information of the vehicle from the plurality of pieces of coordinate information. Plane information of a reference plane associated with the carrier may be determined, for example, from coordinate information of the first part of reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state. The computing device then determines the pitch angle and roll angle of the vehicle from the plane information. Wherein the plane information may comprise an equation of a reference plane.
Further, let horizontal reference point A (x) ap ,y ap ,z ap ) Horizontal reference point B (x) bp ,y bp ,z bp ) Horizontal reference point C (x) cp ,y cp ,z cp ) Heading reference point A' (x) ah ,y ah ,z ah ) Heading reference point B' (x) bh ,y bh ,z bh )。
Then the plane equation is solved: according to the structure of the carrier, the horizontal reference point A, the horizontal reference point B and the horizontal reference point C are always on a plane, the plane is parallel to the plane of the carrier body through a coordinate model, the plane of the carrier body can represent the pitching and rolling postures of the carrier body, the plane of the carrier body is calculated, and a plane equation is obtained:
horizontal vector
Horizontal vector
Normal vector of the plane
Plane vector cross product calculation:
is provided with
Wherein a is x 、a y 、a z 、b x 、b y And b z Are constant coefficients.
The normal vector of the plane is obtained by cross multiplication of the vectors, and is set as
Therefore, the attitude information of the plane of the body can be obtained by using the normal vector, and the attitude information of the carrier can be obtained by using the attitude information of the plane of the body.
In addition, the plane equation of the reference plane can also be calculated iteratively:
the general expression of the plane equation is:
Ax+By+Cz+1＝0，(C≠0)
recording:
then: z = a 0 x+a 1 y+a 2
And (3) plane equation fitting:
for a series of n points (n ≧ 3):
(x i ,y i ,z i ),i＝0,1,…,n-1
point of interest (x) i ,y i ,z i ) I =0,1, \8230, n-1 is fitted to calculate the above plane equation, such that:
and minimum.
To minimize S, one should satisfy:
namely:
the method comprises the following steps of (1) preparing,
or the like, or, alternatively,
solving the linear equation set to obtain: a is a 0 ,a 1 ,a 2
Namely: z = a 0 x+a 1 y+a 2
Similarly, an iterative solution of the plane equation when it is set to Ax + By + C = Z can be found. The attitude information of the vehicle can thus also be determined using this equation.
Optionally, the plurality of reference points further includes a second part of reference points located outside the reference plane, and the operation of determining the attitude information of the vehicle from the plane information further includes: the vehicle attitude information is determined based on the plane information and the coordinate information of the second partial reference points.
Specifically, referring to fig. 4B and 4C, the plurality of reference points further includes a second part of reference points (e.g., a heading reference point a 'and a heading reference point B' shown in fig. 4C) located outside the reference plane. And the computing apparatus 300 may determine the attitude information of the vehicle, for example, from the plane information and the coordinate information of the second partial reference point.
In particular, the normal vector to be calculated according to the above
And substituting the coordinates of the horizontal measuring point B to obtain a plane equation of the plane:
x n ·x+y n ·y+z n z + D =0 wherein D = - (x) n ·x bp +y n ·y bp +z n ·z bp )
The horizontal reference points B and C are symmetrical about the axis of the vehicle, depending on the mechanical characteristics, and perpendicular to the centre of the earth
In combination, roll angle information for the vehicle can be calculated:
roll angle
The pitch angle information and the azimuth angle information of the vehicle are calculated by two points under the abdomen.
Projecting the heading reference point under the belly to the plane where the horizontal reference point is located, and calculating the attitude of the pitch angle and the azimuth angle by using the projected heading vector.
Let the projection coordinate of the heading reference point A' be A (x) a ,y a ,z a ) The projection coordinate of the heading reference point B' is B (x) b ,y b ,z b )。
Point-to-plane projection coordinate calculation:
by
Therefore, the following steps are carried out:
due to A (x) a ,y a ,z a ) For a point on a plane, satisfy the plane equation x n ·x a +y n ·y a +z n ·z a + D =0, is obtained by substituting
The value of (b) is brought back to obtain the projection coordinate A (x) a ,y a ,z a ) And B (x) b ,y b ,z b ) The value of (c).
Projection vector
By using the angle with respect to the centre of the earth
Can calculate the pitch angle theta by using the relation perpendicular to the earth's center
Can calculate the azimuth angle in the total station coordinate system.
Further, when calculating the azimuth ψ, it is necessary to place the projection vector and the total station on the same plane, i.e. to set the height difference of the projection vector to zero. Namely that
Wherein the azimuth angle is the included angle between the crankshaft and the N direction of a total station coordinate system (in the case that the geodetic surveying equipment is a total station), and on the basis, the included angle between the N direction and the geomagnetic north is established according to the total station when the coordinate system is established
Thereby calculating the included angle between the crankshaft and the north direction of the earth magnetism. The rolling of the carrier can be calculated through the solving processAngle, pitch angle, and azimuth vehicle attitude information.
Further, as shown in fig. 5, a plurality of centering bars may be provided on the carrier, corresponding to the positions of the plurality of reference points, respectively. Since the geodetic apparatus is placed on one side of the vehicle, reference points not visible to the geodetic apparatus (for example, reference points located on the other side of the vehicle and on the belly of the vehicle) can be extracted with the centering bars. And the user performs the operation of measurement related to the plurality of reference points using the geodetic apparatus, it is possible to measure coordinate information of measurement points on the plurality of centering bars (measurement points corresponding to the reference points drawn out using the centering bars) using the geodetic apparatus. Therefore, a user can lead out a measuring point corresponding to the reference point which cannot be observed by the geodetic surveying equipment downwards through the centering rod, then the coordinate information of the measuring point is measured through the geodetic surveying equipment, and further the attitude information of the carrier is measured. In addition, the head of the centering rod is provided with an alignment component, so that the height of the centering rod can be accurately positioned, the lower part of the centering rod is provided with an accurate dimension reticle, the total station can be ensured to measure measuring points which have accurate corresponding relation with a machine shaft, the leading-out rod is naturally static in a plumb state during use, the state of the centering rod at each measuring point is ensured to be consistent, and the measured data can be ensured to accurately reflect the posture of the carrier. In order to adapt to datum points at different positions, two kinds of centering rods, namely a long centering rod and a short centering rod, are designed, as shown in fig. 5. The long rod 2 can be supported on the ground, and the short rod 1 needs to be held by hands to support a measuring point.
Optionally, the second measurement apparatus 200 comprises an optical collimating device 210 and an attitude measurement device 220. The optical collimator 210 is configured to measure second angular deviation information with respect to a measurement plane S1 disposed on the target object. The attitude measurement device 220 is connected to the optical collimator 210 for measuring optical collimator attitude measurement information related to the attitude of the optical collimator 210. Wherein the target object attitude measurement information includes second angle deviation information and optical collimator attitude measurement information, and the operation of determining the target object attitude information based on the target object attitude measurement information includes: and determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimating device.
Specifically, referring to fig. 6, the optical collimator 210 may be oriented to the measurement surface S1 provided on the target object, so as to acquire second angular deviation information between the axis of the optical collimator 210 and the normal line of the measurement surface S1. Wherein the axis of the optical collimating means 210 is parallel to the second axis of the target object in case the optical collimating means 210 is aligned with the measuring plane S1. The second angular deviation information is thus used to indicate the angular deviation between the axis of the optical collimating device 210 and the second axis of the target object. For example, on the measurement plane S1 and the coordinate axis (e.g., x) of the carrier coordinate system of the target object b2 Axis) is vertical, the normal line of the measurement surface S1 is parallel to the second axis of the target object. The angular deviation can reflect the carrier coordinate system Ox of the target object b2 y b2 z b2 With the carrier coordinate system Ox of the first optical collimating means 10 b1 y b1 z b1 The angular deviation therebetween may also reflect second angular deviation information of the second axis of the target object relative to the axis of the optical collimator 210. For example, the second axis of the target object is offset in azimuth and offset in pitch with respect to the axis of the optical collimator 210.
Further, referring to fig. 7, the attitude measurement device 220 is used to measure optical collimator attitude measurement information related to the attitude of the optical collimator 210. The computing apparatus 300 may thus determine target object pose information, for example, based on the second angular deviation information and the optical collimator pose measurement information.
In particular, for example (but not limited to), computing device 300 may determine optical collimating device pose information for optical collimating device 210 from optical collimating device pose measurement information. For example, referring to fig. 5, the attitude information of the optical collimator 210 may be, for example, the carrier coordinate system Ox of the optical collimator 210 b1 y b1 z b1 Relative to the geographical coordinate system Ox of the optical collimating means 210 t1 y t1 z t1 Euler angle (alpha) 1 ，β 1 ，θ 1 ) For representing the optical collimating means 210 with respect to a geographical coordinate systemAzimuth, pitch, and roll.
The computing device 300 can thus be based on the carrier coordinate system Ox of the target object b2 y b2 z b2 With the carrier coordinate system Ox of the optical collimator 210 b1 y b1 z b1 And optical collimator attitude measurement information related to the attitude of the optical collimator 210, determining the geographic coordinate system Ox of the target object with respect to the first optical collimator t1 y t1 z t1 I.e. target object pose information of the target object.
For example, it can be based on the carrier coordinate system Ox of the optical collimator 210 b1 y b1 z b1 Relative to a geographical coordinate system Ox t1 y t1 z t1 Azimuth and pitch angle of and a carrier coordinate system Ox of the target object b2 y b2 z b2 With the carrier coordinate system Ox of the optical collimator 10 b1 y b1 z b1 To determine the geographical coordinate system Ox of the target object with respect to the optical collimating means 210 t1 y t1 z t1 Azimuth angle and pitch angle. Also, since the distances of the vehicle, the optical collimating device 210 and the target object are all relatively close, the angular deviation between their geographic coordinates is negligible. The first angle deviation can thus be determined using the finally determined target object attitude information and the vehicle attitude information.
In this way, the attitude information relating to the axis of the target object can thus be determined without contact with the target object, thereby improving the efficiency of detection.
Optionally, the optical collimating means 210 comprises: a light source 211; an image acquisition unit 212; a first reticle 213 disposed in front of the light source; a second dividing plate 214 disposed in front of the image acquisition unit 212; and an optical system disposed between the first reticle 213 and the second reticle 214. Therein, the optical system is used to project the light source light emitted by the light source 211 and passing through the first reticle 213 onto the measurement plane S1, and to project the light source light reflected back from the measurement plane S1 to the image acquisition unit 212 via the second reticle 214. And, the second angular deviation information includes a detection image collected by the image collecting unit 212, wherein the detection image includes a first image of the first reticle 213 and a second image of the second reticle 214.
In particular, fig. 8 schematically shows a schematic cross-sectional view of the optical collimating device 210. Referring to fig. 8, the first optical collimating device 210 includes: a light source 211, an image acquisition unit 212, a first reticle 213 disposed in front of the light source, a second reticle 214 disposed in front of the image acquisition unit 212, and an optical system. Fig. 9 schematically shows a structure of the optical system. Referring to fig. 9, the optical system includes an objective lens 215, a prism 216, and an eyepiece lens 217, wherein the first reticle 120 and the second reticle 130 are located on a focal plane of the objective lens 215 and the eyepiece lens 217 through a spectroscopic conjugate of the prism 430.
Further, as shown in fig. 8 and 9, for example, the measurement surface S1 may be provided on the target object. According to the optical path reversible imaging principle, light source light emitted by the light source 211 passes through the first reticle 213 and then passes through the objective lens 215 to be irradiated to the measurement surface S1 disposed on the target object as parallel light. Then, the image is reflected by the measurement surface S1, passes through the objective lens 215 and the eyepiece lens 217 again, and is imaged at the image surface position of the objective lens 215. Since the second reticle 214 is located at the image plane position of the objective lens 215, the optical system projects the light source light reflected back from the target object as parallel light to the image pickup unit 212 via the second reticle 214. So that the image pickup unit 212 disposed on the imaging plane can pick up the inspection image including the first image of the first scribe line of the first reticle 213 and the second image of the second scribe line of the second reticle 214, as shown in fig. 10A and 10B.
Specifically, referring to fig. 10A and 10B, when the second axis of the target object is not parallel to the axis of the optical collimator 210, that is, the pitch difference angle and the azimuth difference angle between the two spatially coplanar straight lines are not zero, the images formed by the first reticle 213 and the second reticle 214 projected together on the imaging plane are as shown in fig. 10A or 10B. The centers of the crosses of the first image of the first reticle 213 and the second image of the second reticle 214 are separated by a distance, and are not in a coincident position, meaning that the axis of the optical alignment device 210 is not parallel, i.e. there is an angular deviation, with the second axis of the target object.
The light source can be a 1550nm optical fiber light source (SFS) which is based on Amplified Spontaneous Emission (ASE) of an erbium-doped optical fiber, and has the advantages of good temperature stability, high output power, long service life and low polarization correlation. Further, the image capturing unit 110 is, for example, but not limited to, a trigger type CCD camera.
Optionally, the operation of determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimator includes: determining azimuth angle deviation and pitch angle deviation of the target object and the optical collimating device according to the positions of the first image and the second image; determining the attitude information of the optical collimating device 210 of the optical collimating device according to the attitude measurement information of the optical collimating device, wherein the attitude information of the optical collimating device comprises an azimuth angle and a pitch angle of the optical collimating device 210; and determining the attitude information of the target object according to the attitude information of the optical collimating device, the azimuth angle deviation and the pitch angle deviation.
Referring specifically to fig. 11A and 11B, when the axis of the optical alignment device 210 is not parallel to the second axis of the target object, the cross of the first image may be separated from the cross of the second image, i.e., the first image and the second image are not coincident. Where there is a pitch angle deviation between the axis of the optical collimator 210 and the second axis of the target object, there is a positional deviation between the first image and the second image in the vertical direction as in fig. 11A. When there is an azimuthal deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in the horizontal direction as in fig. 11B.
Referring also to fig. 10A and 10B, when there is an azimuth and a pitch angle deviation of the axis of the optical collimating device 210 from the second axis of the target object, there is a positional deviation of the first image and the second image in both the horizontal direction and the vertical direction. Therefore, the azimuth angle deviation and the pitch angle deviation of the second axis of the target object with respect to the optical alignment device 210 can be determined according to the positions of the first image and the second image.
Specifically, the posture information of the target object is determined from the first picture and the second picture projected on the image pickup unit 212. Wherein the second image is used as a reference image, and the relative displacement (Δ x, Δ y) of the first image relative to the second image can be obtained. And the azimuthal angle deviation k of the second axis of the target object with respect to the optical collimating device 210 can be derived by the following formula i And a pitch angle deviation phi i 。
k i ＝Δx/S x
φ i ＝Δy/S y
Wherein S x Is a scale factor in the horizontal direction, S y Is a scale factor in the vertical direction. And wherein S x And S y In pixels/arcsec (height imaged per arcsec resolution/CCD size), these two parameters can be calibrated in advance.
Furthermore, as previously described, the optical collimator attitude information of the optical collimator 210, i.e., the azimuth, the pitch, and the roll of the optical collimator 210, may be determined based on the optical collimator attitude measurement information.
Thereby utilizing the azimuth angle alpha of the optical collimating means 210 1 And a pitch angle beta 1 And the above-mentioned azimuth angle deviation k i And a pitch angle deviation phi i And determining the azimuth angle and the pitch angle of the target object as attitude information of the target object. In particular, the azimuth angle α of the optical collimating device 210 may be utilized 1 And azimuth angle deviation k i To determine the azimuth angle of the target object, and the pitch angle beta of the optical collimating device 210 1 And pitch angle deviation beta 1 And the pitch angle of the target object.
Therefore, in this way, the technical solution of this embodiment can utilize optical projection imaging and image processing technology to calculate the angular deviation between the optical collimator 210 and the target object, so as to not only ensure the accuracy of detection, but also calculate the attitude information of the target object in real time.
Further optionally, the attitude measurement device 220 includes: gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222c. The optical collimator attitude measurement information includes information measured by the gyroscopes 221a, 221b, 221c and the accelerometers 222a, 222b, 222c. The operation of determining optical collimator pose information for optical collimator 210 based on the optical collimator pose measurement information includes: optical collimator attitude information is determined using a strapdown inertial navigation algorithm based on information measured by the gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222c.
Specifically, fig. 12 and 13 exemplarily show a schematic internal cross-sectional view of the attitude measurement device 220. Referring to fig. 12 and 13, the attitude measurement device 220 includes a first gyroscope 221a, a second gyroscope 221b, and a third gyroscope 221c that are disposed perpendicular to each other. And attitude measurement device 220 further includes a first accelerometer 222a, a second accelerometer 222b, and a third accelerometer 222c disposed perpendicular to each other. Angular motion information of the optical collimating device 210 is measured through the gyroscopes 221a, 221b and 221c, and linear velocity information of the optical collimating device 210 is measured through the accelerometers 222a, 222b and 222c, so that the orientation relation of the carrier coordinate system of the optical collimating device 210 relative to the geographic coordinate system, that is, the attitude information of the optical collimating device 210 can be calculated according to a strapdown inertial navigation algorithm. For specific details of the strapdown inertial navigation algorithm, reference may be made to related prior art, and details are not repeated in this specification.
In addition, although in the present embodiment, the strapdown inertial navigation algorithm is described as an example. However, the optical collimator attitude measurement information is not limited thereto, and for example, the optical collimator attitude measurement information may be information on the azimuth angle, the pitch angle, and the roll angle of the optical collimator 210 measured by the attitude measurement device 220. Therefore, the attitude information of the target object can be determined by directly utilizing the attitude measurement information of the optical collimating device without calculating the attitude information of the optical collimating device.
Further, since the accuracy of the gyroscopes 221a, 221b, 221c directly affects the accuracy of the measured first attitude information of the first optical collimator 210, and ultimately the accuracy of the determined attitude of the measured object. In order to ensure accuracy, a high-accuracy fiber optic gyroscope may be employed. Or a gyroscope with the accuracy of 1% is selected, and the accuracy gyroscope can ensure that the course keeps 0.01 degree per hour and meets the requirement of measurement accuracy.
Further, accelerometers 222a, 222b, 222c may be implemented as quartz flexure accelerometers, which are mechanically pendulum force balanced servo accelerometers. When the pendulum is sensed to input acceleration, it will generate an inertial moment about the flexible pivot, under which moment the pendulum makes an angular movement about the flexible pivot, generating an angular displacement. The differential capacitance sensor converts the displacement into capacitance variation and transmits the capacitance variation to the analog amplifier, and the analog amplifier converts the capacitance variation into a current signal and transmits the current signal to the torquer to generate a restoring torque. When the restoring moment is balanced with the moment of inertia of the pendulum, the current value to the torquer can be used to measure the magnitude of the input acceleration.
Furthermore, according to a second aspect of the present embodiment, there is provided a storage medium comprising a stored program, wherein the method of any one of the above is performed by a processor when the program is run.
As described above, according to the aspect of the present embodiment, the first measurement device in the angular deviation measurement apparatus is configured to measure vehicle attitude measurement information related to the attitude of the vehicle. And the second measurement device is operable to measure target object attitude measurement information relating to the attitude of the target object on the vehicle. The computing device may then determine angular deviation information of the target object relative to the vehicle from the vehicle attitude measurement information and the target object attitude measurement information. Thus, the calibration of the target object on the carrier is completed according to the angle deviation information measured by the angle deviation measurement method.
Therefore, the whole process can be realized only by respectively operating the first measuring equipment and the second measuring equipment by one person. And then solved the work that exists to the angle deviation information of the target object on the carrier to the carrier and carry out the detection among the prior art and need many people to cooperate the completion to the problem that the time consuming is long, the procedure is complicated, work efficiency is low, it is inconvenient to use and unsuitable field work.
Example 2
Fig. 14 shows an angular deviation measuring device 1400 according to the present embodiment, the device 1400 corresponding to the method according to the first aspect of embodiment 1. Referring to fig. 14, the apparatus 1400 includes: a processor 1410; and a memory 1420 coupled to the processor for providing instructions to the processor to process the following process steps: acquiring vehicle attitude measurement information related to the attitude of the vehicle from the first measurement apparatus 100; acquiring target object attitude measurement information related to an attitude of the target object from the second measurement apparatus 200; and determining first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information.
Optionally, the operation of determining, from the vehicle attitude measurement information and the target object attitude measurement information, first angular deviation information of the target object relative to the vehicle includes: determining vehicle attitude information of the vehicle based on the vehicle attitude measurement information; determining target object attitude information of the target object according to the target object attitude measurement information; and determining first angle deviation information according to the posture information of the carrier and the posture information of the target object.
Alternatively, the operation of determining the first angle deviation information from the vehicle attitude information and the target object attitude information includes: and determining azimuth angle deviation, pitch angle deviation and roll angle deviation of the target object relative to the vehicle according to the first azimuth angle information, the second azimuth angle information, the first pitch angle information and the second pitch angle information.
Alternatively, the first measurement apparatus is a geodetic apparatus, and the vehicle attitude measurement information includes a first coordinate information set including coordinate information of a plurality of reference points provided on an outer surface of the vehicle, and the operation of determining the vehicle attitude information from the vehicle attitude measurement information includes: vehicle attitude information is determined from coordinate information of the plurality of reference points.
Alternatively, the plurality of reference points includes a first part of the reference points, and the operation of determining the posture information of the vehicle from the coordinate information of the plurality of reference points includes: determining plane information of a reference plane associated with the carrier from the coordinate information of the first part of the reference points, wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane in a case where the carrier is in a top-flat state; and determining vehicle attitude information from the plane information.
Optionally, the plurality of reference points further include a second part of reference points located outside the reference plane, and the operation of determining the attitude information of the vehicle from the plane information further includes: the vehicle attitude information is determined based on the plane information and the coordinate information of the second partial reference points.
Optionally, the second measurement device 200 comprises: an optical collimator 210 for measuring second angular deviation information from a measurement surface S1 provided on the target object; and
an attitude measurement device 220 connected to the optical collimating device 210 for measuring optical collimating device attitude measurement information related to an attitude of the optical collimating device 210, and wherein
The target object attitude measurement information includes second angle deviation information and optical collimator attitude measurement information, and the operation of determining the target object attitude information based on the target object attitude measurement information includes: and determining the attitude information of the target object according to the second angle deviation information and the attitude measurement information of the optical collimating device.
Optionally, the optical collimating means 210 comprises: a light source 211; an image acquisition unit 212; a first reticle 213 disposed in front of the light source; a second dividing plate 214 disposed in front of the image acquisition unit 212; and an optical system. Wherein the optical system is used to project the light source light emitted by the light source 211 and passing through the first reticle 213 onto the measurement plane S1 and to project the light source light reflected back from the measurement plane S1 via the second reticle 214 onto the image acquisition unit 212. And the second angular deviation information includes a detection image collected by the image collecting unit 212, wherein the detection image includes a first image of a first reticle of the first reticle 213 and a second image of a second reticle of the second reticle 214.
Optionally, the operation of determining the attitude information of the target object according to the second angular deviation information and the attitude measurement information of the optical collimator includes: determining azimuth angle deviation and pitch angle deviation of the target object and the optical collimating device according to the positions of the first image and the second image; determining the attitude information of the optical collimating device 210 of the optical collimating device according to the attitude measurement information of the optical collimating device, wherein the attitude information of the optical collimating device comprises an azimuth angle and a pitch angle of the optical collimating device 210; and determining the attitude information of the target object according to the attitude information of the optical collimating device, the azimuth angle deviation and the pitch angle deviation.
Optionally, the attitude measurement device 220 includes: gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222c, and the optical collimator attitude measurement information includes information measured by the gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222c. The operation of determining optical collimator pose information for optical collimator 210 based on the optical collimator pose measurement information includes: optical collimator attitude information is determined using a strapdown inertial navigation algorithm based on information measured by the gyroscopes 221a, 221b, 221c and accelerometers 222a, 222b, 222c.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims. The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (2)
1. An angular deviation measurement method for measuring angular deviation information of a target object on a vehicle relative to the vehicle, comprising:
acquiring vehicle attitude measurement information relating to the attitude of the vehicle from a first measurement apparatus (100);
obtaining target object attitude measurement information relating to an attitude of the target object from a second measurement device (200); and
determining first angular deviation information of the target object relative to the vehicle based on the vehicle attitude measurement information and the target object attitude measurement information, wherein
An operation of determining, from the vehicle attitude measurement information and the target object attitude measurement information, first angular deviation information of the target object relative to the vehicle, comprising: determining vehicle attitude information of the vehicle from the vehicle attitude measurement information; determining target object attitude information of the target object according to the target object attitude measurement information; and determining the first angle deviation information from the vehicle attitude information and the target object attitude information, and wherein
The vehicle attitude information includes first pitch angle information and first azimuth angle information of the vehicle, and the target object attitude information includes second pitch angle information and second azimuth angle information of the target object, and wherein
An operation of determining the first angle deviation information based on the vehicle attitude information and the target object attitude information, including: determining an azimuth deviation of the target object with respect to the vehicle from the first azimuth information and the second azimuth information, and determining a pitch deviation of the target object with respect to the vehicle from the first pitch information and the second pitch information, and wherein
The second measuring device (200) comprises: an optical collimating device (210) for measuring an azimuth angle deviation and a pitch angle deviation with a measuring plane (S1) provided to the target object; and an attitude measurement device (220) connected to the optical collimating device (210) for measuring optical collimating device attitude measurement information related to an attitude of the optical collimating device (210), and wherein
The optical collimating device (210) comprises: a light source (211); an image acquisition unit (212); a first reticle (213) disposed in front of the light source; a second reticle (214) disposed in front of the image acquisition unit (212); and an optical system for projecting light source light emitted by the light source (211) and passing through the first reticle (213) onto the measurement plane (S1) and projecting the light source light reflected back from the measurement plane (S1) via the second reticle (214) onto the image acquisition unit (212), the attitude measurement device (220) comprising a gyroscope (221 a, 221b, 221 c) and an accelerometer (222 a, 222b, 222 c), and wherein
Determining the operation of the target object attitude information according to the target object attitude measurement information, including:
acquiring a detection image by the image acquisition unit (212), wherein the detection image comprises a first image of a first reticle of the first reticle (213) and a second image of a second reticle of the second reticle (214);
determining an azimuthal angular deviation k of the target object relative to the optical collimating device (210) from the relative displacement (Δ x, Δ y) of the first image relative to the second image by the following formula i And a pitch angle deviation phi i ：
k i ＝Δx/S x
φ i ＝Δy/S y
Wherein S x Is a scale factor in the horizontal direction, S y A scale factor in the vertical direction;
calculating an azimuth angle alpha of the optical collimating device (210) by using a strapdown inertial navigation algorithm according to information measured by the gyroscope (221 a, 221b, 221 c) and the accelerometer (222 a, 222b, 222 c) 1 And a pitch angle beta 1 (ii) a And
aligning the azimuth angle alpha of the optical collimating device (210) 1 And an azimuthal angular deviation k of the target object relative to the optical collimating means (210) i Summing, determining the azimuth angle of the target object, and pitching the pitch angle β of the optical collimating means (210) 1 And a pitch angle deviation phi of the target object with respect to the optical collimating means (210) i -summing, determining a pitch angle of the target object, and wherein the first measurement device (100) is a geodetic device, and the vehicle attitude measurement information comprises a first set of coordinate information, wherein the first set of coordinate information comprises coordinate information of a plurality of reference points arranged on an outer surface of the vehicle, and-from the vehicle attitude measurement information, determining the vehicle attitude information, comprises: determining the vehicle attitude information from the coordinate information of the plurality of reference points,
and wherein the plurality of reference points include a first part of reference points, and the operation of determining the vehicle attitude information from the coordinate information of the plurality of reference points includes:
according to the coordinate information (x) of the first part of the reference points i ,y i ,z i ) Determining a reference plane z = a associated with the vehicle by the following formula 0 x+a 1 y+a 2 Plane information of (2):
wherein the reference plane is parallel to a body plane of the carrier, and the body plane is a horizontally distributed plane with the carrier in a top-flat state, wherein i =0,1, ·., n-1, and n is the number of the first partial reference points; and
determining attitude information of the vehicle from the plane information, and wherein
The plurality of reference points further includes a second portion of reference points located outside of the reference plane, and the first portion of reference points includes a horizontal reference point a (x) ap ,y ap ,z ap ) Horizontal reference point B (x) bp ,y bp ,z bp ) And a horizontal reference point C (x) cp ,y cp ,z cp ) The second part of the reference points comprises heading reference points A' (x) ah ,y ah ,z ah ) And heading reference point B' (x) bh ,y bh ,z bh ) And wherein
An operation of determining attitude information of the vehicle from the plane information, including:
the roll angle of the vehicle is determined according to the following formula:
determining the pitch angle of the vehicle according to the formula:
determining the azimuth of the vehicle according to the following formula:
(x a ,y a ,z a ) Is the heading reference point A' (x) ah ,y ah ,z ah ) Coordinates of a projected point on the reference plane, and (x) b ,y b ,z b ) Is the heading reference point A' (x) ah ,y ah ,z ah ) Coordinates of a projected point on the reference plane.
2. A storage medium comprising a stored program, wherein the method of claim 1 is performed by a processor when the program is run.
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| CN105021211B (en) * | 2015-06-05 | 2017-10-03 | 中国船舶重工集团公司第七0七研究所 | A kind of attitude test device and method based on autocollimator |
| CN108225316B (en) * | 2016-12-22 | 2023-12-29 | 成都天府新区光启未来技术研究院 | Carrier attitude information acquisition method, device and system |
| CN107478195A (en) * | 2017-09-15 | 2017-12-15 | 哈尔滨工程大学 | One kind is based on optical space object status measurement apparatus and its measuring method |
| CN108665499B (en) * | 2018-05-04 | 2021-08-10 | 北京航空航天大学 | Near distance airplane pose measuring method based on parallax method |
| CN108621201B (en) * | 2018-05-08 | 2020-11-20 | 中国人民解放军国防科技大学 | Method for measuring state of body of foot type robot |
| CN108981754B (en) * | 2018-09-28 | 2020-10-13 | 中国科学院长春光学精密机械与物理研究所 | Method for zero alignment of mounting angles of photoelectric platform and carrier |
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