CN114993245B - High-precision target calibrating method of target calibrating equipment in movable base platform and external field vibration environment - Google Patents
High-precision target calibrating method of target calibrating equipment in movable base platform and external field vibration environment Download PDFInfo
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- CN114993245B CN114993245B CN202210606419.6A CN202210606419A CN114993245B CN 114993245 B CN114993245 B CN 114993245B CN 202210606419 A CN202210606419 A CN 202210606419A CN 114993245 B CN114993245 B CN 114993245B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/08—Airborne targets, e.g. drones, kites, balloons
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the fields of computer vision, precise measurement and aircraft target calibration, in particular to a high-precision target calibration method of target calibration equipment under a movable base platform and an external field vibration environment. The invention creatively provides a measuring method adopting reference target plate conversion, wherein the reference target plate is rigidly connected to a main frame of an aircraft body so as to synchronize the main frame with the vibration motion of the aircraft body, and a fixed constant matrix is arranged between the reference target plate and an aircraft coordinate system, namely, whether the position of a reference point changes due to vibration or not in the measuring process, and the measured value of the reference point is consistent with the aircraft coordinate system. The invention not only solves the problem of shaking of the machine body in the process of calibrating the target by the airplane, but also can place the camera of the target calibrating equipment at a plurality of positions around the machine body for measurement, thereby avoiding the problem of station turning under the condition of shielding in the process of measuring the reference point of the airplane, realizing the rapid measurement of the coordinates of each point of the machine body, and further solving the problem of vibration of the machine body in the process of calibrating the target by the airplane.
Description
Technical Field
The invention relates to the fields of computer vision, precise measurement and aircraft target calibration, in particular to a high-precision target calibration method for vision target calibration equipment in a ship base moving base and external field vibration environment.
Background
The working environment of the aircraft target is mainly an external field of the army, and the external field is inevitably influenced by wind and surrounding vibration environments to cause vibration of the aircraft or target-correcting equipment or shake of the aircraft or target-correcting equipment on a ship due to shake of the ship, so that the traditional target-correcting method cannot perform high-precision target-correcting measurement under the complex conditions.
When the aircraft calibration operation is carried out, the Norgan reference points marked on the aircraft body are required to be measured firstly, an aircraft coordinate system is obtained through three-dimensional coordinate fitting of the reference points, as the aircraft reference points are positioned at different positions of the aircraft body, basically at two sides of the aircraft, all the reference points cannot be acquired simultaneously once when the coordinates of each point are acquired, the Norgan reference points on the aircraft body are required to be measured successively in a time-sharing manner, the three-dimensional coordinates of each reference point under the camera coordinate system of the calibration system are obtained, the three-dimensional fitting is carried out on the points through an algorithm to obtain the pose relation between the camera coordinate system of the calibration system and the aircraft coordinate system, the calibration fixture mounted on the bracket of the calibrated equipment is measured through the calibration system, the pose information of the calibration fixture under the camera coordinate system of the vision calibration system is obtained, and finally the pose relation between the bracket of the calibrated equipment and the aircraft coordinate system is obtained through the algorithm.
The whole measuring process is based on a camera coordinate system, so that a host computer of a target correcting system and an airplane are required to be kept in a completely relatively static state in the measuring process, otherwise, when one party is better than the external field vibration or the shaking under a ship base movable base platform, the reference points on the airplane are measured in a time-sharing way when the airplane coordinate system is established, the positions of partial reference points or clamps are offset, the measured three-dimensional coordinates or posture data under the host computer coordinate system are changed, the relation between the reference points and the clamps is offset, the theoretical pose relation is not needed, and finally, a large measuring error or even a measuring error is generated in the fitting of the airplane coordinate system or the posture measurement of the target correcting clamp, so that the target correcting precision is seriously influenced, and the traditional target correcting method cannot be used for carrying out high-precision target correction under the movable base platform and the external field vibration environment.
Disclosure of Invention
The invention provides a high-precision target calibrating method of target calibrating equipment in a movable base platform and an external field vibration environment, which aims to solve the technical problem of how to perform high-precision target calibrating measurement under the condition of shaking an airplane.
The invention is realized by adopting the following technical scheme: the high-precision target calibrating method of the target calibrating equipment in the moving base platform and the external field vibration environment comprises the following steps: the method comprises the following steps: step (1): fixing the reference target plate to the aircraft so as to be rigidly connected with the aircraft;
step (2): sequentially measuring three-dimensional coordinates of i reference points on the aircraft by using a measuring pen, wherein i is the number of the aircraft reference points when an aircraft coordinate system is established, and simultaneously shooting and collecting information of a reference target plate and the measuring pen by using a target calibration system camera when each reference point is measured;
step (3): the ith reference point is shot by the camera, and the rotation matrix R of the camera and the reference target plate can be measured bp i. Translation matrix T of camera and reference target plate bp i, translation matrix T of camera and reference point cp i, directly converting the coordinate of each reference point on the aircraft to a reference target plate coordinate system through calculation;
step (4): after measurement of all the reference points is completed, a rotation matrix T1 and a translation matrix T2 of an aircraft coordinate system and a reference target plate coordinate system can be obtained by SVD decomposition, namely, the aircraft coordinate system is built on the reference target plate coordinate system;
step (5): after the aircraft coordinate system is established, the camera shoots the target calibration fixture and the reference target plate which are arranged on the bracket (the bracket is hereinafter referred to as the bracket for short) of the equipment on the aircraft calibrated by the aircraft at the same time, and the rotation matrix R of the camera and the reference target plate is obtained by measurement bj Translation matrix T of camera and reference target plate bj Translation matrix T of camera and aircraft mounting bracket j The attitude information of the aircraft mounting bracket is directly converted to a reference target plate coordinate system through calculation;
step (6): and obtaining a rotation matrix of the plane coordinate system and the bracket coordinate system according to the pose relation between the reference target plate coordinate system and the plane coordinate system and between the reference target plate coordinate system and the bracket coordinate system, thereby obtaining a final target correcting result.
The invention provides a dynamic compensation method which is completely and independently innovated, a reference target plate fixedly connected with a machine body is designed to vibrate along with the machine body, a virtual reference target plate coordinate system is established through the reference target plate, the installation precision is not required to be considered when the reference target plate is installed, only the reference target plate is rigidly connected with the machine body, the relationship between each reference point and a clamp and the reference target plate is ensured not to change when the machine body vibrates, the states of the reference target plate and a measuring pen are simultaneously acquired at the same moment or the states of the reference target plate and the clamp are simultaneously acquired when the machine body is measured each time, the relative relationship between the measuring pen and the clamp and the reference target plate can be respectively acquired, the coordinate system of the machine body and the coordinate system of a bracket are converted and established on the reference target plate by a calibration host coordinate system, the deviation caused by vibration is counteracted, the use environment is not required to be limited, and the high-precision calibration target measurement can be ensured by installing one reference target plate on the machine, and the calibration equipment can still meet the high-precision calibration target measurement under the vibration environment of a ship base and an external field.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a schematic structural diagram of a reference target plate.
FIG. 3 is a transformation diagram of a reference target plate coordinate system. 1-middle upright post, 2-top plate, 3-bottom plate, 4-middle beam, 5-connecting rod, 6-upper side beam, 7-lower side beam, 8-top beam and 9-bottom beam.
Detailed Description
When the aircraft calibration target is measured in an external field, coordinate measurement is needed to be carried out on reference points on the aircraft body respectively to establish an aircraft coordinate system, the aircraft body and the calibration target system can vibrate along with low frequency under the influence of wind and surrounding vibration environments or under a movable base platform, and because the time-sharing measurement of the coordinate points, the offset generated by the aircraft during vibration can introduce additional measurement errors into the attitude measurement of the aircraft body reference points and the calibration target clamp, so that the aircraft coordinate system is established inaccurately.
The invention aims to solve the problem of how to perform high-precision target calibration measurement under the condition of aircraft shaking, which is also a great problem inherent to the traditional target calibration scheme. The traditional target calibration measurement method needs to take a photograph in a time-sharing way to obtain the coordinates of the reference points of the aircraft, and then fitting and establishing an aircraft coordinate system after all the coordinates of the reference points are obtained, wherein the coordinate measurement of each reference point takes the camera coordinate system of the target calibration equipment as a reference. In the time-sharing measurement process, the vibration of the airplane directly affects the accuracy of the conversion of the reference point coordinate and the camera coordinate system, and measurement errors are necessarily brought. After the structure of the aircraft body is known, the reference points of the aircraft are designed on the main frame of the aircraft body, when the aircraft vibrates, the main frame of the aircraft body and the reference points are consistent in vibration influence degree, and if each reference point is measured, the calculation result is converted into a coordinate system related to the movement of the aircraft body, so that the measurement result of the reference points in the coordinate system of the aircraft is not influenced by the shaking of the aircraft.
In combination with the illustration of fig. 1, the invention provides a measuring method for installing a reference target plate on an aircraft for follow-up and coordinate system conversion, which aims at the defects of the traditional target calibration technology and comprises the following steps: step (1): the reference target plate is fixed on the airplane by screws, so that the reference target plate is rigidly connected with the airplane;
step (2): sequentially measuring three-dimensional coordinates of i reference points on the aircraft by using a measuring pen, wherein i is the number of the aircraft reference points when an aircraft coordinate system is established, and simultaneously shooting and collecting information of a reference target plate and the measuring pen by using a target calibration system camera when each reference point is measured;
step (3): the ith reference point is shot by the camera, and the rotation matrix R of the camera and the reference target plate can be measured bp i. Translation matrix T of camera and reference target plate bp i, translation matrix T of camera and reference point cp i, directly converting the coordinate of each reference point on the aircraft to a reference target plate coordinate system through calculation;
step (4): after measurement of all the reference points is completed, a rotation matrix T1 and a translation matrix T2 of an aircraft coordinate system and a reference target plate coordinate system can be obtained by SVD decomposition, namely, the aircraft coordinate system is built on the reference target plate coordinate system;
step (5): after the aircraft coordinate system is established, the camera shoots the target calibration fixture and the reference target plate which are arranged on the bracket of the equipment of the calibrated target of the aircraft at the same time, and the rotation matrix R of the camera and the reference target plate is obtained by measurement bj Translation matrix T of camera and reference target plate bj Translation matrix T of camera and aircraft mounting bracket j The attitude information of the aircraft mounting bracket is directly converted to a reference target plate coordinate system through calculation; the reference target plate coordinate system conversion diagram is shown in detail in fig. 3.
Step (6): and obtaining a rotation matrix of the plane coordinate system and the bracket coordinate system according to the pose relation between the reference target plate coordinate system and the plane coordinate system and between the reference target plate coordinate system and the bracket coordinate system, thereby obtaining a final target correcting result.
As shown in fig. 2, the reference target plate is in a 14-surface structure, and the 14-surface structure comprises a middle upright 1, a hexagonal top plate 2 and a hexagonal bottom plate 3 which are respectively arranged at the top and the bottom of the middle upright 1, and six middle beams 4 radially arranged along the middle of the middle upright; the six middle beams 4 are consistent with the six angles of the top plate 2 and the bottom plate 3 in direction, and one outward ends of the six middle beams 4 are sequentially connected through connecting rods 5 to form a middle hexagon; the length of the middle beam 4 is longer than the connecting lines between the corners of the top plate 2 and the bottom plate 3 and the center of the top plate 2 and the bottom plate 3; the hexagonal of the roof panel 2 is connected to the hexagonal of the middle hexagon by six upper side members 6, and the hexagonal of the middle hexagon is connected to the hexagonal of the floor panel 3 by six lower side members 7. The top beam 8 and the bottom beam 9 are respectively fixed on the peripheral circles of the top plate 2 and the bottom plate 3, and the top beams 8 and the bottom beams 9 are connected through bolts; the upper side beam and the top beam, the lower side beam and the bottom beam, and the upper side beam and the lower side beam and the middle beam 4 are connected through bolts. The fourteen-surface reference target plate can facilitate the camera to shoot 360-degree panorama, and improves the measuring range and the measuring precision in the external field environment.
The invention creatively provides a measuring method for converting a reference target plate, designs a reference target plate (the appearance diagram of the reference target plate is shown in figure 2) with a 14-surface body structure, establishes an accurate conversion relation between each surface through calibration by a three-dimensional point cloud splicing algorithm (the algorithm is shown in China patent 2022101280201 and is a monocular vision sensor mixed type high-precision three-dimensional structure recovery method), rigidly connects the reference target plate to a main frame of an aircraft body, synchronizes the reference target plate with vibration motion of the aircraft body, utilizes the characteristic that vision measurement can perform multi-target identification, and can calculate the pose relation of a camera coordinate system of the reference target plate and a target calibration device by shooting images of the reference target plate and a measuring pen or the reference target plate and a clamp at the same moment, so that data of each reference point under the camera coordinate system is converted into the reference target plate coordinate system for calculation, and a fixed constant matrix is arranged between the reference target plate and the aircraft coordinate system, namely whether the position of the reference point is changed due to vibration in the measuring process or not is consistent with the reference point relative to the coordinate system. The invention solves the problem of shaking of the machine body in the process of calibrating the target by the airplane, can place the target calibrating equipment camera at various positions of the machine body for measurement, avoids the problem of station turning under the condition of shielding in the process of measuring the reference point of the airplane, and realizes the rapid measurement of coordinates of each point of the machine body, thereby solving the problem of vibration of the machine body in the process of calibrating the target by the airplane, and ensuring that the measurement with high precision can be ensured under a movable base platform.
All-weather guarantee is an effective means for improving the comprehensive performance of the aircraft, limiting conditions cannot be provided for the guarantee, and the applicant solves the problem that the high-precision calibration target under the outfield vibration environment and the movable base platform is used as a pain point according to the principle. Based on a large number of researches, simulations and experiments, a dynamic compensation method of a reference target plate is creatively provided, and the high-precision target calibration measurement problem of a movable base platform and an external field vibration environment is thoroughly solved through external field test verification.
Claims (2)
1. The high-precision target calibrating method of the target calibrating equipment in the moving base platform and the external field vibration environment is characterized by comprising the following steps: step (1): fixing the reference target plate to the aircraft so as to be rigidly connected with the aircraft;
step (2): sequentially measuring three-dimensional coordinates of i reference points on the aircraft by using a measuring pen, wherein i is the number of the aircraft reference points when an aircraft coordinate system is established, and simultaneously shooting and collecting information of a reference target plate and the measuring pen by using a target calibration system camera when each reference point is measured;
step (3): the ith reference point is shot by the camera, and the rotation matrix R of the camera and the reference target plate can be measured bp i. Translation matrix T of camera and reference target plate bp i, translation matrix T of camera and reference point cp i, directly converting the coordinate of each reference point on the aircraft to a reference target plate coordinate system through calculation;
step (4): after measurement of all the reference points is completed, a rotation matrix T1 and a translation matrix T2 of an aircraft coordinate system and a reference target plate coordinate system are obtained by SVD decomposition, namely the aircraft coordinate system is built on the reference target plate coordinate system;
step (5): after the aircraft coordinate system is established, the camera shoots the target calibration fixture and the reference target plate which are arranged on the bracket of the equipment of the calibrated target of the aircraft at the same time, and the rotation matrix R of the camera and the reference target plate is obtained by measurement bj Translation matrix T of camera and reference target plate bj Translation matrix T of camera and aircraft mounting bracket j The attitude information of the aircraft mounting bracket is directly converted to a reference target plate coordinate system through calculation;
step (6): according to the pose relation between the reference target plate coordinate system and the plane coordinate system and between the reference target plate coordinate system and the bracket coordinate system, a rotation matrix of the plane coordinate system and the bracket coordinate system is obtained, and a final target correcting result is obtained;
the reference target plate is of a 14-surface structure, and the 14-surface structure comprises a middle upright post (1), a hexagonal top plate (2) and a hexagonal bottom plate (3) which are respectively arranged at the top and the bottom of the middle upright post (1), and six middle beams (4) which are radially arranged along the middle part of the middle upright post; six middle beams (4) are consistent with six angles of the top plate (2) and the bottom plate (3) in direction, and outward ends of the six middle beams (4) are sequentially connected through connecting rods (5) to form a middle hexagon; the length of the middle beam (4) is larger than the connecting line between each corner of the top plate (2) and the bottom plate (3) and the center of the top plate and the bottom plate; the hexagonal of the top plate (2) is connected with the hexagonal of the middle hexagon through six upper side beams (6), and the hexagonal of the middle hexagon is connected with the hexagonal of the bottom plate (3) through six lower side beams (7);
top beams (8) and bottom beams (9) are respectively fixed on the circumferences of the top plate (2) and the bottom plate (3), and the top beams (8) and the bottom beams (9) are connected through bolts; the upper side beam (6) and the top beam (8), the lower side beam (7) and the bottom beam (9) and the upper side beam, the lower side beam and the middle beam (4) are connected through bolts.
2. The method of high accuracy calibration of a target apparatus in a moving base platform and in an external field vibration environment according to claim 1, wherein the reference target plate is mounted and fixed on an aircraft by bolts.
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| CN103335634A (en) * | 2013-06-24 | 2013-10-02 | 南京航空航天大学 | Visual target plate device for calibrating component mounting attitude and calibration method |
| CN104296732A (en) * | 2013-11-29 | 2015-01-21 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic boresight method for lifting type head-up display |
| JP2018036053A (en) * | 2016-08-29 | 2018-03-08 | 株式会社パスコ | Laser measurement system and laser measurement method |
| CN210165967U (en) * | 2019-07-18 | 2020-03-20 | 中建三局集团有限公司 | Target device for coordinate conversion of scanner and total station |
| JP2022039906A (en) * | 2020-08-28 | 2022-03-10 | 中国計量大学 | Multi-sensor combined calibration device and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10371784B2 (en) * | 2016-06-03 | 2019-08-06 | Raytheon Company | System and method for multi-sensor multi-target 3D fusion using an unbiased measurement space |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335634A (en) * | 2013-06-24 | 2013-10-02 | 南京航空航天大学 | Visual target plate device for calibrating component mounting attitude and calibration method |
| CN104296732A (en) * | 2013-11-29 | 2015-01-21 | 中国航空工业集团公司洛阳电光设备研究所 | Automatic boresight method for lifting type head-up display |
| JP2018036053A (en) * | 2016-08-29 | 2018-03-08 | 株式会社パスコ | Laser measurement system and laser measurement method |
| CN210165967U (en) * | 2019-07-18 | 2020-03-20 | 中建三局集团有限公司 | Target device for coordinate conversion of scanner and total station |
| JP2022039906A (en) * | 2020-08-28 | 2022-03-10 | 中国計量大学 | Multi-sensor combined calibration device and method |
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