CN116659421A - Rocket launching drift amount detection method - Google Patents
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Abstract
The invention discloses a rocket launching drift amount detection method, which comprises the following steps: acquiring a plurality of polarized images of different polarization angles of the rocket at the current stage of rocket launching; determining a first normal vector of the rocket surface according to the polarized image and a preset refractive index of the rocket surface; determining a second normal vector of the rocket surface according to a pseudo gray image corresponding to a first polarized image with a polarization angle of 0 DEG in the polarized images; correcting the first normal vector by adopting the second normal vector to obtain a corrected normal vector; carrying out three-dimensional reconstruction on the image according to the correction normal vector to obtain a current rocket image; determining current first axis information of the rocket according to the current rocket image; and respectively determining the current take-off drift amount and the current drift azimuth angle of the rocket according to the first axis information and the second axis information of the rocket in the rocket image obtained when the rocket is stationary. The invention can improve the detection precision.
Description
Technical Field
The invention belongs to the technical field of optical imaging, and particularly relates to a rocket launching drift amount detection method.
Background
Rocket launch is a high cost, high risk, significant item whose purpose is to detect its performance and collect data, in preparation for verifying guesses and improving designs. Since the rocket launching process cannot be subjected to repeated tests, the process of collecting relevant data in the rocket launching process as accurately as possible and reducing error and risk becomes a critical ring in rocket launching tasks. The actual flying process of the rocket is determined by various factors, the drifting amount of the rocket refers to the degree of deviation of the upper part, the middle part and the lower part from plumb lines when the rocket takes off, the drifting amount of the rocket body in the taking-off stage (namely the process from taking off to leaving the tower) is measured to be an important basis for judging whether the taking-off state of the rocket is normal or not, and the transverse drifting amount is measured to be used for detecting the difference between theoretical calculation and actual flying results. Optical measurement is taken as an indispensable means of space launching, and at present, the image acquisition is generally carried out by adopting an optical means in the vertical launching process of the rocket, and then the drift amount of the rocket in the launching stage is obtained by carrying out data processing through a computer. The importance of high-precision drift amount measurement is self-evident for accurate control of data analysis and conditions, but common optical imaging measurement is difficult to meet the requirement of high-precision takeoff drift amount measurement due to the environmental condition influence of various aspects such as smoke steam, changeable illumination conditions, ground vibration, heat radiation and the like in an emission site. The polarization three-dimensional imaging technology has the advantages of simple equipment, higher precision, small application limit and the like, so that the complex environmental problem of a transmitting field can be overcome, and the reconstruction information is applied to drift amount detection so as to realize high-precision measurement.
Currently, related measurement technologies include measurement technologies based on high-speed television measurement systems and rocket active drift measurement technologies based on laser radars. The adoption of a plurality of high-speed television measuring instruments is a common means for acquiring the drift amount in the rocket take-off stage at present, and the acquisition of optical information is easier. The high-speed television measuring instrument generally comprises a remote control console and a plurality of high-speed camera measuring instruments, wherein the high-speed camera measuring instruments mainly comprise a precise tracking rack, a high-speed camera system, a computer control system, a high-speed camera storage and interpretation system, a video tracking system, a servo control system, a time system terminal and the like. Under the control of a remote console and a time synchronization system, the high-speed television measuring instrument tracks the rocket and synchronously records the rocket take-off image, the transmitted image is interpreted in the later period to obtain the angle information of the same name point of the rocket, and the angle information is intersected by the triangulation principle to obtain the initial trajectory of rocket launching and the take-off offset of the rocket. However, the resolution of the image obtained by the technology is low, the requirement on ambient illumination is high due to extremely dependent image discrimination, but the interference of complex environmental factors of a rocket launching field can greatly influence the imaging quality, the system composition of the technology is complex, the final measurement precision is low due to the superposition of errors of all parts, and the equipment cost is high, and the usability and the stability are poor. The laser radar-based rocket active drift amount measuring technology is characterized in that the laser radar is arranged on a precise two-turntable and used for tracking and scanning the position of a rocket target point, and further drift amount in the rocket take-off stage is determined through collected laser point cloud data, so that the whole power consumption is low, the cost is low, and the device is simple and easy to use. However, the laser scanning device needs to actively scan the target, has a limited working distance, and needs to eliminate environmental errors such as ground vibration, smoke and tail flame light interference during rocket launching, so that the precision and stability are required to be improved.
That is, the existing measurement technology is difficult to cope with complex environments such as smoke interference, abrupt illumination change, ground vibration and the like existing in rocket launching sites, errors are easy to occur, the processing time is long, and the precision of measuring the take-off drift amount is low.
Disclosure of Invention
In order to solve the problems in the related art, the invention provides a rocket launching drift amount detection method. The technical problems to be solved by the invention are realized by the following technical scheme:
the invention provides a rocket launching drift amount detection method, which comprises the following steps:
acquiring a plurality of polarized images of different polarization angles of the rocket at the current stage of rocket launching;
determining a first normal vector of the rocket surface according to the polarized image and a preset refractive index of the rocket surface;
determining a second normal vector of the rocket surface according to a pseudo gray image corresponding to a first polarized image with a polarization angle of 0 DEG in the polarized images;
correcting the first normal vector by adopting the second normal vector to obtain a corrected normal vector;
performing three-dimensional reconstruction of the image according to the correction normal vector to obtain a current rocket image;
determining current first axis information of the rocket according to the current rocket image;
and respectively determining the current take-off drift amount and the current drift azimuth angle of the rocket according to the first axis information and the second axis information of the rocket in the rocket image obtained when the rocket is stationary.
The invention has the following beneficial technical effects:
according to the method, the obtained normal vector is more accurate through correcting the normal vector on the surface of the rocket, and then the rocket image in the rocket launching process is reconstructed in real time according to the normal vector with high accuracy, so that the rocket image obtained by reconstruction is higher in accuracy, and finally the drift amount and the drift azimuth angle accuracy in real time according to the real-time image with high accuracy are higher in accuracy, so that the influence of a complex environment on target information acquisition in rocket launching can be reduced, the measurement accuracy is improved, the advantages of simple measurement structure, cost saving and the like are achieved, the application range of the three-dimensional reconstruction technology is widened, and the method has important engineering application value.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a flowchart of a rocket launching drift amount detection method provided by an embodiment of the invention;
FIG. 2 is a schematic illustration of polarized images of a plurality of different polarization angles of an exemplary acquisition rocket provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of exemplary normal vectors versus azimuth and zenith angles provided by an embodiment of the present invention;
FIG. 4 is a graph showing cosine of light intensity as a function of polarizer rotation angle for an exemplary embodiment of the present invention;
FIG. 5 is a schematic illustration of an exemplary rocket surface marker ring provided in accordance with embodiments of the present invention;
fig. 6 is a schematic diagram of an exemplary principle of calculating a takeoff drift amount and a drift azimuth angle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Fig. 1 is a flowchart of a rocket launch drift amount detection method according to an embodiment of the present invention, which may be performed by a polarization imaging system, and the polarization imaging system includes a color polarization camera and a data processing platform connected thereto. As shown in fig. 1, the method comprises the steps of:
s101, acquiring polarized images of a plurality of different polarization angles of the rocket at the current stage of rocket launching.
Here, at the current time of the rocket launching phase, exemplarily, as shown in fig. 2, reflected light of a rocket Surface (Target Surface) may be collected frame by a polarization imaging system (Polarization Imaging System), so as to obtain a plurality of polarized images with polarization angles of 0 °, 45 °, 90 °, 135 °, respectively; wherein S in FIG. 2 r And S is t Representing the polarization states of the rocket surface incident and transmitted, respectively, S' representing the polarization state of the received reflected light, FIG. 2Representing normal vector of rocket surface, θ representing zenith angle, φ representing azimuth angle, < ->Representing normal vector +.>Projection onto an Imaging Plane xOy.
Here, the current time of the rocket launching phase may be each time of the rocket launching phase.
S102, determining a first normal vector of the rocket surface according to the polarized image and a preset refractive index of the rocket surface.
Here, the degree of polarization and the azimuth angle of the rocket surface may be determined from the plurality of polarization images, respectively; determining zenith angles according to the polarization degree, the azimuth angle and the preset refractive index of the rocket surface; according to the azimuth angle and the zenith angle, an x-direction gradient component, a y-direction gradient vector and a z-direction gradient component are respectively determined; the directional gradient component, the y-directional gradient component, and the z-directional gradient component constitute a first normal vector.
Specifically, for a first polarized image having a polarization angle of 0 ° and a second polarized image having a polarization angle of 45 ° obtained by a color polarization camera, the polarization angles areA third polarized image with 90 degrees and a fourth polarized image with 135 degrees of polarization angle can be used for intercepting a rectangular area containing a rocket from each polarized image, and correspondingly a first polarized image I can be obtained 0 Second polarized element image I 45 Third polarized image I 90 And a fourth polarized element image I 135 The method comprises the steps of carrying out a first treatment on the surface of the Calculating I parameter, Q parameter and U parameter in Stokes vector according to formula (1), substituting calculated I parameter, Q parameter and U parameter into formula (2) to calculate polarization degree P' of rocket surface, and inputting first polarized oscillator image I 0 Second polarized element image I 45 Third polarized image I 90 Substituting into formula (3), calculating azimuth angleThen substituting the polarization degree P' into the formula (4), and calculating to obtain the zenith angle theta 1 The method comprises the steps of carrying out a first treatment on the surface of the Finally, willAnd theta 1 Substituting into formula (5), calculating to obtain a first normal vector +.>
The formula (1) is:wherein S is Stokes vector, I is I parameter, Q is Q parameter, and U is U parameter.
The formula (2) is:
the formula (3) is:
the formula (4) is:wherein n is the preset value of the rocket surfaceRefractive index, for example, n=1.4.
The formula (5) is:wherein (1)>The x-direction gradient component of (2) is sin theta 1 />And, p may be used as the expression; the gradient component in the y direction is sin theta 1 />May be represented by q; the gradient component in the z direction is cos theta 1 。
Exemplary, FIG. 3 is a normal vectorIs>And zenith angle theta 1 Schematic of the relationship between the two.
In some embodiments, when I is obtained 0 、I 45 、I 90 、I 135 I can also be used when 0 、I 45 、I 90 、I 135 Light intensity I obtained by fitting a least square method to a rotating polarizer follows the rotation angle theta of the polarizer pol A varying cosine curve, such as that shown in FIG. 4, from which the maximum I of the intensity I is obtained in accordance with the curve of FIG. 4 max And minimum value I min Further, the degree of polarization is defined byThe degree of polarization P' was obtained. And obtaining +.about.according to the curve of FIG. 4 and Malus' law>Specifically, the method comprises the steps of,when the light intensity reaches the maximum value I max At the time of object surface incidence azimuth angle +.>Equal to I max Corresponding theta pol 。
S103, determining a second normal vector of the rocket surface according to the pseudo gray image corresponding to the first polarized image with the polarization angle of 0 degrees in the polarized images.
Here, before S103, it is necessary to determine the pseudo gray image I from the first polarized image d The principle is as follows: cutting out a rectangular region containing rocket from the first polarized image to obtain a first polarized image I 0 Determining a template image I which is most matched with the first polarized image from a plurality of preset template images 0 The method comprises the steps of carrying out a first treatment on the surface of the The three-dimensional grid data of the rocket are corresponding to each preset template image; will be in image I with the first polariton 0 Depth information in three-dimensional grid data corresponding to the best-matched template image is used as a pseudo gray image I d 。
Specifically, the grid data of the existing rocket three-dimensional model is subjected to two-dimensional rendering, so that a plurality of and I can be obtained 0 Template images at different visual angles close to the visual angle, and screening out I from the template images by using an Template Matching algorithm based on OpenCV 0 The best matched template image and takes depth information in three-dimensional grid data corresponding to the screened template image as a pseudo gray level image I d For subsequent calculation of a priori normal vector
In particular, pseudo gray scale image I d As prior information, pseudo gray images I are obtained d Gradient fields in x-direction and y-direction and pseudo gray scale image I d Gradient field in x-direction as normal to rocket surfaceGradient component p along the x-axis d Pseudo gray image I d Gradient field in y-direction as normal +.>Gradient component q along the y-axis d After that, the azimuth angle +_ can be solved according to equation (6)>And zenith angle theta d . Specifically, formula (6) is: />
S104, correcting the first normal vector by adopting the second normal vector to obtain a corrected normal vector.
Here, since the polarized light intensities obtained at two positions where the rotation angles are 180 ° different from each other are equal during rotation of the polarizing plate, the azimuth angle obtained from the four polarized images as described above has 180 ° ambiguity from the actual situation, and thus the accuracy of the normal direction (normal vector) obtained from the polarized images is affected, and therefore correction of the surface normal is required.
Here, the x-direction gradient component p of the first normal vector and the x-direction gradient component p of the second normal vector may be determined d The product between them to obtain a first product value p d * p; determining a y-direction gradient component q of the first normal vector and a y-direction gradient component q of the second normal vector d The product between them to obtain a second product value q d * q; according to the first product value p d * p correcting the x-direction gradient component p of the first normal vector to obtain an x-direction correction component p aftercor And, according to the second product value q d * q corrects the y-direction gradient component q of the first normal vector to obtain a y-direction correction component q aftercor The method comprises the steps of carrying out a first treatment on the surface of the A correction normal vector is obtained based on the x-direction correction component and the y-direction correction component.
Specifically, when p is obtained aftercor And q aftercor Thereafter, the first normal vector may beP instead of the x-direction gradient component p of (2) aftercor Replacing the y-direction gradient component q with q aftercor Thereby obtaining the corrected normal vector.
Specifically, the correction principle is as formula (7):
s105, performing three-dimensional reconstruction of the image according to the correction normal vector to obtain the current rocket image.
Here, the corrected normal vector may be used for gradient integration to complete the three-dimensional reconstruction. For example, three-dimensional reconstruction may be accomplished by the Frankot-Chellappa algorithm. The algorithm assumes that the surface function Z (x, y) gradient and the measured gradient of the object to be reconstructed satisfy a least squares approximation, minimizing the gradient of the reconstructed surface and the measured gradient error W, as shown in particular in equation (8). The integration problem is converted into the frequency domain by fourier transformation mapping a series of non-integrable gradient fields to a combination of a series of integrable functions in the frequency domain to complete the surface reconstruction, as shown in equation (9).
Equation (8) is:wherein z is x ,z y The components of the surface function to be reconstructed in the x-direction and the y-direction, respectively.
Equation (9) is:wherein F {.cndot. } represents the discrete Fourier transform, F -1 {. The inverse discrete Fourier transform is represented, and the range of values of the frequency coordinates (u, v) is +.>And->M and N are vectors p when three-dimensional reconstruction is carried out by using the obtained normal vector of each pixel point aftercor And q aftercor Is a number of (3).
106. And determining current first axis information of the rocket according to the current rocket image.
Here the rocket surface carries at least two marker rings at different positions of the rocket, for example, as shown in fig. 5, the rocket surface carries marker ring 1, marker ring 2 and marker ring 3. When the current (moment) rocket image is obtained, the rocket image can be input into a data processing platform, the data processing platform can determine the pixel position of each marking ring (namely, the three-dimensional coordinates of a plurality of pixel points contained in the marking ring) in the current rocket image, and the three-dimensional coordinate data of each marking ring is obtained according to the pixel positions; performing circle center fitting according to the three-dimensional coordinate data of each marking ring to obtain the three-dimensional coordinate of the circle center of each marking ring; determining three-dimensional coordinate data of the current axis of the rocket according to the three-dimensional coordinates of the circle centers of the at least two marker rings; the three-dimensional coordinates of a preset position point (for example, a midpoint) on the current axis are taken as first axis information.
Specifically, a position calibration tool may be used to determine the position of each marker ring from the rocket image.
Specifically, the three-dimensional coordinate data of each marker ring is constituted by the three-dimensional coordinates of all the pixel points included in the marker ring.
Specifically, the obtained connecting line of the plurality of circle centers can be used as the axis of the rocket, so that the three-dimensional coordinate data corresponding to the axis of the rocket is determined according to the three-dimensional coordinates of the plurality of circle centers.
S07, determining the current take-off drift amount and the current drift azimuth angle of the rocket according to the first axis information and the second axis information of the rocket in the rocket image obtained when the rocket is stationary.
Specifically, when the rocket is stationary, a frame of rocket image can be obtained by the method, the axis of the rocket in the rocket image is determined according to the frame of rocket image, a three-dimensional coordinate system is established by taking a preset position point (for example, a midpoint) on the axis as an origin and taking the axis direction as a Y-axis, so that the coordinates of the midpoint of the axis of the rocket image at the time of stationary are (0, 0), and when the coordinates of the midpoint of the axis of the rocket image at the time of stationary are m (X.Y, Z), X and Y in m (X.Y, Z) can be substituted into formulas (10) and (11) respectively, and the current take-off drift amount P and the drift azimuth angle theta are calculated. Thus, the detection of the amount of drift can be accomplished by comparing the change in relative position between the axis of the rocket image when the rocket is stationary and the axis in the rocket image for each frame when the rocket is ascending.
Specifically, formula (10) is:the method comprises the steps of carrying out a first treatment on the surface of the The formula (11) is: />
By way of example, fig. 6 is a schematic diagram of the principle of calculating the take-off drift amount P' and the drift azimuth angle θ.
According to the invention, by utilizing the characteristics that the polarization three-dimensional imaging of the target object is less affected by environment, the distance is far and is not contacted, the reconstruction result has good detail information and the like, the polarization three-dimensional reconstruction is carried out on the surface of the target object, the three-dimensional information is further used for offset detection in the rocket take-off stage, the polarization normal is corrected by prior information in the reconstruction process, the ambiguity problem in the normal direction is avoided, the reconstruction precision is ensured, the high-precision drift detection is facilitated, the requirement of the high-precision rocket take-off drift detection of a new technological product is met, and further the works such as performance evaluation, improvement design, safety control and the like can be better carried out. Meanwhile, the cost is lower, the application range of the polarized three-dimensional imaging is widened, and a larger value is created for future application of the polarized three-dimensional imaging to be used as a bedding.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (10)
1. The rocket launching drift amount detection method is characterized by comprising the following steps of:
acquiring a plurality of polarized images of different polarization angles of the rocket at the current stage of rocket launching;
determining a first normal vector of the rocket surface according to the polarized image and a preset refractive index of the rocket surface;
determining a second normal vector of the rocket surface according to a pseudo gray image corresponding to a first polarized image with a polarization angle of 0 DEG in the polarized images;
correcting the first normal vector by adopting the second normal vector to obtain a corrected normal vector;
performing three-dimensional reconstruction of the image according to the correction normal vector to obtain a current rocket image;
determining current first axis information of the rocket according to the current rocket image;
and respectively determining the current take-off drift amount and the current drift azimuth angle of the rocket according to the first axis information and the second axis information of the rocket in the rocket image obtained when the rocket is stationary.
2. A method of detecting the amount of drift of a rocket launch according to claim 1 wherein the rocket surface carries at least two marker rings located at different positions of the rocket; the determining the current first axis information of the rocket according to the current rocket image comprises the following steps:
determining the pixel position of each marking ring in the current rocket image, and obtaining three-dimensional coordinate data of each marking ring according to the pixel position;
performing circle center fitting according to the three-dimensional coordinate data of each marking ring to obtain the three-dimensional coordinate of the circle center of each marking ring;
determining three-dimensional coordinate data of the current axis of the rocket according to the three-dimensional coordinates of the circle centers of the at least two marker rings;
and taking the three-dimensional coordinates of the preset position point on the current axis as the first axis information.
3. A rocket launch drift amount detection method according to claim 1, wherein said first axis information is a first three-dimensional coordinate of a preset position point on the axis of the rocket, and said second axis information is a second three-dimensional coordinate of said preset position point; the determining the current take-off drift amount and drift azimuth angle of the rocket according to the first axis information and the second axis information of the rocket in the rocket image obtained when the rocket is stationary comprises the following steps:
determining a three-dimensional coordinate difference value according to the second three-dimensional coordinate and the first three-dimensional coordinate;
and respectively determining the current take-off drift amount and the current drift azimuth angle of the rocket according to the x-direction coordinate difference value and the y-direction coordinate difference value in the three-dimensional coordinate difference values.
4. A rocket launch drift detection method according to claim 1 and wherein said second normal vector has an x-direction gradient component and a y-direction gradient component; the determining the second normal vector of the rocket surface according to the pseudo gray image corresponding to the first polarized image with the polarization angle of 0 degree in the polarized images comprises the following steps:
and determining gradient fields of the pseudo gray image in the x direction and the y direction respectively to obtain an x-direction gradient component and a y-direction gradient component of the second normal vector.
5. A rocket launch drift detection method according to claim 1 and wherein said first and second normal vectors each have an x-direction gradient component and a y-direction gradient component; the correcting the first normal vector by adopting the second normal vector to obtain a corrected normal vector comprises the following steps:
determining the product between the x-direction gradient component of the first normal vector and the x-direction gradient component of the second normal vector to obtain a first product value;
determining the product between the y-direction gradient component of the first normal vector and the y-direction gradient component of the second normal vector to obtain a second product value;
correcting the x-direction gradient component of the first normal vector according to the first product value to obtain an x-direction correction component, and correcting the y-direction gradient component of the first normal vector according to the second product value to obtain a y-direction correction component;
and obtaining the correction normal vector based on the x-direction correction component and the y-direction correction component.
6. A rocket launch drift detection method according to claim 5 and wherein said correcting said x-direction gradient component of said first normal vector according to said first product value to obtain an x-direction corrected component and correcting said y-direction gradient component of said first normal vector according to said second product value to obtain a y-direction corrected component comprises:
when the first product value is greater than zero, taking an x-direction gradient component of the first normal vector as the x-direction correction component;
when the first product value is less than zero, taking the negative x-direction gradient component of the first normal vector as the x-direction correction component;
when the second product value is greater than zero, taking a y-direction gradient component of the first normal vector as the y-direction correction component;
and when the second product value is smaller than zero, taking the negative y-direction gradient component of the first normal vector as the y-direction correction component.
7. A rocket launch drift amount detection method according to claim 1, wherein said determining a first normal vector of a rocket surface based on said polarization image and a preset refractive index of the rocket surface comprises:
respectively determining the polarization degree and azimuth angle of the rocket surface according to the polarization images;
determining a zenith angle according to the polarization degree, the azimuth angle and a preset refractive index of the rocket surface;
according to the azimuth angle and the zenith angle, an x-direction gradient component, a y-direction gradient vector and a z-direction gradient component are respectively determined; the x-direction gradient component, the y-direction gradient component, and the z-direction gradient component constitute the first normal vector.
8. A rocket launch drift detection method according to claim 7 and wherein said plurality of polarized images comprises: a first polarized image having a polarization angle of 0 °, a second polarized image having a polarization angle of 45 °, a third polarized image having a polarization angle of 90 °, and a fourth polarized image having a polarization angle of 135 °; the determining the polarization degree and the azimuth angle of the rocket surface according to the polarized images respectively comprises the following steps:
a rectangular region containing a rocket is respectively intercepted from the first polarized image, the second polarized image, the third polarized image and the fourth polarized image, and a first polarized oscillator image, a second polarized oscillator image, a third polarized oscillator image and a fourth polarized oscillator image are correspondingly obtained;
respectively calculating an I parameter, a Q parameter and a U parameter in a Stokes vector according to the first polarized oscillator image, the second polarized oscillator image, the third polarized oscillator image and the fourth polarized sub-image;
determining the polarization degree of the rocket surface according to the I parameter, the Q parameter and the U parameter;
and determining the azimuth angle according to the first polariton image, the second polariton image and the third polariton image.
9. A rocket launch drift amount detection method according to claim 1, wherein before said determining a second normal vector of a rocket surface from a pseudo gray image corresponding to a first polarized image having a polarization angle of 0 ° among said polarized images, a preset albedo of the rocket surface, and a direction of a polarization camera for acquiring said polarized image, said method further comprises:
intercepting a rectangular area containing a rocket from the first polarized image to obtain a first polarized image;
determining a template image which is most matched with the first polariton image from a plurality of preset template images; the three-dimensional grid data of the rocket are corresponding to each preset template image;
and taking depth information in three-dimensional grid data corresponding to a template image which is most matched with the first polariton image as the pseudo gray scale image.
10. A rocket launch drift detection method according to claim 3 wherein said drift is calculated as:the calculation formula of the drift azimuth angle is as follows: />Wherein P is the drift amount, θ is the drift azimuth angle, X is the X-direction coordinate difference, and Y is the Y-direction coordinate difference.
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