CN2753080Y - Calibrating equipment for internal orientation element intersection angle of trilinear array CCD camera - Google Patents
Calibrating equipment for internal orientation element intersection angle of trilinear array CCD camera Download PDFInfo
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- CN2753080Y CN2753080Y CN 200420012610 CN200420012610U CN2753080Y CN 2753080 Y CN2753080 Y CN 2753080Y CN 200420012610 CN200420012610 CN 200420012610 CN 200420012610 U CN200420012610 U CN 200420012610U CN 2753080 Y CN2753080 Y CN 2753080Y
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- turntable
- inductosyn
- control unit
- drive motors
- array ccd
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Abstract
The utility model relates to a calibrating device for orientation elements and intersection angles in a photography and measure camera, which is composed of a calibrating turn table 1, a trilinear array CCD camera 2 which is measured, a collimator 3 and an optical table 4, wherein the calibrating turn table 1 comprises a horizontal shaft 5, a plummer 6, a vertical shaft 7, a first inductosyn 8, a second inductosyn 9, a first drive motor 10, a second drive motor 11 and an electronic control unit 12 of a turn table, wherein drive motors are controlled by the calibrating turn table through the electronic control unit of the turn table according to a rotation angle stepping value which is installed, the number of measuring points of the trilinear array CCD camera which is measured is controlled by the electronic control unit of the turn table, the drive motors are controlled to drive the calibrating turn table to rotate to cause an angle value to be automatically exported through the inductosyns, the data of the angle value of the calibrating turn table is collected by the electronic control unit of the turn table and a data file is directly formed and stored in a computer from measuring data to cause the calibration of a camera to be quick and convenient. The utility model solves the problem that the measuring precision is affected by aiming and reading by people, and the calibrating precision of the camera is enhanced.
Description
Technical field: the utility model belongs to the photogrammetric technology field, relates to the calibration facility of photogrammetric camera internal position element, intersection angle.
Background technology: the optoelectronic scanning imaging moiety of three-linear array CCD measurement camera is made up of three line array CCD transducers on the optical system focal plane.These three line array CCD A, B, C are arranged parallel to each other and are vertical with the aerospace craft heading.When aerospace craft flies, each CCD with a synchronous cycle N continuous sweep ground and the histogram that produces three mutual crossovers as As, Bs, Cs.The imaging angle difference of these three CCD.Vertical imaging over the ground be called positive view sensor, the imaging that turns forward be called preceding view sensor, and the imaging that recedes is the back view sensor.As shown in Figure 1, B is positive view sensor, and A is preceding view sensor, and C is the back view sensor.Push away that to sweep the histogram that obtained also different as the visual angle of As, Bs, Cs.
In photogrammetric process (as shown in Figure 2), if know the elements of exterior orientation (X of three-linear array CCD camera when each scans moment N
N, Y
N, Z
N, θ
N,
N, Ψ
N), i.e. position and the attitude angle of the initial point of camera coordinate system in earth based coordinate system known the elements of interior orientation of three-linear array CCD camera, promptly the master of camera is apart from f, principal point position (x
o, y
o) and intersection angle γ, arbitrary object point P on the ground so
i(X
i, Y
i, Z
i) o'clock at three different N constantly
A, N
B, N
cPicture point coordinate (x on Shi Zaisan bar line array CCD A, B, the C
A, y
A), (x
B, y
B) and (x
C, y
C) just can be definite fully.Otherwise, if can obtain corresponding P
iPicture point coordinate (x
A, y
A), (x
B, y
B) and (x
C, y
C), then can calculate P
iCoordinate (X
i, Y
i, Z
i), principle that three-linear array CCD camera carries out stereophotogrammetric survey that Here it is.
The front is mentioned, and three-linear array CCD camera carries out stereophotogrammetric survey, and the master that must know camera is apart from f, principal point position (x
o, y
o) and intersection angle γ.Main distance and principal point position are elements of interior orientation.Forward sight camera and the angle facing camera, rear view camera and face optical axis between camera are intersection angle.The stated accuracy of camera internal position element, intersection angle is the key factor that is directly connected to the photogrammetric camera certainty of measurement of three-linear array CCD.The demarcation of three-linear array CCD camera elements of interior orientation, intersection angle is different from the demarcation of frame camera.Be used for the three-linear array CCD camera calibration facility and comprise demarcation turntable, parallel light tube, T4 theodolite etc.
Detailed content of the present utility model: in order to solve background technology in the method for utilizing photoelectric measurement to combine, when carrying out DATA REASONING, to carry out data acquisition by artificial aiming measurement, certainty of measurement is influenced by technical staff's reading and sight device precision, data record is loaded down with trivial details, consuming time, the data preparation workload is big, camera calibration can not automation problem, the purpose of this utility model is to design a set of equipment, realize the elements of interior orientation of three-linear array CCD camera, the inferior pixel precision calibration of intersection angle, thereby guarantee the three-linear array CCD camera photogrammetric accuracy.Staking-out work simultaneously is simple and efficient.
The utility model comprises demarcates turntable, tested three-linear array CCD camera, parallel light tube, optical table.Demarcate turntable and comprise trunnion axis, plummer, vertical axis, asterism hole graticle is installed in parallel light tube is produced directional light, parallel light tube is aimed at the plummer of demarcating on the turntable; It is characterized in that also comprising: first inductosyn, second inductosyn, first drive motors, second drive motors, turntable ECU (Electrical Control Unit); Demarcation turntable, tested three-linear array CCD camera, parallel light tube all are installed on the optical table, the height of parallel light tube make tested three-linear array CCD camera face the camera level time can aim at visual field, parallel light tube center, first inductosyn and second inductosyn that is used for angular surveying is installed respectively on trunnion axis and vertical axis, first drive motors and second drive motors that is used to rotate trunnion axis and vertical axis is installed respectively on the demarcation turntable; In the turntable ECU (Electrical Control Unit), be provided with trunnion axis and vertical axis the corner step value, the measure dot number of tested three-linear array CCD camera to the imaging of parallel light tube asterism is set, the input/output interface of turntable ECU (Electrical Control Unit) is connected with first inductosyn, second inductosyn, first drive motors, the input/output interface of second drive motors in demarcating turntable by telecommunication cable, is used to control the corner angle and the rotation direction of demarcation turntable; Utilize the turntable ECU (Electrical Control Unit) to gather trunnion axis and vertical axis angle-data; Utilizing the turntable ECU (Electrical Control Unit) to control first drive motors and second drive motors drives and demarcates turntable and rotate by the corner step value of setting trunnion axis, vertical axis, utilize the turntable ECU (Electrical Control Unit) that the output angle value of first inductosyn and second inductosyn is carried out data acquisition, measurement data directly forms the data file storage.
The utility model: be installed in the demarcation turntable on the optical table, tested three-linear array CCD camera, parallel light tube, tested three-linear array CCD camera is installed on the plummer of demarcating turntable, tested three-linear array CCD camera is rotated in by what demarcate trunnion axis on the turntable and vertical axis that the asterism to parallel light tube scans on height and the horizontal direction, utilize the axle upper angle to measure, finish elements of interior orientation, the intersection angle of tested three-linear array CCD camera and demarcate.
Good effect of the present utility model: drive motors is controlled by the corner step value that is provided with by the turntable ECU (Electrical Control Unit) because turntable is demarcated in the utility model utilization, the turntable ECU (Electrical Control Unit) is controlled the measure dot number of tested three-linear array CCD camera, the controlling and driving motor-driven is demarcated turntable and is rotated, make system can pass through inductosyn output angle value automatically, utilize the turntable ECU (Electrical Control Unit) that the angle value of demarcating turntable is carried out data acquisition, measurement data directly forms data file and is stored in the computer, makes the demarcation of camera efficient and convenient.And solved personnel's aiming, reading etc. and influence all multifactor of certainty of measurement, improved the stated accuracy of camera.
Calibration facility of the present utility model is by demarcating turntable, asterism to the heavy caliber parallel light tube scans, utilize the axle upper angle to measure, tested three-linear array CCD camera elements of interior orientation, intersection angle are demarcated reached inferior pixel precision, thereby guarantee tested three-linear array CCD camera photogrammetric accuracy.It is the demarcation of intersection angle between the elements of interior orientation of photoeletric measuring system of sensor and each linear array that the utility model can be applicable to a plurality of line scan image sensors by plummer.
Description of drawings:
Fig. 1 is the fundamental diagram of background technology three-linear array CCD camera
Fig. 2 is the photogrammetric schematic diagram of background technology three-linear array CCD camera
Fig. 3 is the utility model calibration facility schematic diagram
Fig. 4 is that the utility model is installed three line-scan digital cameras and demarcated turntable and face and partial sectional view
Fig. 5 is the end view of Fig. 3
Embodiment:
A specific embodiment of the present utility model is as shown in Figure 3: demarcate turntable 1, tested three-linear array CCD camera 2, parallel light tube 3, optical table 4.Wherein demarcate turntable 1 and comprise trunnion axis 5, plummer 6, vertical axis 7, first inductosyn 8, second inductosyn 9, first drive motors 10, second drive motors 11, turntable ECU (Electrical Control Unit) 12.
Demarcate turntable 1: the demarcation turntable structure figure of employing sees accompanying drawing 4 and Fig. 5.The key technical indexes:
Slewing area: just-30 °～+ 210 °
Level ± 360 °
Angle measurement accuracy: be better than 1.5 rads
Angle resolution: 1 rad
Trunnion axis 5: trunnion axis bearer ring diameter phi 220, the depth of parallelism adopt steel to make less than 0.02mm.Plummer 6 is of a size of 700mm * 500mm * 350mm, adopts steel or aluminium alloy to make.Plummer 6 is the rectangle frame structure, has T type groove to be used to install tested three-linear array CCD camera 2 on the frame wall.It is indeformable that plummer 6 rigidity will satisfy the tested three-linear array CCD camera of loading 2 backs, guarantees to demarcate the shafting precision of turntable 1.
Vertical axis 7: footpath φ 740mm in the bearer ring raceway, bearer ring flatness＜2 μ m, two columns on vertical axis 7 bodies are done two supports of trunnion axis 5, adopt steel to make.
Parallel light tube 3 and optical table 4 get final product by the requirement of universal optical instrument.Parallel light tube 3: adopt director's focal length, bigbore parallel light tube.Focal distance f '=5000mm, the parallel light tube of bore φ 600mm.Optical table 4 is chosen as 13 meters long, 1.2 meters wide air supporting vibration-isolating platform.
Tested three-linear array CCD camera 2 will satisfy apart from parallel light tube 3 demarcates turntable 1 rotating requirement and as far as possible close parallel light tube 3, to reduce the veiling glare influence.Turntable ECU (Electrical Control Unit) 12: adopt PC and single-chip microcomputer to form turntable control and data acquisition system.Adopt serial communication to realize information exchange.
Turntable ECU (Electrical Control Unit) 12 of the present utility model is provided with manually and automatic control mode, manually under the control model, operates when being convenient to by calibration facility installation adjustment, and automatic mode is convenient to demarcate data acquisition when detecting.
Claims (1)
1, the calibration facility of three-linear array CCD camera elements of interior orientation, intersection angle, comprise and demarcate turntable (1), tested three-linear array CCD camera (2), parallel light tube (3), optical table (4), demarcating turntable (1) comprising: trunnion axis (5), vertical axis (7), it is characterized in that: demarcate turntable (1) and also comprise: plummer (6), first inductosyn (8), second inductosyn (9), first drive motors (10), second drive motors (11), turntable ECU (Electrical Control Unit) (12); First inductosyn (8) and second inductosyn (9) that is used for angular surveying is installed respectively on trunnion axis (5) and vertical axis (7), first drive motors (10) and second drive motors (11) that is used to rotate trunnion axis (5) and vertical axis (7) is installed respectively on demarcation turntable (1); In turntable ECU (Electrical Control Unit) (12), be provided with trunnion axis (5) and vertical axis (7) the corner step value, the measure dot number of tested three-linear array CCD camera (2) to parallel light tube (3) asterism imaging is set, the input/output interface of turntable ECU (Electrical Control Unit) (12) is connected with first inductosyn (8), second inductosyn (9), first drive motors (10), the input/output interface of second drive motors (11) in demarcating turntable (1) by telecommunication cable, is used for the corner angle and the rotation direction of control demarcation turntable (1); Utilize turntable ECU (Electrical Control Unit) (12) to gather trunnion axis (5) and vertical axis (7) angle-data; Utilizing turntable ECU (Electrical Control Unit) (12) control first drive motors (10) and second drive motors (11) to drive demarcation turntable (1) rotates by the corner step value of setting trunnion axis (5), vertical axis (7), utilize turntable ECU (Electrical Control Unit) (12) that the output angle value of first inductosyn (8) and second inductosyn (9) is carried out data acquisition, measurement data directly forms the data file storage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420012610 CN2753080Y (en) | 2004-10-15 | 2004-10-15 | Calibrating equipment for internal orientation element intersection angle of trilinear array CCD camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420012610 CN2753080Y (en) | 2004-10-15 | 2004-10-15 | Calibrating equipment for internal orientation element intersection angle of trilinear array CCD camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2753080Y true CN2753080Y (en) | 2006-01-18 |
Family
ID=35914490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420012610 Expired - Fee Related CN2753080Y (en) | 2004-10-15 | 2004-10-15 | Calibrating equipment for internal orientation element intersection angle of trilinear array CCD camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2753080Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959501A (en) * | 2019-03-29 | 2019-07-02 | 北京空间机电研究所 | A kind of optical sensor elements of interior orientation and distort test macro and method |
| CN112197112A (en) * | 2020-09-29 | 2021-01-08 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional tracking rotary table |
-
2004
- 2004-10-15 CN CN 200420012610 patent/CN2753080Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959501A (en) * | 2019-03-29 | 2019-07-02 | 北京空间机电研究所 | A kind of optical sensor elements of interior orientation and distort test macro and method |
| CN112197112A (en) * | 2020-09-29 | 2021-01-08 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional tracking rotary table |
| CN112197112B (en) * | 2020-09-29 | 2021-11-02 | 中国科学院长春光学精密机械与物理研究所 | Two-dimensional tracking rotary table |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |