双目立体视觉的远距离运动物体运行姿态研究  

Attitude of Dynamic Object in Long Distance Based on Parallel Optic Axes Binocular Vision System

作　　者：张晓玲[1] 张宝峰[1] 林玉池[2] 

机构地区：[1]天津理工大学天津市复杂系统控制理论及应用重点实验室,天津300191 [2]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《光电工程》2008年第3期16-20,共5页Opto-Electronic Engineering

基　　金：天津市高等学校科技发展基金项目(2006BA23)

摘　　要：提出了一种采用双目立体视觉测量技术来获得炮弹运行姿态的新方法。首先利用加权平均的方法求炮弹的质心,然后利用炮弹表面点到弹轴的距离相等的原理,用最小二乘拟合法推导出弹轴方程,得到弹轴矢量,最后通过建立弹轴矢量与姿态角之间的数学关系得到炮弹运行时的姿态角。仿真实验结果表明,该测量方法具有较高的精度,能满足远距离运动物体运动参数的测量要求。A new method for measuring dynamic attitude of missile is proposed by adopting the binocular vision measurement system, in which two CCDs are used and their optic axes are parallel. Firstly, the centroid of missile is obtained by the weighted average method. Secondly, the axis vector of the measured missile is fitted by the 3-D coordinate of missile＇s surface which is obtained with image matching method. Because the axis of missile is a straight line which gets through the centroid of missile, the interval between the measured missile＇s surface points and its axes is equal. Lastly, the attitude of measured missile is obtained by the mathematics relationship between the axis vector and the attitude. The simulation experiment shows that the measurement method has higher precision, and can meet the measurement requirements on the dynamic parameter of moving object in long distance.

关 键 词：双目视觉 光轴平行 炮弹 姿态测量 俯仰角 偏航角 

分 类 号：TJ012.36[兵器科学与技术—兵器发射理论与技术]