标定飞机方向舵角位移的视觉测量法  

Calibration Method for Rudders Angular Displacement Based on Monocular Vision

作　　者：何森[1,2] 王志斌[1,2] 张旭峰[1] 高永全[1] 曹美珍[1] 

机构地区：[1]中北大学理学院,太原030051 [2]中北大学仪器科学与动态测试技术教育部重点实验室,太原030051

出　　处：《光电工程》2009年第12期73-78,共6页Opto-Electronic Engineering

摘　　要：飞机飞行性能试验前需标定其方向舵的角位移传感器。基于单目视觉,以三个圆心为靶面的基本标志,圆周为辅助标志;用两直线段的交点标明圆心位置。取平行于像面的直径为特征直径,借助它容易从像面椭圆图像提取靶面深度信息,并建立简单、精确的逆透视变换公式。设计了亚像素法处理照片,能精确测出圆心像点位置和特征直径的像长,用来求圆心的世界坐标,得到靶面的平面方程。舵的角位移可用靶面角位移表示。计算机仿真结果,圆心像点位置测量误差小于0.02pixel,角位移测量误差小于0.005°。靶面与舵轴不平行导致的测量误差能及时修正,可降低对靶面安装的要求,使操作简单。能在现场标定飞机副翼、襟翼、升降舵、方向舵的角位移。Three circle centers are taken as chief mark of the target-plane. These circles are taken as auxiliary mark. The circle center is marked by the intersection of two lines. The diameter parallel to the image-plane is taken as characteristic diameter, by which the depth information for the target plane can be got from elliptic figures on the image-plane easily, so the solution of the inverse-perspective-transformation can be made simple and accurate. By designing a sub-pixel processing, circler-centre-image position and characteristic diameter image length can be got exactly. An algorithm was designed to calculate circle centre position. Then plane formula of the target plane can be got. The rudder＇s angular displacement can be expressed by the target＇s angular displacement. The computer simulating test indicates that measurement error for circle center image position within 0.02 pixels and measurement error for angular displacement within 0.005°. The measurement error caused by the target plane deviation from the direction parallel with the rudder-axis can be corrected in time. By this method, the angular displacement of aileron, flop, elevator and rudder of the airplane may be calibrated.

关 键 词：光学测量 角位移 单目视觉 特征直径 亚像素处理方法 

分 类 号：V556.5[航空宇航科学与技术—人机与环境工程]