基于双目视觉飞行目标落地参数测量方法研究  

Measurement of Landing Parameters of Flying Target Based on Binocular Vision Model

作　　者：崔彦平[1,2] 葛杏卫[1] 

机构地区：[1]河北科技大学机械电子工程学院,石家庄050018 [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：《半导体光电》2010年第4期629-633,639,共6页Semiconductor Optoelectronics

基　　金：教育部博士点专项科研基金资助项目(20030056017);河北科技大学科学研究基金与大学生科技创新基金资助项目

摘　　要：飞行目标落地参数是评定飞行目标系统性能的重要技术指标。为了测量飞行目标落地参数,采用放置在落弹点区域附近的凝视等待式双目视觉摄像机,高速摄像交汇测量飞行目标的落地参数。由最小二乘法拟合目标各时刻质心的空间三维坐标,建立了目标三维空间轨迹的多项式函数,对多项式函数求导得到目标的飞行速度。针对回转体类飞行目标特点,根据其在摄像机像面成像的情况,将目标分为三类,采用了不同的姿态测量方案,并对测量的误差来源进行了分析,提出了减小测量误差的方法。实验与理论分析表明,所采用的速度与姿态测量方法正确、可靠,速度的测量误差小于1%,大目标和过渡目标姿态角测量误差小于0.5°,为飞行目标的动态参数测量提供了一条新的便捷可靠的途径。Landing parameters of a flying target are the important indexes for assessing the performance of the flying target.The binocular intersection measuring system was set up near the landing area to detect the landing parameters of the flying target by high-speed photograph.The 3Dcoordinate of centroid at different moments was fitted with the method of least square,and the 3Dtracking polynomial function was obtained.So the flying speed of the target could be obtained by calculating the derivatives of the polynomial function.Based on the characteristic of rotary objects,three pose-measuring methods were proposed according to their different sizes of images in the camera planes.The measuring error sources were analyzed and the methods for reducing the measuring error were put forward.Experimental results show that the speed-measuring error is less than 1%,and the pose-measuring error of both big targets and transition targets is less than 0.5°.The experiments and theoretical analysis prove the exactness and effectiveness of the proposed measuring methods.

关 键 词：双目视觉 姿态测量 速度测量 飞行目标 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]