光学遥感成像半实物仿真中坐标系统转换  

Coordinate System Transformation in HIL Simulation of Optical Remote Sensing Imaging

作　　者：李明譞 江刚武[1] 张锐[1] 张一[1] 

机构地区：[1]信息工程大学,河南郑州450001

出　　处：《测绘科学技术学报》2017年第4期416-420,426,共6页Journal of Geomatics Science and Technology

基　　金：国家自然科学基金项目(41471387)

摘　　要：构建了一种以六自由度机器人为运动平台的光学遥感成像半实物仿真系统,利用共线条件方程的齐次坐标变换形式建立了仿真系统的成像模型,并对坐标系统转换问题进行了研究。提出一种利用全站仪确定沙盘坐标系与机器人基坐标系相互转换的"两步法";通过控制机器人旋转和平移运动,提出了一种单特征靶标测量模型,实现了摄像机坐标系与机器人工具坐标系的相互转换。最后通过空间前方交会计算多个靶标的物方坐标值,与物方真值进行比较,从而对系统精度进行评价。实验结果表明,立体定位误差优于0.5 mm,验证了提出的坐标转换方法的可行性与有效性,可为遥感成像仿真系统的设计与研究提供严密的空间基准和转换模型。An optical remote sensing imaging HIL simulation system based on 6 DOF robot is built. The imaging model of the simulation system is established by using the homogeneous coordinate transformation of the collinear condition equation, and the coordinate transformation of system has been studied. A two-step method of solving the relation between the sand table coordinate system and the robot base coordinate system by means of the total station has been proposed. By controlling the translational and rotational movement of the robot, a model of solving transformation matrix based on one single feature target has been proposed, so the mutual transformation between the sand table coordinate system and the camera coordinate system has been realized. Finally, the accuracy of the simulation system is evaluated by the space forward intersection to calculate the coordinate values of the objects comparing with the true values. The experimental results show that the stereotactic error is better than 0.5 mm. The feasibility and validity of the proposed coordinate transformation method are verified. The corresponding simulation system can provide tight spatial reference and transformation model for the design and research of remote sensing imaging simulation system.

关 键 词：光学遥感成像 半实物仿真 电荷耦合元件传感器 六自由度机器人 坐标转换 

分 类 号：P236[天文地球—摄影测量与遥感] TP722.4[天文地球—测绘科学与技术]