基于物距辅助的单站姿态处理方法  

Single-Station Pose-Processing Method Based on Object Distance Assistance

作　　者：胡小丽[1] 张玉伦[1] 刘彪[1] 王雨[1] 张思琪 Hu Xiaoli;Zhang Yulun;Liu Biao;Wang Yu;Zhang Siqi(Huayin Ordnance Test Center,Huayin,Shaanxi 714200,China;Institute of Modem Control Technology,Xi'an,Shaanxi 710054,China)

机构地区：[1]中国华阴兵器试验中心,陕西华阴714200 [2]现代控制技术研究所,陕西西安710054

出　　处：《光学学报》2019年第6期160-164,共5页Acta Optica Sinica

基　　金：军内科研项目(012016018200A22304)

摘　　要：为了解决靶场姿态测量系统中远距离单站测量易出现不稳定解或解不收敛的难题,从而为靶场常规中远距离光学单站姿态处理提供可行方案,在某参与计算特征点物距可获取的前提下,提出了一种物距辅助的单站姿态信息获取方法;首先提出物面连续离散化等效计算像长的方法,在此基础上,以像长为匹配元素建立单站透视姿态测量模型,然后以炮管为例对算法进行试验验证,最后对关键影响因素进行误差分析。结果表明:偏航角、俯仰角相对真值的均方根误差分别为0.97°、0.90°;所提方法可拓展至飞机类非轴对称回转体目标单站飞行姿态的处理。An object distance-aided single-station pose information acquisition method is proposed to solve unstable or non-convergence problems existed in minimum-to-long-distance single-station pose measurements on the premise that the object distance of a feature point can be obtained. First, an equivalent method of continuous discretization of object surface is proposed to calculate image length. Second, a single-station perspective pose measurement model is established using image length as the matching element. Then, the algorithm is tested and verified considering barrel as an example. Finally, the error analysis is conduct for the key factors. The results show that the relative root mean square errors of yaw and pitch angles are 0.97° and 0.90°, respectively. The proposed method can be extended to the single-station pose measurement of the non-axisymmetric objects revolving around aircrafts.

关 键 词：测量 摄像测量 单站姿态 离散化等效 物距辅助 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术]