基于单目视觉的三轴气浮台姿态测量方法  

Attitude measurement method of the Three-axis air bearing table based on monocular vision

作　　者：薛伟 陈志明 吴云华 华冰 骆州淮 XUE Wei;CHEN Zhiming;WU Yunhua;HUA Bing;LUO Zhouhuai(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210000

出　　处：《光学技术》2021年第6期658-665,共8页Optical Technique

基　　金：国家自然基金(61973153,62073165)。

摘　　要：鉴于气浮台姿态测量是实现气浮台控制的重要基础,为了实现三轴气浮台姿态准确、快速测量,提出一种基于单目视觉的实时、高精度的姿态测量方法。采取一种鲁棒性强的三轴气浮台靶标形状及布局来提高姿态获取精度。提出一种拟合圆心流程,通过粗获取与精获取方法对靶标进行实时、鲁棒跟踪。最后利用提取到的圆心位置信息采用迭代最小二乘的姿态估计算法解算出气浮台的位姿信息。实验结果表明:单目视觉测量算法的实时帧数可达20帧,静态姿态测量精度约为0.02°,动态姿态测量精度约为0.12°,能够满足气浮台对姿态测量时的实时性、准确性、鲁棒性需求。In view of the fact that the attitude measurement of the air bearing table is an important basis for the control of the air bearing table,in order to realize the accurate and fast attitude measurement of the Three-axis air bearing table,a real-time and high-precision attitude measurement method based on monocular vision is proposed.A robust target shape and layout method is adopted to improve the attitude acquisition accuracy.A process of fitting the center of a circle is proposed,and the target can be tracked in real time and robustly through rough acquisition and accurate acquisition methods.Finally,the position and attitude information of the air bearing table is calculated by using the iterative least square attitude estimation algorithm.The experimental results show thatthe real-time frame of the monocular vision measurement algorithm can reach up to 20 frames,and the attitude measurement accuracy is about 0.02 degrees under static conditions,0.12 degrees under dynamic conditions and can meet the real-time,accuracy and robustness requirements of the air bearing table for attitude measurement.

关 键 词：三轴气浮台 单目视觉 靶标识别 姿态估计 

分 类 号：V416.8[航空宇航科学与技术—航空宇航推进理论与工程]