基于单目视觉的天线副面并联调整机构相对位姿测量方法  

Relative Pose Measurement Method of the Subreflector StewartPlatform Based on Monocular Vision

作　　者：张文哲 项斌斌[2] 王娜[2] 王兆军[1] 古丽加依娜·哈再孜汗[2,3] ZHANG Wen-zhe;XIANG Bin-bin;WANG Na;WANG Zhao-jun;GULJAINA Kazezkhan(College of Physical Science and Technology,Xinjiang University,Urumqi 830046;Xinjiang Astronomical Observatory,Chinese Academy of Sciences,Urumqi 830011;University of Chinese Academy of Sciences,Beijing 100049)

机构地区：[1]新疆大学物理科学与技术学院,乌鲁木齐830046 [2]中国科学院新疆天文台,乌鲁木齐830011 [3]中国科学院大学,北京100049

出　　处：《天文学报》2022年第1期50-57,共8页Acta Astronomica Sinica

基　　金：国家重点研发计划(2018YFA0404702);中国科学院“西部之光”项目(2017-XBQNXZ-B-021);中国科学院天文台站设备更新及重大仪器设备运行专项经费资助。

摘　　要：为测量天线副面并联调整机构的相对位姿,研究了一种基于单目视觉的位姿测量系统.采用光源照射固定于动平台上的合作目标,结合滤光片等控制手段,利用单目相机采集非共面特征点的图像,获得高对比度的准理想图像.经过图像处理和平方加权质心法,提取出特征点的图像坐标,使用EPnP(Efficient Perspective-n-Point)算法进行位姿解算,最终可以得到并联调整机构的相对位姿测量方法.最后通过实验进行了精度验证,结果表明平移精度为0.1 mm,旋转精度为0.05◦,满足了实验要求,为并联机构的位姿检测提供了可行性思路.In order to measure the relative position of the Stewart platform for the subreflector of a dual-reflector antenna, the monocular vision based position measurement system is studied and designed.A cooperative target fixed on a moving platform by light source is proposed. Combined with the filter and other control means, the monocular camera is applied to collect the image of non-coplanar feature points,and the quasi ideal image with high contrast is obtained. The image coordinates of the feature points are extracted, and the relative position measurement method of the Stewart platform is obtained by using Efficient Perspective-n-Point(EPnP) algorithm. Finally, the accuracy is verified by experiments. The results show that the translation accuracy is 0.1 mm and the rotation accuracy is 0.05°, which meets the experimental requirements, and provides a feasible idea for the position detection of the Stewart platform.

关 键 词：单目视觉 位姿测量 EPnP算法 合作目标 

分 类 号：P111[天文地球—天文学]