基于靶标的火箭炮位姿视觉测量方法研究  

Research on the Visual Measurement Method of Rocket Launcher Pose Based on Target

作　　者：梁熙 杨长浩 葛世程 李学霖 高光民 李军[3] 李永泽[1] 冯高鹏[1] LIANG Xi;YANG Changhao;GE Shicheng;LI Xuelin;GAO Guangmin;LI Jun;LI Yongze;FENG Gaopeng(Institute of Systems Engineering,China Academy of Engineering Physics,Mianyang 621999,Sichuan,China;Beijing Institute of Aerospace Metrology and Testing Technology,China Academy of Launch Vehicle Technology,Beijing 100076,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China)

机构地区：[1]中国工程物理研究院总体工程研究所,四川绵阳621999 [2]中国运载火箭技术研究院北京航天计量测试技术研究所,北京100076 [3]南京理工大学机械工程学院,江苏南京210094

出　　处：《弹箭与制导学报》2023年第3期68-75,共8页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：为提供火箭炮起落架相对于弹药装填车的精准位姿关系,提出了一种使用新型靶标的位姿视觉测量方法。使用一种以标志圆为定位原点的新型特征标志,解决了棋盘格因旋转带来的特征点排序混乱问题;基于边界聚类原理设计了椭圆检测算法;设计了一种Harris算法和角点检测模板相结合的角点提取算法,用于提取角点的准确坐标;利用特征点分布规律设计了特征点排序算法,用于实现特征点的自动排序。使用有限元方法得到起落架在不同载荷下的变形情况,经过分析发现其对位姿测量造成的误差很小,并得到减小起落架变形干扰的最合适靶标安装位置。位姿测量实验表明:文中算法的角度误差均值为0.16°,位移误差均值为0.29 mm,达到了测量精度要求。In order to provide the accurate position and attitude relationship of the rocket launcher landing gear with respect to the ammunition loading vehicle,this paper proposes a vision measurement method for the position and attitude using a new target.A new type of feature mark with the mark circle as the origin is used to solve the chaotic order of feature points caused by the rotation of the checkerboard;the ellipse detection algorithm is designed based on the boundary clustering principle;a corner point extraction algorithm combining Harris algorithm and corner point detection template is designed to extract the accurate coordinates of corner points;a feature point sorting algorithm is designed by using the feature point distribution law to realize the automatic sorting of feature points.The finite element method is used to obtain the deformation of the landing gear under different loads.After analysis,it is found that the error caused by the measurement of the pose is very small,and the most suitable target installation position to reduce the interference of the deformation of the landing gear is obtained.Pose measurement experiments show that the average angle error of this algorithm is 0.16°,and the average displacement error is 0.29 mm,which meets the measurement accuracy requirements.

关 键 词：箱式火箭炮 位姿视觉测量 特征标志 特征点提取与排序 误差分析 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TJ713[自动化与计算机技术—计算机科学与技术]