基于单目视觉的火箭回收高度测量技术研究  

Research on measurement technology of rocket recovery height based on monocular vision

作　　者：路荣 张高鹏 曹剑中[1,2] 陈卫宁 郭惠楠[1,2] 张海峰 张哲[1,2] 梅超 关蕾[1,2] LU Rong;ZHANG Gaopeng;CAO Jianzhong;CHEN Weining;GUO Huinan;ZHANG Haifeng;ZHANG Zhe;MEI Chao;GUAN Lei(University of Chinese Academy of Sciences,Beijing 100049,China;Xi'an Institute of Optics and Fine Mechanics,Chinese Academy of Sciences,Xi'an710019,China)

机构地区：[1]中国科学院大学,北京100049 [2]中国科学院西安光学精密机械研究所,陕西西安710019

出　　处：《光学精密工程》2024年第14期2166-2188,共23页Optics and Precision Engineering

基　　金：国家自然科学基金(No.51905529);中国科学院青年创新促进会会员项目(No.2022410)。

摘　　要：精确测量火箭实时高度是完成火箭回收任务的重要前提之一,为了实现对火箭高度的实时测量,本文对基于单目视觉的火箭回收高度测量技术进行了研究。首先针对火箭回收过程中的烟雾场景,在何凯明暗通道去雾算法的基础上,结合视网膜大脑皮层(Retinex)理论对透射率函数进行改进,从而提升了去雾算法对不同雾环境下的适应性。其次,针对火箭回收中靶点的特性,提出了适用于靶点特征提取的算法,并设计实验验证了算法的可行性与可靠性。针对火箭与地面靶点的几何特性构建了数学模型,并设计实验定量分析了高度解算算法的可行性。最后定量分析了不同雾浓度下不同去雾算法对高度测量结果的影响。仿真和实物实验结果表明,根据本文提出方法计算得到的火箭高度解算精度在0.5 m以内,可满足火箭回收中对高度测量的需求。Accurate measurement of rocket height is one of the important preconditions to complete the rocket recovery task.In o-rder to realize the real-time measurement of rocket height,the rocket recovery height measurement technology was studied based on monocular vision.Firstly,in view of the smoke scene in the process of rocket recovery,the transmission function was improved bas-ed on the He Kai lightdark channel de-fogging algorithm in combination with Retinex theory,so as to improve the adaptability of the de-fogging algorithm to different fog environments.Secondly,according to the characteristics of tar⁃get in rocket recovery,an algorithm suitable for target feature extraction was proposed,and the feasibility and reliability of the algorithm were verified by e-xperiments.According to geometric characteristics of the rocket and the ground target,the mathematical model is built,and feasib-ility of the altitude algorithm is analyzed quantitatively by designing experiments.Finally,the influence of different defogging alg-orithms on the height measurement results under different fog concentrations is quantitatively analyzed.The simu⁃lation and exper-imental results show that the accuracy of rocket height calculated by the proposed method is within 0.5 m,which can meet the de-mand of height measurement in rocket recovery.

关 键 词：火箭回收 单幅图像去雾 质心提取 高度解算 单目视觉 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]