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Satellite air-floated platform two-dimensional moving posture parameter measurement device

A technology of two-dimensional motion and attitude parameters, applied in the field of measurement, can solve the problems of accuracy limitation, no angle calculation method, etc., to achieve the effect of improving accuracy and speed, conducive to accurate positioning, and reducing environmental requirements

Active Publication Date: 2013-07-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the system uses color information as a measurement feature, and its accuracy is limited. At the same time, the paper does not give a clear angle calculation method

Method used

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  • Satellite air-floated platform two-dimensional moving posture parameter measurement device
  • Satellite air-floated platform two-dimensional moving posture parameter measurement device
  • Satellite air-floated platform two-dimensional moving posture parameter measurement device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] A satellite air bearing table two-dimensional motion attitude parameter measuring device, comprising a satellite air bearing table top 5, an air bearing 6 and a marble base 7, the air bearing 5 is installed on the marble base 7, and the satellite air bearing table 5 is installed on On the air bearing 6, an orifice is designed on the contact surface between the air bearing 6 and the marble base 7. After ventilation, an air film is formed between the air bearing 6 and the marble base 7, and the satellite air bearing table 5 can float , the friction between the floating air bearing 6 and the marble base 7 is very small, so that the air bearing table top 5 can translate and rotate. Light source 4 and computer 9, digital CCD camera 2 is installed on the top of satellite air bearing table top, digital CCD camera 2 is connected with computer 9, the imaging surface of digital CCD camera 2 is parallel with satellite air bearing table top 5, satellite air bearing table top A plur...

Embodiment 2

[0038] The flow chart of the measurement of high-precision two-dimensional motion parameters of the satellite air-floating platform of the present invention is as follows image 3 As shown, it mainly includes the following modules:

[0039] 1. Camera calibration module. Use the 2D plane target method to calibrate the camera, and determine the internal parameters and distortion coefficients of the camera.

[0040] as attached Figure 5 As shown, the following coordinate systems are involved:

[0041] (1) World coordinate system O w x w the y w z w , the three-dimensional spatial reference system;

[0042] (2) Camera coordinate system O c x c the y c z c , where O c is the perspective origin of the camera, z c is the optical axis;

[0043] (3) The image physical coordinate system Oxy of the camera, the plane and the optical axis z c perpendicular to the principal point O of the image. o c The distance between and O is the focal length f of the lens;

[0044] (4) ...

Embodiment 3

[0088] A measurement method obtained by using the above-mentioned two-dimensional motion attitude parameter measuring device of the satellite air bearing platform is as follows:

[0089] 1. Calibrate the digital CCD camera;

[0090] 2. Relatively calibrate the digital CCD camera;

[0091] 3. The digital CCD camera collects the images of artificial markers and transmits them to the computer;

[0092] 4. De-noise and de-noise the image, and determine the artificial marker area;

[0093] 5. Carry out sub-pixel positioning on the two artificial marker points in the image, and determine their pixel coordinates;

[0094] 6. Combining the results in step 2, using the visual measurement principle of the geometric similarity method, calculate the two-dimensional motion parameters of the satellite air-floating platform, including displacement, displacement velocity, angle and angular velocity;

[0095] 7. Repeat steps 3-6 to realize continuous measurement of the two-dimensional motio...

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Abstract

The invention discloses a satellite air-floated platform two-dimensional moving posture parameter measurement device which comprises a satellite air-floated bearing platform surface, an air-floated bearing and a marble base. The satellite air-floated platform two-dimensional moving posture parameter measurement device further comprises a digital charge coupled device (CCD) camera, artificially-marked points, artificial light sources and a computer. The digital CCD camera and a plurality of artificial light sources are arranged above the satellite air-floated bearing platform surface. Ray axis of each artificial light source is perpendicular to the satellite air-floated bearing platform surface. A plurality of artificially-marked points are pasted on the satellite air-floated bearing platform surface. The digital CCD camera is used for continuously collecting images of the artificially-marked points and transmitting the images to the computer. The computer is used for analyzing and processing the information of the images. After pixel coordinates of the artificially-marked points are determined, two-dimensional moving parameters of a satellite air-floated platform are figured out by means of the computer vision theory. The two-dimensional moving posture parameters include displacement, speed, rotation angles and angular velocity. In this way, a non-contact, no-disturbance and high-frequency measurement to the satellite air-floated platform is achieved. The satellite air-floated platform two-dimensional moving posture parameter measurement device is concise in computational process, high in accuracy and quick in speed.

Description

technical field [0001] The invention relates to measurement technology, in particular to a device for measuring two-dimensional motion attitude parameters of a satellite air-floating platform. Background technique [0002] The satellite air bearing platform is composed of air bearing and marble base. The air bearing is floated by the air film formed between the air bearing and the marble base by compressed air. The friction between the air bearing and the marble base is extremely small. Therefore, the air cushion has the ability of one-dimensional rotation and two-dimensional translation, which can simulate the frictionless mechanical environment of the satellite in space. As a space vehicle motion simulator, the full physical simulation experiment of the satellite control system on the satellite air-floating platform can test the performance of the system, which is an important means and method in the process of space vehicle development. [0003] During the test, the sate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/02G01B11/26G01P3/38
Inventor 李莉夏红伟马广程王常虹马闯王艳敏屈祯深陆智俊
Owner HARBIN INST OF TECH
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