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Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform

A binocular stereo vision and stereo measurement technology, applied in the field of measurement, can solve the problems of accuracy limitation and no angle calculation method, and achieve the effects of high precision, fast speed and simple calculation process.

Active Publication Date: 2013-09-18
HARBIN INST OF TECH
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  • Description
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  • 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
[0008] In the literature "Computer vision-assisted determination of attitude of five-degree-of-freedom air bearing platform" (2009, Vol. 41, No. 4, 220-226), a "monocular vision + two-axis inclinometer + three-axis gyroscope" was designed. Combining the attitude determination scheme to determine the attitude information of the five-degree-of-freedom air-floor platform, in which the monocular vision module can only solve the yaw angle of the air-floor platform

Method used

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  • Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform
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  • Binocular stereovision measuring device and method for attitude angle of triaxial air floating platform

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Embodiment 1

[0035] see figure 1 , the present invention mainly consists of the following parts:

[0036] The first digital CCD camera 101, the second digital CCD camera 102, the first lens 103, the second lens 104, the first camera base 105, the second camera base 106, the first artificial light source 201, the second artificial light source 202, Air bearing table top 301 , spherical air bearing 302 , bearing base 303 , measurement target 304 , instrument platform 305 , converter 4 , and computer 5 .

[0037] Both the first and second CCD cameras 101.102 are black-and-white digital CCD cameras, which are connected to the computer 5 through a converter 4 for anti-interference.

[0038] First and second cameras 101.102 are mounted on first and second bases 105.106, respectively.

[0039] The first and second lenses 103.104 are object-space telecentric lenses.

[0040] The first and second artificial light sources 201.202 provide constant, reliable illumination for image acquisition.

[...

Embodiment 2

[0046] The invention uses binocular cameras to collect images of measurement targets, and uses the principle of stereo vision measurement to calculate the attitude angle of the three-axis air-floating ball bearing in the body coordinate system. The schematic diagram of the main flow chart is as image 3 As shown, it mainly includes the following main steps:

[0047] 1. The measurement target is installed on the air bearing platform, and the world coordinate system in the measurement system of the present invention is established. In this coordinate system, all mark points on the three-dimensional target have unique three-dimensional coordinates;

[0048] 2. Each of the two cameras collects an image of a stereo measurement target and transmits it to the computer;

[0049] 3. Perform feature extraction on the two images, and use sub-pixel positioning technology to determine the coordinates of all marker points in the two images in the image pixel coordinate system; related algo...

Embodiment 3

[0065] 1. Projection matrix calculation principle:

[0066] The calculation method of the projection matrix H between the image pixel coordinate system and the world coordinate system of the camera involved in the present invention is as follows:

[0067] The imaging model between the i-th marker point and its image point on the measurement target is:

[0068] z ci u i v i 1 = H x w , i y w , ...

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Abstract

The invention relates to a binocular stereovision measuring device and method for the attitude angle of a triaxial air floating platform. The measuring device is composed of two cameras, camera bases, a measuring target, light sources and a computer, wherein the two black and white digital CCD (charge coupled device) cameras are arranged above the triaxial air floating platform and are arranged on the camera bases, the artificial light sources are installed on the neighborhood of the cameras, and the stereoscopic measurement target is installed on an air floating ball bearing platform surface. The method comprises the following steps of: establishing a coordinate system, respectively collecting a digital image of the target through stereoscopic measurement by the two cameras, and transferring the images to the computer; and integrating projection matrixes between the two cameras and the measure target as well as positioning information of a measuring illuminating mark, calculating the three-dimensional coordinate of each marking point in a world coordinate system according to a stereovision measuring theory, and resolving absolute attitude angle information of an air floating ball bearing through coordinate conversion. In the mode, the non-contact, non-disturbance and high-frequency measurement of a triaxial air floating platform can be realized.

Description

technical field [0001] The invention relates to the technical field of measurement, in particular to a binocular stereo vision measuring device and a measuring method thereof for the attitude angle of a three-axis air bearing platform. Background technique [0002] The three-axis air bearing table is a space vehicle motion simulator, which is used to test the performance of the satellite control system in the full physical simulation experiment, and is an important means and method in the process of space vehicle development. [0003] The three-axis air bearing table is composed of a spherical air bearing and a bearing seat. There are air holes on the bearing seat. Compressed gas cylinders continuously deliver compressed air to the space between the spherical air bearing and the bearing seat through the air holes, so that the spherical air bearing floats and the spherical surface The air bearing table can perform three-dimensional rotation. Since the friction between the sp...

Claims

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Application Information

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IPC IPC(8): G01C1/00
Inventor 李莉夏红伟马广程王常虹马闯曾庆双
Owner HARBIN INST OF TECH
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