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Overall measurement system calibration method based on vision calibration and coordinate transformation

A coordinate conversion and measurement system technology, applied in the field of testing, to ensure flight safety, meet accuracy requirements, and save manpower

Inactive Publication Date: 2015-11-18
SHENYANG AIRCRAFT CORP
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Problems solved by technology

Due to the characteristics of the turntable structure, load-bearing and omnidirectional dynamics, the calibration method of inertial devices has certain safety problems. Therefore, an overall calibration method for automatic tracking and measurement systems based on visual calibration and coordinate transformation is invented to ensure the system. measurement accuracy

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  • Overall measurement system calibration method based on vision calibration and coordinate transformation
  • Overall measurement system calibration method based on vision calibration and coordinate transformation

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Embodiment Construction

[0032] The overall calibration method of the measurement system based on visual calibration and coordinate transformation of the present invention comprises the following steps:

[0033] (1) Calibrate the internal and external parameters of the camera;

[0034] (2) Hrc hand-eye calibration of the relationship between the coordinate system of the turntable and the coordinate system of the camera, using the property that the relative relationship between the hand of the turntable and the camera remains unchanged, the position of the target is fixed, and the turntable is rotated multiple times under the condition that the target is in the field of view. Then the i-th and j-th images are compared with the external parameters of the first time to calculate the R and t between the hand and the camera. Thus, the conversion matrix Hrc between the turntable and the camera is obtained.

[0035] (3) Calibration of the conversion relationship Hpr between the turntable coordinate system a...

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Abstract

The invention provides an overall measurement system calibration method based on vision calibration and coordinate transformation. The overall measurement system calibration method comprises the following steps: calibrating internal parameters and external parameters of a camera; performing hand-eye calibration on the relationship Hrc between a turntable coordinate system and a camera coordinate system; calibrating the transformation relationship Hpr between the turntable coordinate system and a place coordinate system or the transformation relationship Hrg between the turntable coordinate system and a ground coordinate system; on the basis of the acquisition of the Hrg, the Hpr and the Hrc, unifying the four coordinate systems of a camera, a turntable, a place and the ground; controlling the turntable to shoot a target, and mapping related information about the target to a specific coordinate system by combining the information about turntable azimuth, pitch angle and lens focal length, thus realizing a scheduled mask. An overall automatic tracking and measurement system can be calibrated by adopting the method; during the tracking and measuring process, the measurement precision of the system is ensured, and effective guarantee is provided for flight safety.

Description

Technical field [0001] The present invention is an overall calibration method based on visual calibration and coordinate conversion. The conversion of each coordinate system and the entire system internal parameter calibration of the automatic tracking and measurement systems are the field of test technology. Background technique [0002] The automatic tracking and measurement system contains 4 main coordinate systems including the earth, occasions, the transition, and the camera. It accurately marked the conversion relationship or venue coordinate system of the coordinate system and the land coordinate system in order to achieve the conversion between each coordinate system.Send the basis of measurement data.Due to the characteristics of the turntable frame, load -bearing, and omnidirectional dynamics, there are certain security problems using the calibration method of inertial devices, thereby inventing a calibration and measurement system based on visual calibration and coordi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 王小凌张宾史文浩
Owner SHENYANG AIRCRAFT CORP
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