Non-contact motion measurement method for object suspended by helicopter

Abstract

The invention provides a non-contact motion measurement method for an object suspended by a helicopter, which is used for measuring the position and the posture of an object suspended by a helicopterduring the flight. A binocular camera and two lidars are mounted on the belly of a helicopter. An optical mark having a specific pattern is attached to a suspended object for identification and tracking of the suspended object. The binocular camera is used to observe moving images of the suspended object in real time. The lidar is used to scan the contour of the suspended object in real time. Themethod comprises the following steps: acquiring the position and the posture of the helicopter; determining the translation matrix and the rotation matrix of a camera coordinate system, a lidar coordinate system and a helicopter body coordinate system by calibration; and calculating the displacement and the attitude of the suspended object relative to the helicopter body and the attitude relativeto the geodetic coordinate system. The invention solves problems of real-time measurement of the motion state of an object suspended by a helicopter, and provides accurate and reliable data for studying the influence of the suspended object on the manipulation and the flight quality of a helicopter.

Description

technical field [0001] The application belongs to the technical field of helicopter flight test, and in particular relates to a non-contact method for measuring the movement of objects suspended outside a helicopter. Background technique [0002] When the helicopter is performing external hanging operations, the position, speed and attitude information of the hanging objects relative to the helicopter body itself have a crucial impact on the flight quality and flight safety of the helicopter. Therefore, accurate and effective measurement of the motion information of the external hanging objects, research on the motion state of the hanging objects during the flight of the helicopter, and its influence on the flight control and flight quality of the helicopter, are of great importance to the development and design of the helicopter and its suspension device and the user's operation safety. has great significance. [0003] At present, there are mainly two types of technologies...

AI Technical Summary

Problems solved by technology

[0006] For helicopter hanging operations, because the hanging objects need to be replaced frequently, the system needs to measure different operating processes, so this method is only suitable for low-frequency, small-scale use, and does not have the conditions for widespread application

[0007] 2. Monocular vision

Its measurement accuracy in the distance direction only increases linearly with the increase of distance, but the obvious disadvantage is that it is limited by the number of scanning surfaces, and the angle between scanning surfaces is large, so the accuracy in the direction perpendicular to the scanning surface (tangential direction) lower

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