空中目标姿态测量技术及其仿真实验研究
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摘要
目标的三维姿态是航天测控系统中非常重要的物理量，对导弹、火箭、返回舱等的评估和设计有着重要意义。而光测方法具有非接触、全场测量和高精度三大重要特点，在靶场对目标的测量中有着非常重要的应用。基于光测图像测量空间目标姿态角是通过对目标的两幅投影图像提取、识别、匹配、解释以及重建三维环境信息的过程，主要包括：视频捕获、摄像机标定、图像预处理、特征提取、立体匹配以及三维重建。
本论文的主要目的是研究利用光测，通过对目标图像的处理来获取空中目标三维姿态角：俯仰角、偏航角、滚动角的姿态信息。总结全文，所做的主要工作和得到的主要结果如下：参考了大量文献，总结了姿态测量的研究概况；学习和研究了目标姿态角测量的基本方法，提出了一种基于光电经纬仪交会测量空中目标姿态的方案，建立了经纬仪透视投影模型，以及双经纬仪三维坐标测量模型，给出较为合理的空中目标的俯仰角、偏航角、滚动角测量的数学模型；对建立的数学模型进行误差分析，给出影响系统测量误差的因素。搭建了该测量系统原理仿真实验模型，进行测量系统标定，包括基线长度标定、镜头畸变标定、摄像机标定以及弹模型标定；对仿真实验采集的图像进行实时处理和判读，给出了实时提取目标姿态角的具体算法；分析实验数据，给出提高目标姿态测量精度的经纬仪的最优布站方案。
通过原理仿真实验得到，当电子经纬仪的测角精度为2″，CCD摄像机的焦距为50mm，弹模型的直径为30mm，长度为200mm，目标轴线在两测站投影角的均方值小于90°时，俯仰角和偏航角的静态测量合成误差σ_合＜0.2°；当弹模型对于两测站张角大于80°小于110°时，滚动角的静态测量误差σ_θ＜2°。
Object's 3-D attitude is a very important physical parameter, and has significant meaning in designing and evaluating aerial target like rockets, missile and so on. In traditional way, Gyro with high accuracy was used to measure the 3-D movement. But it has shortages of low reliability of data communication and high price of test and measurement. And the method of optical measurement has important applications in target measurement in armament training camp, for it has three important characteristics: non-contact measurement, whole dimension measurement and high accuracy. The method of measuring the 3-D attitude of the remote revolving target based on optical measurement image is a process of abstraction, identification, matching, and interpretation of two target images and reconstruction of three dimensional circumstance messages. It mainly includes image capture, calibration of camera, preprocession of image, feature extraction, tridimentional match and reconstruction of 3-D attitude.
This paper is focused on the measure of aerial target attitude information, which is referred to pitch angle, drift angle and rolling angle. Summarizing the whole paper, the main contents and results can include from following aspects. We have referred to mass of documentations and summarized the general situation of attitude measurement research. Based on the study of the basic methods of measuring the attitude angles, we have derived an aerial target attitude measurement scheme by intersection measurement based on theodolite. The perspective projection model of the theodolite is analyzed and the mathematical model of the three-dimensional coordinates measuring system with dual-theodolites (TCMSBT). The math models of pitch angle, drift angle and rolling angle are created. The measuring precision of this method is analyzed in detail and the factors that affect it are given. In this paper, an emulate experiment that measuring the 3-D pose of the target is carried out in lab. And we take the calibration experiments of this measurement system which include
本论文的主要目的是研究利用光测，通过对目标图像的处理来获取空中目标三维姿态角：俯仰角、偏航角、滚动角的姿态信息。总结全文，所做的主要工作和得到的主要结果如下：参考了大量文献，总结了姿态测量的研究概况；学习和研究了目标姿态角测量的基本方法，提出了一种基于光电经纬仪交会测量空中目标姿态的方案，建立了经纬仪透视投影模型，以及双经纬仪三维坐标测量模型，给出较为合理的空中目标的俯仰角、偏航角、滚动角测量的数学模型；对建立的数学模型进行误差分析，给出影响系统测量误差的因素。搭建了该测量系统原理仿真实验模型，进行测量系统标定，包括基线长度标定、镜头畸变标定、摄像机标定以及弹模型标定；对仿真实验采集的图像进行实时处理和判读，给出了实时提取目标姿态角的具体算法；分析实验数据，给出提高目标姿态测量精度的经纬仪的最优布站方案。
通过原理仿真实验得到，当电子经纬仪的测角精度为2″，CCD摄像机的焦距为50mm，弹模型的直径为30mm，长度为200mm，目标轴线在两测站投影角的均方值小于90°时，俯仰角和偏航角的静态测量合成误差σ_合＜0.2°；当弹模型对于两测站张角大于80°小于110°时，滚动角的静态测量误差σ_θ＜2°。
Object's 3-D attitude is a very important physical parameter, and has significant meaning in designing and evaluating aerial target like rockets, missile and so on. In traditional way, Gyro with high accuracy was used to measure the 3-D movement. But it has shortages of low reliability of data communication and high price of test and measurement. And the method of optical measurement has important applications in target measurement in armament training camp, for it has three important characteristics: non-contact measurement, whole dimension measurement and high accuracy. The method of measuring the 3-D attitude of the remote revolving target based on optical measurement image is a process of abstraction, identification, matching, and interpretation of two target images and reconstruction of three dimensional circumstance messages. It mainly includes image capture, calibration of camera, preprocession of image, feature extraction, tridimentional match and reconstruction of 3-D attitude.
This paper is focused on the measure of aerial target attitude information, which is referred to pitch angle, drift angle and rolling angle. Summarizing the whole paper, the main contents and results can include from following aspects. We have referred to mass of documentations and summarized the general situation of attitude measurement research. Based on the study of the basic methods of measuring the attitude angles, we have derived an aerial target attitude measurement scheme by intersection measurement based on theodolite. The perspective projection model of the theodolite is analyzed and the mathematical model of the three-dimensional coordinates measuring system with dual-theodolites (TCMSBT). The math models of pitch angle, drift angle and rolling angle are created. The measuring precision of this method is analyzed in detail and the factors that affect it are given. In this paper, an emulate experiment that measuring the 3-D pose of the target is carried out in lab. And we take the calibration experiments of this measurement system which include
引文
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