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提出了一种基于特征圆单目视觉的非接触式飞机舵面角位移标定技术。用一台数码摄像机对固定在飞机舵面上的特征圆进行拍照,经数字图像处理后确定五个特征点的坐标,利用针孔成像和射影变换原理建立物像空间坐标解算模型,计算出特征圆的法线相对方向和圆心的相对位置,舵面角位移由该圆的法线方向确定。仿真结果表明,该方法具有标定过程简单、实时、快速和准确的特点,标定精度可达到0.1°。该技术也可用于航天器上实时测量交会对接时的相对位姿参数。
A non-contact aircraft rudder surface angular displacement calibration technique based on the monocular vision of the feature circle was proposed. A digital camera is used to take a picture of the characteristic circle fixed on the rudder surface of the aircraft. After the digital image processing, the coordinates of the five feature points are determined. The pinhole imaging and projective transformation principle are used to establish the object space coordinate solution model The relative position of the normal of the feature circle relative to the center of the circle, and the displacement of the rudder angle are determined by the normal direction of the circle. Simulation results show that this method has the characteristics of simple, real-time, fast and accurate calibration, the calibration accuracy can reach 0.1 °. This technique can also be used to measure the relative pose parameters of the rendezvous and docking at the time of spacecraft.