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为了解决机载光电平台与载机间存在相对角位移造成目标定位精度下降问题,设计了一种机载光电平台相对角位移实时测量系统。对现阶段使用的机载光电平台目标定位精度不高的原因以及基于改进的多控制点相机在线标定与姿态测量等理论进行研究。分析了机载光电平台目标定位误差的主要原因;对基于单目视觉理论的机载光电平台相对角位移测量方案进行研究,并以相机标定理论为原型给出了相对角位移测量的数学模型;结合多控制点立体靶标并使用随机并行梯度下降算法(SPGD)与直接线性变换方法(DLT),给出了三步法求解机载光电平台相对角位移的方法;使用设计的方法对机载光电平台相对角位移进行了测量,给出了实验与仿真结果。实验结果表明:设计的机载光电平台相对角位移测量方法精度优于0.092°,单次测量平均耗时小于0.54ms,完全满足现阶段机载光电平台相对角位移测量的精度与实时性等相关要求。
In order to solve the problem of the decrease of the target location accuracy caused by the relative angular displacement between the onboard photoelectric platform and the carrier, a real-time measurement system of the relative angular displacement of the onboard optical platform is designed. The reasons for the poor positioning accuracy of the airborne optical platform used in the present stage and the theory of online calibration and attitude measurement based on the improved multi-control point camera are studied. The main reason of the positioning error of the airborne optical platform is analyzed. The measurement scheme of the relative angular displacement of the airborne optical table based on monocular vision theory is studied. The mathematical model of relative angular displacement measurement is given based on the camera calibration theory. The method of three-step method to solve the relative angular displacement of the on-board electro-optical platform is given by combining the three-dimensional target of multi-control point and using SPGD and DLT. By using the design method, The relative angular displacement of the platform was measured, and the experimental and simulation results were given. The experimental results show that the accuracy of the relative angular displacement measurement method is less than 0.092 ° and the average time consumption per measurement is less than 0.54 ms, which can fully meet the requirements of accuracy and real-time of the relative angular displacement measurement of the airborne optical platform at the present stage Claim.