Scene matching semi-physical simulation system based on mechanical arm with six degree of freedom

Abstract

The invention relates to a scene matching semi-physical simulation system based on a mechanical arm with six degree of freedom, consisting of hardware systems such as a simulation calculation sub-system, a mechanical arm sub-system with six degree of freedom, a photographing sub-system and a large-screen projection sub-system, and a scene reference map database, a scene matching software, a matching area selecting and a flight path planning software, and a relevant software of a mechanical arm motion model for simulating flight attitude. The actual work process of scene matching is simulated by using the mechanical arm with six degree of freedom, a camera, a large-screen projector and a mechanical arm motion model; a common PC is adopted as a simulation computer; the matching area selecting and the flight path planning software generates matching area data and orbit data; the dynamic characteristics of the system is accomplished by utilizing the mechanical arm motion model and the large-screen projector; the main errors (illumination and smoke) of the system are simulated by controlling the turning-on and turning-off of a fluorescent lamp; and the collection of real-time images, the control of the mechanical arm, the control of the projection speed, and a matching calculation are accomplished in the simulation computer, thus accomplishing the scene matching semi-physical simulation system. The system truly simulates the actual work process and the error of the scene matching, and the experimental result has significant meaning to the research and manufacture and the applications of scene matching engineering samples and can replace the flight-test experimental process in the actual research and development process, thus greatly improving the research and manufacture efficiency, lowering the research and manufacture cost, and having significant economic value and popularization value.

Description

technical field [0001] The invention relates to a semi-physical simulation system, in particular to a scene matching semi-physical simulation system based on a 6-degree-of-freedom manipulator, which completes the semi-physical simulation of a scene matching navigation and positioning system, and is suitable for geophysical field navigation systems (including Terrain Aided Navigation System) research. Background technique [0002] Navigation technology has been widely used in military and civilian fields, such as aviation, aerospace, medicine, transportation, robots and so on. In the process of theoretical research, system design and practical application of navigation technology, system simulation is an essential link. Simulation technology has high scientific value and can save research and development costs. Among them, hardware-in-the-loop simulation technology has the characteristics of linking the past and the future, and is a transitional process from theoretical rese...

AI Technical Summary

Problems solved by technology

[0004] At present, scene matching technology has been successfully used in precision-guided weapons in China, but at the cost of multiple flight tests, the cost of one flight test is about 2 million yuan, and the development and experiment cycle is very long

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