Method for measuring attitude of unstable reference platform based on double camera

Abstract

The invention discloses a method for measuring attitude of an unstable reference platform based on a double camera, comprising the following steps: rigidly fixing two cameras presenting an included angle on a reference platform to be measured; arranging a cooperation mark in front of the cameras; accurately calibrating the inner and outer parameters of the cameras on the reference platform; applying a sub-pixel location method to trace the image of the cooperation mark, and calculating the corresponding attitude angle; synthesizing the measuring result of the double camera; precisely providingthe attitude information of the measured reference platform. The invention performs the advantages of high precision, no contact, low cost and the like of an optical measurement image technology, simultaneously solves the practical problem of high precision measurement of the unstable reference platform attitude and has wide application prospect.

Description

technical field [0001] The invention relates to a method for obtaining attitude information of a measured reference platform with high precision. Background technique [0002] The precise measurement of the attitude of an unstable reference platform is of great significance in both military and civilian fields. In the military field, ground combat platforms such as tanks, armored combat vehicles, and self-propelled artillery, as well as maritime combat platforms such as warships, requisitioned civilian ships, and various ships, must have the ability to stabilize aiming, tracking, shooting, and real-time perception of positions during movement. This combat style requires the combat platform to have stability, tracking and navigation capabilities, that is, it can continuously measure the change of position, accurately determine the current position, and accurately maintain the dynamic attitude reference. Moreover, in many military equipment, motion compensation of airborne sy...

AI Technical Summary

Problems solved by technology

Since the size of the reference platform is generally small, the length of the baseline that can be arranged is also short (such as 2m), and the attitude measurement using GPS requires the positioning accuracy to reach mm level, and this accuracy can only be achieved by establishing a differential GPS station, so that The application of GPS technology in the attitude measurement of the reference platform is very limited

[0006] Recently, the equipment for measuring the attitude of the platform with contact sensors developed abroad requires dozens of sensors to be arranged on the platform. The installation is complicated, the cost is high, and the practical value and promotion value are not high.

[0007] It is a feasible and economical means to measure attitude by using optical measurement method, but this method cannot solve the problem of high-precision attitude measurement

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