Calibrating method of laser dot-matrix device of obstacle avoidance system of lunar rover

Abstract

The invention relates to a calibrating method of a laser dot-matrix device of an obstacle avoidance system of a lunar rover, which can effectively solve the problems on precisely calibrating the relationship between 18 laser beams in the laser dot-matrix device and a reference prism coordinate system of the laser dot-matrix device and the relationship between reference prism coordinate systems of an obstacle avoidance camera. The method comprises the following steps of: taking a photograph of a laser dot by using the camera; processing the image to obtain an image point coordinate; carrying out triangular surveying based on internal parameters of the camera to obtain a three dimensional coordinate; obtaining the three dimensional coordinate of the laser dot under a double-camera photographic surveying system by using the processed photograph; establishing the relationship between marked points on the double cameras and a bracket and the coordinate system, the coordinate of the laser dot under a bracket marked point coordinate system and a theodolite coordinate system; establishing the relationship between the theodolite coordinate system and the bracket marking point coordinate system and the relationship between the theodolite coordinates and the reference prism coordinate system of the dot-matrix device; and then establishing the coordinates of the laser dot under the theodolite coordinate system and the reference prism coordinate system. The invention has the advantages of fast calibrating speed and high accuracy, and can be effectively used in the fields of technological digital photogrammetry, computer vision and the like.

Description

1. Technical field [0001] The invention relates to spaceflight photogrammetry, in particular to a method for calibrating a laser array device of a lunar vehicle obstacle avoidance system. 2. Background technology [0002] The visual obstacle avoidance system of the lunar rover is mainly composed of two obstacle avoidance cameras and a laser array device. The laser array device is composed of 18 laser beams. The laser point of the laser array device is imaged by the obstacle avoidance camera to obtain the projection point. Three-dimensional information, calculating the position of obstacles in the coordinate system of the lunar rover, and realizing the automatic obstacle avoidance function of the lunar rover. In this process, the parameter accuracy of the laser array device in the obstacle avoidance camera coordinate system and the accuracy of the optical path expression equation of the laser array device directly affect the three-dimensional restoration accuracy. Therefore,...

AI Technical Summary

Problems solved by technology

[0003] In view of the above situation, the object of the present invention is to provide a laser dot matrix device calibration method for the lunar vehicle obstacle avoidance system, which can effectively solve the relationship between the 18 laser beams in the laser dot matrix device and the reference mirror coordinate system of the laser dot matrix device, As well as the problem of precise calibration of the relationship between the 18 laser beams and the coordinate system of the reference mirror of the obstacle avoidance camera, the technical solution is to implement the following steps:

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