Calibration method of parameters of camera for rendezvous and docking
A calibration method and rendezvous and docking technology, applied in image data processing, instruments, calculations, etc., can solve problems such as affecting the normal measurement of the CCD optical imaging sensor, the fixed template cannot guarantee the high precision of the measurement, and the impact of the fixed template calibration results. Overcome the effects of complex design, novel design ideas, and small hardware resource occupation
Active Publication Date: 2013-01-23
BEIJING INST OF CONTROL ENG
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Problems solved by technology
For example, in the calibration method disclosed by Zhang Zheng-you, A flexible new technique for camera calibration, Technical Report MSR-TR-98-71, 1998, the use of a fixed template in the calibration process cannot guarantee the realization of high-precision position measurement along the line of sight. Moreover, the measurement of the fixed template will have a great impact on the calibration results, thus affecting the normal measurement of the CCD optical imaging sensor
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[0016] like figure 1 Shown, be the functional block diagram of the inventive method, main steps are as follows:
[0017] (1) The origin of the CCD camera coordinate system is established;
[0018] Use the cross reticle on the surface of the cube mirror perpendicular to the optical axis of the camera to provide the position measurement reference of the CCD camera. According to this reference, the origin of the CCD camera measurement coordinate system can be accurately located. The intersection point in space is the origin of the camera coordinate system.
[0019] (2) CCD camera coordinate system pointing establishment
[0020] Use the cross reticle on the surface perpendicular to the optical axis of the camera to provide the three-axis pointing measurement reference of the CCD camera. The cubic mirror is installed on the camera body and is the direction reference of the camera. It is called the reference mirror. The normal of the mirror surface parallel to the front normal o...
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The invention discloses a calibration method of parameters of camera for rendezvous and docking, which is a method for calibrating and accurately establishing a camera coordinate system of an effective focus of a camera and an image center by adopting an optical external standard method. The invention solves the technical problems that position measurement accuracy and posture measurement accuracy are difficult to simultaneously realize and the position measurement accuracy along a viewing direction is low through establishing a coordinate axis in a camera viewing direction by utilizing an optical lens optical axis direction reference, adopting the thought that the focus in a camera measurement mathematic model changes along with the change of distance to establish an effective focus curve.
Description
technical field [0001] The invention relates to a method for calibrating internal parameters of a camera. Background technique [0002] The CCD optical imaging sensor is the key measurement component of the rendezvous and docking mission, which consists of a CCD camera and a target marker. The CCD camera is installed on the tracker, and the target marker is installed on the target aircraft. Its function is to image and measure the target marker through the CCD camera within a certain distance range when the tracker and the target aircraft rendezvous and dock, and obtain the relative position and relative attitude angle of the coordinate system of the optical sensor relative to the coordinate system of the target marker. [0003] One of the difficulties in the development of CCD optical imaging sensor is that it requires high position and attitude measurement accuracy within a certain distance range. The existing methods mainly use the fixed template information and the inf...
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IPC IPC(8): G06T7/00
Inventor 赵春晖刘鲁郭绍刚王京海张丽华龚德铸高文文王艳宝
Owner BEIJING INST OF CONTROL ENG