Measurement method for absolute swaying quantity of unstable platform in follow-up mode

A technology for stabilizing platforms and measuring methods, applied in measuring devices, photogrammetry/video surveying, surveying and navigation, etc., can solve the problems that the reference platform is prone to shaking, and the absolute static reference of unstable platforms can be determined with high precision. To achieve the effect of simplified configuration

Active Publication Date: 2012-12-19
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, the theodolite works directly under the quasi-moving benchmark of the vehicle-mounted platform. Since there is no absolute static benchmark, and the vehicle-mounted platform may be parked on the ground in various road conditions, the reference platform is prone to shaking during work, especially in the state of high-speed tracking and measurement. , so determining the absolute static benchmark of the unstable platform with high precision becomes the key to the problem

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  • Measurement method for absolute swaying quantity of unstable platform in follow-up mode
  • Measurement method for absolute swaying quantity of unstable platform in follow-up mode
  • Measurement method for absolute swaying quantity of unstable platform in follow-up mode

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Embodiment Construction

[0017] The basic idea is as figure 1 As shown in Fig. 1 , a high-resolution camera is installed on an unstable platform, and it moves with the unstable platform while imaging the absolute horizontal target plate fixed on the ground. For any point on the absolutely horizontal target plate, its coordinate p in the camera coordinate system i and coordinates P in the absolute reference coordinate system i There are the following transformation relations:

[0018] P i =R cw p i +T cw

[0019] When there are at least 6 points on the planar target, i.e. i≥6, the relative pose relationship between the camera coordinate system and the absolute horizontal coordinate system can be calculated. Therefore, balance the unstable platform and the absolute horizontal reference in the initial state, and obtain the angle α between the camera coordinate system X, Y axis and its projection on the horizontal plane o , β o ;according to t i The relationship between the time camera and the ...

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Abstract

The invention provides a real-time high-precision measurement method for absolute swaying quantity of an unstable platform. According to the method, a camera is installed on the unstable platform; the camera moves as the platform sways and carries out imaging on a spatial plane target plate; then pose estimation algorithm is utilized for calculation of an altitude angle and an azimuth angle of the camera relative to an initial absolute reference state at the moment; since the unstable platform and the camera are in fixed connection, pose parameters of the unstable platform can be determined therefrom. The measurement method provided by the invention highly precisely determines pose swaying quantity of the unstable platform in real time by using a photogrammetric technology, and precision of an angle reaches 10 second of arc; the method overcomes engineering problems in high precision determination of absolute horizon reference by using a photogrammetric method; and the method can realize error compensation and correction of pose swaying quantity of the unstable platform under the condition of simplified configuration.

Description

technical field [0001] The present invention mainly utilizes the camera measurement technology to determine the absolute shaking amount of the attitude of the unstable platform in real time and with high precision. Background technique [0002] Most domestic shooting ranges use fixed tower photoelectric theodolites with high precision, but due to their fixed range of action, the application of fixed tower photoelectric theodolites has been greatly restricted with the increasing mobility requirements of modern weapons and equipment. The vehicle-mounted mobile type installs the theodolite directly on the vehicle-mounted platform, and the theodolite can work directly on the vehicle-mounted platform, which can meet the requirements of tracking and measuring the target in real time at different locations and at different times. It has strong mobility and makes up for the shortcomings of the fixed tower-type theodolite. Adapted to the rapid response capabilities of the troops. Ho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00
Inventor 张小虎刘进博周剑于起峰
Owner NAT UNIV OF DEFENSE TECH
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