A projectile monocular video pose measurement method and target pattern

Abstract

The invention relates to a target pattern for projectiles and a monocular video pose measurement method using the pattern. The target pattern is a band-shaped area surrounding the outer circumferential surface of the projectile, which is equally divided into 6 sub-areas set at color intervals along the direction of the projectile axis, and a coding area is set inside the sub-areas, and the 4 vertices of each sub-area are used as feature points. Applying this target pattern for pose measurement should keep the projectile in the camera's field of view. Set a unique three-digit binary code for each sub-region. The sub-region is identified according to the code, and then the feature point is identified according to the position of the feature point on the sub-region. When solving the pose of the projectile, first determine the image coordinates of the feature points from the image of the camera, and then combine the coordinate values ​​of the corresponding feature points in the projectile coordinate system, transform the coordinate system and establish a system of equations, and jointly solve to obtain the position of the projectile posture. The method of the invention is simple and has a wide application range.

Description

technical field [0001] The invention relates to a projectile target pattern for a flying target and a monocular video pose measurement method for a projectile using the projectile target pattern. Background technique [0002] During the development and testing of projectiles, it is often necessary to obtain the pose parameters of the projectile, such as the landing attitude of the projectile. However, there is usually no precise pose measurement equipment installed on the projectile, so the pose measurement of the projectile becomes a difficult problem. [0003] Yu Qifeng et al.'s "Central Axis Method for Determining Pitch and Yaw Angles of Space Targets Using Optical Measuring Images" (Journal of National University of Defense Technology, 2000, Volume 22 (2): 15-19), proposed the central axis method, This method first uses the projectile contour features to fit the projectile's central axis equation, and then calculates the projectile's pitch angle and yaw angle according ...

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Problems solved by technology

[0007] In order to solve the problem that the existing planar target cannot adapt to the curved surface structure of the projectile, and to improve the measurement accuracy of the projectile's pose, the purpose of the present invention is to design a target pattern on the surface of the projectile, and the target pattern has four in the field of view of the camera. The above coplanar feature points, and the corresponding projectile monocular video pose measurement method is proposed

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