Movable base measurement method

A measurement method and technology of a moving base, applied in the directions of measuring devices, photogrammetry/video metrology, surveying and navigation, etc., can solve problems such as difficult transportation and installation, limited measurement range and application range, etc.

Active Publication Date: 2017-01-18
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

However, this measurement system must be installed on a fixed base, making it diffi...

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Embodiment Construction

[0051] Below in conjunction with accompanying drawing and specific example the present invention is described in further detail:

[0052] In the prior art, the tracking and measuring system is installed on a fixed base to track the track and measure the attitude of the measured object. Due to the fixed installation method, the measurement distance range of this tracking measurement system is limited by the distance between the measured object and the measurement system, so its application range is limited. Aiming at this problem, the present invention proposes a method for measuring a moving base. The measurement method of the invention installs the measurement system on the mobile carrier, which can dynamically track the target, thereby greatly improving the measurement range and having broader application prospects.

[0053] The moving base measuring method of the invention is used for real-time measuring the position and attitude of the maneuvering target. The moving base...

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Abstract

The invention provides a movable base measurement method. A movable base measurement system is adopted to measure the position and posture of a maneuvering target and comprises a positioning and orientation device, a camera, a rotating table and a range finder, wherein the camera and the range finder are installed on a table body of the rotating table, the rotating table and the positioning and orientation device are installed on the same installing face of a carrier. The movable base measurement method comprises the measurement steps that 1, a tracking characteristic point is selected from the target, and the rotating table is controlled to rotate, so that the optical axis of the camera is aligned to the tracking characteristic point, and the rotating angle of the rotating table during alignment of the optical axis is recorded; 2, the range finder measures the distance between the carrier and the target, and the positioning and orientation device measures the position and posture angle of the carrier; 3, the target position is calculated according to the position and posture of the carrier, the distance between the carrier and the target and the rotating angle of the rotating table; 4, M characteristic points are selected from the target, the camera is utilized to conduct imaging on the target, and the target posture is calculated according to the position relation of the pixel points corresponding to the M characteristic points in a picture and the pixel point corresponding to the tracking characteristic point.

Description

technical field [0001] The invention relates to the technical field of positioning and attitude measurement, in particular to a method for measuring a moving base, which is used for measuring the position and attitude of a motorized long-distance maneuvering target. Background technique [0002] In the existing technology, the position and attitude information of the object can be obtained by using the inertial navigation method. This measurement method needs to install the inertial navigation device on the object to be measured, which can provide the position and attitude information of the object to be measured in real time. Advantages of being influenced by outsiders. However, because the inertial navigation device has the disadvantage that the error diverges with time, it is difficult to guarantee the accuracy requirement when working for a long time. [0003] Optical measurement is a measurement technology emerging with the development of semiconductor technology and c...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01C11/00
CPCG01C11/00G01C21/00G01C21/20
Inventor 魏宗康吕腾刘冰
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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