Position and orientation measuring and calculating optical instrument and debugging method thereof

Abstract

The invention relates to the field of optical measuring devices, in particular, relates to a position and orientation measuring and calculating optical instrument and a debugging method thereof, and is used for mainly solving the problems that a conventional position and orientation measuring and calculating instrument has low reliability of measurement data and cannot withstand harsh mechanical and thermal environments and the debugging process of the position and orientation measuring and calculating instrument is complicated. The position and orientation measuring and calculating instrument includes an optical camera, a plurality of laser assemblies and an optical lens; the laser assemblies and the optical lens are all arranged on the optical camera; the optical camera is provided with an image detector and an image data processing circuit; the optical axis of the optical lens is coincident to the visual axis of the image detector, and the optical axis of the optical lens is perpendicular to the light-sensitive surface of the image detector; the laser assemblies each comprise a laser and an adjusting pad, the adjusting pads are arranged between the lasers and the optical camera, the plurality of laser assemblies are uniformly distributed in the circumferential direction with the optical axis of the optical lens as the center, and a certain included angle is formed between the optical axis of each laser and the optical axis of the optical lens.

Description

technical field [0001] The invention relates to the field of optical measuring devices, in particular to an optical instrument for measuring and calculating a pose and a debugging method. Background technique [0002] With the further development of space optics technology, space loads are also constantly innovating. In recent years, various types of new loads have emerged, including large robotic arms and other equipment that achieve task requirements through mechanical movement. When this kind of equipment is in use, due to unfavorable factors such as the space environment, the inaccessibility of human hands and eyes, or close observation of the equipment, such equipment must use some measurement method to accurately calculate the real-time position and attitude of the equipment, that is, it needs Perform real-time pose estimation on the device. [0003] The space environment has the characteristics of weightlessness and significant temperature changes, which put forward ...

AI Technical Summary

Problems solved by technology

The position and attitude measurement instrument must ensure the measurement accuracy under the complex space environment load, and must also withstand the harsh mechanical loads such as large-scale vibration and impact during rocket launch and satellite rocket separation. The existing position and attitude measurement optical instruments can measure data. Low reliability, unable to withstand harsh mechanical and thermal environments

At the same time, due to the constraints of launch cost, use efficiency and other factors, the pose measurement instrument must meet a series of conditions such as light weight and high reliability. In addition, the existing pose measurement optical instrument has a complicated debugging process

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