A method for calibrating the angle error between the optical axis of the intersection measurement camera and the mirror

Abstract

Disclosed is an error calibration method for an included angle of an intersection measuring camera optical axis and a reflector. The error calibration method includes: firstly, respectively installing an intersection measuring camera and a calibration target on two translational-motion three-axle turntable; acquiring an internal and external camera parameters calibration matrix in calibration; establishing an error model of a camera optical axis and a reflector; determining direction cosine parameters of error-calibrated reflector pointing in a camera measuring coordinate system; establishing a calibration target reference cubic reflector coordinate system; calculating to acquire a coordinate-transformation matrix of a camera reference cubic reflector coordinate system, a camera measuring coordinate system and the calibration target reference cubic reflector coordinate system; finally, controlling the turntable to rotate to acquire the coordinate-transformation matrix of the relative calibration target reference cubic reflector coordinate system of the coordinate system of calibration target position postures and a measuring coordinate system of the intersection measuring camera via mirror image of the reflector to further acquire the direction cosine parameters of reflector pointing in the intersection measuring camera coordinate system. With the method, error calibration of the included angle of the intersection measuring camera optical axis and the reflector is completed, and good use value is achieved.

Description

technical field [0001] The invention relates to the technical field of calibration, in particular to a calibration method for the angle error between the optical axis of a rendezvous camera and a mirror. Background technique [0002] The rendezvous measurement system is a key measurement component of the space rendezvous and docking mission, which consists of a rendezvous measurement camera installed on the tracking vehicle and a cooperative target installed on the target vehicle. The intersection measurement camera uses coaxial lighting to illuminate the cooperation target. The cooperation target reflects the illumination light to the camera to form an image to obtain the cooperation target image. Through image processing and calculation, the relative position and position of the camera coordinate system relative to the cooperation target coordinate system can be obtained. Relative attitude angle, so as to provide relative navigation measurement information for rendezvous a...

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is: to overcome the defect that there is a relatively large residual error in the precise measurement of the camera mirror and the optical axis by the direct optical aiming observation method of the existing optical precision assembly and adjustment measurement equipment, and to provide an intersection measurement camera optical axis The angle error calibration method with the mirror, through the use of a pose measurement system composed of multiple theodolites, accurately establishes the coordinate transformation matrix between the camera and the reference cubic mirror coordinate system, and then obtains the angle between the camera mirror and the optical axis that cannot be directly observed and measured. The angle parameter value has completed the error calibration of the angle between the optical axis of the intersection measurement camera and the mirror, and has the advantages of simple measurement principle, high precision and strong operability

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