Relative Pose Measurement Method of Distributed POS Master and Subnodes Based on Single Camera Assistance

Abstract

The invention relates to a measurement method of relative positions and poses of main and sub nodes of a distributed POS, based on single-camera aid. The method comprises the following technical steps: mounting a main POS and a sub IMU at mounting nodes corresponding to the two ends of a flexible rod arm structure frame, respectively adhering two targets to surfaces of one sides of the main POS and the sub IMU, and defining the target on the surface of the main POS as a main target; defining the target on the surface of the sub IMU as a sub target; accomplishing internal and external parametercalibration of a monocular camera: performing information fusion with main POS navigation information through the obtained position and pose relation between the main and sub nodes, and realizing high precision position and pose measurement of the main and sub nodes, thereby finally obtaining relatively precise sub IMU navigation information. Aiming at the problem that the sub IMU is low in precision, the method adopts a visual aid means, and improves the position and pose measurement precision between the main and sub nodes, so as to obtain a high precision navigation result of a sub inertiameasurement unit.

Description

technical field [0001] The patent of the present invention relates to the field of POS imaging technology, especially a distributed POS master-subnode relative pose measurement method based on a single camera, which is suitable for measuring the baseline length between loads when the carrier is elastically deformed, and improving the relative position between loads. The attitude accuracy of the position. Background technique [0002] High-precision POS can provide high-precision time and space information for high-resolution aerial remote sensing systems. Improving imaging quality through motion compensation is the key to high-resolution imaging; my country has made some progress in single-POS imaging, but due to the Demand traction for earth observation loads, such as integrated high-resolution surveying and mapping cameras, full-spectrum imaging spectrometers, airborne distributed array antenna SAR, flexible multi-baseline interferometric SAR, and ship-borne sparse array im...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned technical problems, the present invention provides a distributed POS master-subnode relative pose measurement method based on a single camera, which overcomes the shortcomings of low alignment accuracy under traditional initial alignment dynamic conditions, and makes it have high precision and anti-interference With strong capability, it can be used to measure the baseline length between loads when the carrier is deflected, and improve the relative position and attitude accuracy between loads

Images