High-precision pose measurement method for movable platform under strong light interference
A high-precision technology for pose measurement, applied in measurement devices, measurement angles, mapping and navigation, etc., can solve problems such as inability to guarantee measurement accuracy, high measurement frequency, etc., to reduce the number of pixel processing, simple design ideas, real-time high sex effect
Pending Publication Date: 2020-05-29
AVIC BEIJING CHANGCHENG AVIATION MEASUREMENT & CONTROL TECH INST +2
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[0008] The present invention is designed to address the deficiencies in the above-mentioned prior art and provides a high-precision pose measurement method for moving platforms under strong light interference. Its purpose is to solve the problem of maintaining a high measurement frequency while maintaining the accuracy of vision-based moving platform pose measurement in a strong light interference environment.
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[0031] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings:
[0032] See attached figure 1 As shown, in the embodiment of the present invention, the steps of the high-precision pose measurement method for the moving platform under the interference of strong light are as follows:
[0033] Step 1. Arrange two sets of beacons on the moving platform 1, the small area beacon 2 and the pose calculation beacon 3. The number of luminous bodies 6 of each set of beacons is not less than 3 and cannot be in the same straight line. above, wherein, the distance between every two illuminants 6 of the small-area beacon 2 is 30cm-50cm, and the pose-resolving beacon 3 is placed on the edge of the measured moving platform 1 and dispersed as much as possible; step 2, in Two short-focus image acquisition cameras 5 are set on the measurement platform 7 to form a stereoscopic vision for photographing the pose calcul...
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Abstract
The invention relates to a high-precision pose measurement method for a movable platform under strong light interference. The method comprises steps of focusing a moving platform small-area beacon bytwo long-focus image acquisition cameras, focusing a mobile platform pose calculation beacon by two short-focus image acquisition cameras, identifying and matching the small-area beacon by adopting amethod of combining round robin lighting with Kalman filtering, and calculating a three-dimensional coordinate of each illuminant in the small-area beacon; based on the distance constraint relation, roughly calculating an image plane search area of each illuminant in the pose resolving beacon of a moving platform; removing large-area strong light interference, then carrying out image enhancement in each search area, removing local strong light interference, finally, carrying out identification search matching in each search area by adopting a nearest distance principle, and calculating a three-dimensional position of each illuminant in the moving platform pose calculation beacon and an attitude angle of the moving platform. The method has advantages of good strong light interference resistance, high-precision measurement and good real-time performance.
Description
technical field [0001] The invention relates to a high-precision pose measurement method for a moving platform under strong light interference, and relates to the technical field of photoelectric non-contact high-dynamic measurement. Background technique [0002] A moving platform refers to an object that presents acceleration, maneuverability, and multi-dimensional motion in three-dimensional space at all times, such as tankers and tankers in refueling, ships at sea, flying drones, and working robots etc. High-precision pose measurement methods for moving platforms are used in aviation, aerospace, and intelligent manufacturing, such as space rendezvous and docking, automatic aerial refueling, UAV take-off and landing auxiliary navigation, space robot navigation, space robotic arm grasping and other fields of navigation The technical basis of control provides high-precision measurement information for control guidance. At present, the mature pose measurement systems include...
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Login to View More IPC IPC(8): G01C21/00G01C1/00
CPCG01C21/00G01C1/00
Inventor 麻彦轩甘志超
Owner AVIC BEIJING CHANGCHENG AVIATION MEASUREMENT & CONTROL TECH INST