Optical camera position attitude calibration method

Abstract

The invention relates to the field of optical system calibration, in particular to an optical camera position and attitude calibration method. According to the method, a least square method is adopted, the flatness h of an imaging assembly installation reference surface and the perpendicularity p between the imaging assembly installation reference surface and an optical lens installation reference surface are subjected to least square fitting, the correction misalignment amount delta is obtained, reference is provided for follow-up coaxial adjustment of an optical lens of an optical camera and an imaging assembly, and the calibration precision is improved. By adopting the beam splitter prism assembly, auto-collimation images of the beam splitter prism assembly can be simultaneously incident to different directions of the accurate measurement mirror assembly by only using one laser theodolite; compared with a traditional measurement method adopting a plurality of laser theodolites, the method has the advantages that the rotation error caused by mutual aiming of the plurality of laser theodolites is overcome, and the calibration precision and efficiency are improved.

Description

Technical Field

[0001] The invention relates to a calibration method, and in particular to a position and posture calibration method for an optical camera. Background Art

[0002] At present, among the multispectral imaging systems at home and abroad, the multispectral imaging systems based on optical cameras occupy the vast majority of the position. They have the advantages of high resolution, high precision, strong stability, strong data transmission and real-time processing capabilities, which directly determine the system imaging quality and data accuracy.

[0003] For a multispectral imaging system based on an optical camera, the position and posture of the optical camera has an important influence on the system imaging quality and data accuracy. Therefore, it is necessary to calibrate the position and posture of the optical camera to ensure the system imaging quality and data accuracy.

[0004] In the prior art, multiple high-precision laser theodolites are usually used to transfer coordinate systems through self-collimation and mutual aiming to achieve the position and posture measurement calibration of optical cameras.

[0005] However, the existing calibration methods easily lead to insufficient calibration accuracy and low calibration efficiency of the optical camera position and posture due to multiple conversions of the measurement reference. Summary of the invention

[0006] The purpose of the present invention is to solve the technical problems of the existing calibration methods that the calibration accuracy of the optical camera position and posture is insufficient and the calibration efficiency is low due to multiple conversions of the measurement reference, and to provide an optical camera position and posture calibration method.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is: A method for calibrating the position and posture of an optical camera, which is special in that it includes the following steps: Step 1: Taking the imaging component mounting reference plane on the optical camera mounting housing as a reference, measure its flatness h, and on this basis, measure the verticality p between the imaging component mounting reference plane and the optical lens mounting reference plane; Step 2, performing least square fitting on the flatness h and the perpendicularity p in step 1 to obtain the correction misalignment Δ when the optical camera to be calibrated is adjusted; Step 3, install the optical lens of the optical camera to be calibrated on the optical lens installation reference plane, and install the imaging component of the optical camera to be calibrated on the imaging component installation reference plane; take the field of view center of the imaging component of the optical camera as the reference, calibrate the correction misalignment Δ, and then measure the maximum pixel offset between the field of view edge of the optical lens of the optical camera and the field of view center of the imaging component in the horizontal and vertical directions, and determine whether the maximum pixel offset meets the preset accuracy. If so, execute step 4; if not, recalibrate the correction misalignment Δ until the preset accuracy is met, so as to achieve coaxial calibration of the optical lens and the imaging component of the optical camera; Step 4: Establish an image stabilization measurement coordinate system X based on the optical axis of the optical camera 0 -Y 0 -Z 0 ; Step 5: Place the laser theodolite and the optical camera at the front end of the large-aperture collimator in sequence, and make the optical axes of the laser theodolite, the optical camera and the large-aperture collimator coaxial with each other, and establish a coordinate system X based on the optical axis of the laser theodolite. c -Y c -Z c ; Step 6: Install the precision measuring mirror assembly onto the optical camera, and establish a coordinate system XYZ based on the optical axis of the precision measuring mirror assembly; and set a beam splitter prism assembly at the front optical path of the laser theodolite so that the autocollimation image of the laser theodolite can be simultaneously presented to the X and Z directions of the precision measuring mirror assembly through the beam splitter prism assembly, and the X, Y and Z directions of the coordinate system XYZ are consistent with the coordinate system X c -Y c -Z c X c Direction, Y c Xiang and Z c In the initial state, they are parallel to each other; Step 7: determine whether the autocollimation image of the laser theodolite meets the preset tolerance requirement through the precision measuring mirror assembly. If so, complete the position adjustment of the precision measuring mirror assembly. If not, adjust the installation position of the precision measuring mirror assembly until the preset tolerance requirement is met. Step 8: Measure the position of the precision measuring mirror assembly relative to the optical camera using a laser theodolite, and then calibrate the position and attitude of the optical camera based on the measurement results to achieve position and attitude measurement and calibration of the optical camera.

[0008] Further, Step 3.1, installing the optical lens of the optical camera to be calibrated on the optical lens installation reference plane, and installing the imaging component of the optical camera to be calibrated on the imaging component installation reference plane; Step 3.2, connecting the optical camera to be calibrated to the display, adjusting the imaging clarity of the imaging component of the optical camera, and judging through the display whether the imaging clarity meets the preset clarity requirement, if so, executing step 3.3; if not, re-adjusting the imaging clarity of the imaging component of the optical camera until the preset clarity requirement is met; Step 3.3, taking the center of the field of view of the imaging component of the optical camera as a reference, adjusting the relative positions of the optical lens of the optical camera and the imaging component so that the optical axis of the optical lens of the optical camera is coaxial with the normal line of the imaging component, thereby achieving calibration of the correction misalignment Δ; Step 3.4, measure the maximum pixel offset between the edge of the field of view of the optical lens of the optical camera and the center of the field of view of the imaging component in the horizontal and vertical directions, and determine whether the maximum pixel offset meets the preset accuracy. If so, execute step 4; if not, recalibrate the correction offset Δ until the preset accuracy is met, thereby achieving coaxial calibration of the optical lens and imaging component of the optical camera.

[0009] Furthermore, in step 3.3, the preset accuracy d The value range is 0≤ d ≤1.

[0010] Furthermore, step 5 is specifically as follows: Step 5.1, setting a star point target on the end surface of the large-aperture collimator away from the optical camera; Step 5.2, install the optical camera on the four-dimensional adjustable turntable, and install the installed optical camera, the four-dimensional adjustable turntable as a whole and the large-aperture collimator on the optical platform respectively, and the optical camera is located at the front end of the large-aperture collimator. The relative position of the optical camera and the star point target is adjusted by the four-dimensional adjustable turntable to achieve coaxial adjustment of the optical axis of the optical camera and the large-aperture collimator; Step 5.3, install the laser theodolite on the two-dimensional horizontal moving platform, and place the installed laser theodolite and the two-dimensional horizontal moving platform as a whole on one side of the optical platform, and on the side of the optical camera away from the large-aperture collimator, and adjust the relative position of the laser theodolite and the optical camera through the two-dimensional horizontal moving platform, and finally realize that the optical axes of the laser theodolite, the optical camera and the large-aperture collimator are coaxial with each other; Step 5.4: Establish the coordinate system X based on the optical axis of the laser theodolite c -Y c -Z c , the image stabilization measurement coordinate system X based on the optical axis of the optical camera 0 -Y 0 -Z 0 Convert to the measurement coordinate system X based on the optical axis of the laser theodolite c -Y c -Z c .

[0011] Further, in step 6, the beam splitter prism assembly includes three beam splitter prisms, namely beam splitter prism 1, beam splitter prism 2 and beam splitter prism 3; Taking the laser theodolite as a reference, the relative positions of the three beam splitter prisms are adjusted respectively, and the transmitted light of the laser theodolite is incident on the Z direction of the precision measuring mirror assembly through the beam splitter prism 1, and the reflected light is reflected by the beam splitter prism 2 and the beam splitter prism 3 in turn and then incident on the X direction of the precision measuring mirror assembly.

[0012] Furthermore, the beam splitter prism 1, the beam splitter prism 2 and the beam splitter prism 3 are respectively placed on the four-dimensional adjustable platform 1, the four-dimensional adjustable platform 2 and the four-dimensional adjustable platform 3.

[0013] Further, in step 6, the precision measuring mirror assembly includes a precision measuring mirror body, a precision measuring mirror base and a grinding boss arranged on the bottom surface of the precision measuring mirror base; the precision measuring mirror body is arranged on the top surface of the precision measuring mirror base; The autocollimation image of the laser theodolite is simultaneously presented to the X-direction and Z-direction of the precision measuring mirror body through the beam splitter prism assembly; In step 7, the installation position of the precision measuring mirror body is adjusted by grinding the grinding boss on the bottom surface of the precision measuring mirror base.

[0014] Furthermore, in step 5, the exit aperture of the large-aperture collimator is greater than or equal to the maximum external dimensions of the optical camera and the laser theodolite.

[0015] Furthermore, the flatness h of the imaging component mounting reference plane on the optical camera mounting housing is measured by a three-coordinate measuring machine, and on this basis, the verticality p between the imaging component mounting reference plane and the optical lens mounting reference plane is measured by the three-coordinate measuring machine.

[0016] The beneficial effects of the present invention are: 1. The present invention adopts a beam splitter prism assembly, and only one laser theodolite is used to make its autocollimation image simultaneously incident on different directions of the precision measuring mirror assembly; compared with the traditional measurement method using multiple laser theodolites, the method adopted by the present invention overcomes the rotation error caused by the mutual aiming of multiple laser theodolites, and improves the calibration accuracy and efficiency.

[0017] 2. The present invention adopts the least squares method to perform least squares fitting on the flatness h of the imaging component mounting reference plane and the perpendicularity p between the imaging component mounting reference plane and the optical lens mounting reference plane to obtain the corrected misalignment Δ, which provides a reference for the subsequent coaxial adjustment of the optical lens and the imaging component of the optical camera to improve the calibration accuracy.

[0018] 3. The large-aperture collimator used in the present invention has an output aperture that can include the dimensions of an optical camera and a laser theodolite. Compared with the traditional multi-target coaxial method, it eliminates the error caused by reference conversion, making the calibration more accurate and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of an embodiment of the present invention; Figure 2 It is a schematic diagram of measuring the flatness of the imaging component mounting reference plane in step 1 of the embodiment of the present invention, and the verticality between the imaging component mounting reference plane and the optical lens mounting reference plane; Figure 3 yes Figure 2 The enlarged view of point A in the middle; Figure 4 is a schematic diagram of the coordinate system established in step 4, step 5, and step 6 of the embodiment of the present invention; Figure 5 is a schematic diagram of the coaxial calibration of the optical camera in step 5 of an embodiment of the present invention; Figure 6 It is a schematic diagram of the calibration of the installation position of the precision measuring mirror in step 7 of the embodiment of the present invention; Figure 7 yes Figure 6 Enlarged view of point B in the middle.

[0020] In the figure: 1-laser theodolite, 2-optical camera, 21-optical lens, 3-precision measuring mirror assembly, 31-precision measuring mirror body, 32-precision measuring mirror base, 33-repairing boss; 4-four-dimensional adjustable turntable four, 5-large-aperture parallel light tube, 6-optical platform, 7-display, 8-two-dimensional horizontal moving platform, 91-beam splitter prism one, 92-beam splitter prism two, 93-beam splitter prism three, 94-four-dimensional adjustable platform one, 95-four-dimensional adjustable platform two, 96-four-dimensional adjustable platform three, 101-imaging component installation reference surface, 102-optical lens installation reference surface. DETAILED DESCRIPTION

[0021] In order to make the purpose, advantages and features of the present invention more clear, the following is a further detailed description of an optical camera position and posture calibration method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following specific implementation methods, the advantages and features of the present invention will be more clear.

[0022] See also Figure 1 The present embodiment provides an optical camera position and posture calibration method, which mainly includes the following steps: Step 1: Use a three-coordinate measuring machine, see Figure 2 and Figure 3Taking the imaging component mounting reference surface 101 on the mounting housing of the optical camera 2 as a reference, its flatness h (unit: mm) is measured, and based on this, a three-coordinate measuring machine is used to measure the verticality p (unit: mm) between the imaging component mounting reference surface 101 and the optical lens mounting reference surface 102.

[0023] Step 2: Determine the corrected offset using the least squares method; The flatness h and the perpendicularity p measured in step 1 are fitted by least squares, so as to obtain the corrected misalignment Δ (in mm) during the installation of the optical camera 2, which provides a reference for the subsequent coaxial adjustment of the optical lens 21 and the imaging component of the optical camera 2.

[0024] Step 3, the optical lens 21 of the optical camera 2 is coaxially adjusted with the imaging component; Step 3.1: firstly install the optical lens 21 of the optical camera 2 to be calibrated on the optical lens installation reference surface 102 , and then install the imaging component of the optical camera 2 to be calibrated on the imaging component installation reference surface 101 .

[0025] Step 3.2, connect the optical camera 2 to be calibrated to the display 7, the display 7 can display the image, adjust the imaging clarity of the imaging component of the optical camera 2, and judge whether the imaging clarity of the imaging component of the optical camera 2 meets the preset clarity requirement through the display 7. The preset clarity requirement can be set subjectively according to actual needs and is not specifically limited in this embodiment. If yes, execute step 3.3; if not, readjust the imaging clarity of the imaging component of the optical camera 2 until it meets the preset clarity requirement.

[0026] Step 3.2: With the field of view center of the imaging component of the optical camera 2 as a reference, adjust the relative position between the optical lens 21 of the optical camera 2 and the imaging component so that the optical axis of the optical lens 21 of the optical camera 2 is coaxial with the normal line of the imaging component, thereby achieving calibration of the correction misalignment Δ.

[0027] Step 3.3, measure the maximum pixel offset between the edge of the field of view of the optical lens 21 of the optical camera 2 and the center of the field of view of the imaging component in the horizontal and vertical directions, and determine whether the maximum pixel offset meets the preset accuracy. In this embodiment, the preset accuracy d The value range is 0≤ d ≤1. If yes, execute step 4, if no, recalibrate the correction offset Δ until the preset accuracy is met, so as to achieve the coaxial calibration of the optical lens 21 of the optical camera 2 and the imaging component.

[0028] Step 4: See Figure 4 , establish the image stabilization measurement coordinate system X based on the optical axis of optical camera 2 0 -Y 0 -Z0 .

[0029] Step 5: See Figure 4 , Figure 5 and Figure 6 , the laser theodolite 1, the optical camera 2 and the large-aperture collimator 5 are coaxially adjusted; Step 5.1, a star point target is set on the end surface of the large-aperture collimator 5 away from the optical camera 2, and is used as an imaging target.

[0030] Step 5.2, install the optical camera 2 on the four-dimensional adjustable turntable four 4, and install the installed optical camera 2, the four-dimensional adjustable turntable four 4 as a whole and the large-aperture collimator 5 on the optical platform 6 respectively, and set the optical camera 2 at the front end of the large-aperture collimator 5, adjust the relative position between the optical camera 2 and the star point target through the four-dimensional adjustable turntable four 4, and realize the coaxial adjustment of the optical axes of the optical camera 2 and the large-aperture collimator 5.

[0031] Step 5.3, install the laser theodolite 1 on the two-dimensional horizontal moving platform 8, and place the installed laser theodolite 1 and the two-dimensional horizontal moving platform 8 as a whole on one side of the optical platform 6, and on the side of the optical camera 2 away from the large-aperture collimator 5, adjust the relative position between the laser theodolite 1 and the optical camera 2 through the two-dimensional horizontal moving platform 8, and finally make the optical axes of the laser theodolite 1, the optical camera 2 and the large-aperture collimator 5 coaxial with each other.

[0032] Step 5.4: Establish the coordinate system X based on the optical axis of the laser theodolite 1 c -Y c -Z c , the image stabilization measurement coordinate system X based on the optical axis of optical camera 2 0 -Y 0 -Z 0 Convert to the measurement coordinate system X based on the optical axis of the laser theodolite 1 c -Y c -Z c .

[0033] Step 6: The precision measuring mirror assembly 3 includes a precision measuring mirror body 31, a precision measuring mirror base 32 and a grinding boss 33 disposed on the bottom surface of the precision measuring mirror base 32; the precision measuring mirror body 31 is disposed on the top surface of the precision measuring mirror base 32. The precision measuring mirror body 31 is mounted on the optical camera 2 through the grinding boss 33.

[0034] A coordinate system XYZ is established with the optical axis of the precision measuring mirror body 31 as the reference. The X, Y and Z directions of the coordinate system XYZ are consistent with the coordinate system X c -Y c -Z c X c Direction, Yc Xiang and Z c A beam splitter prism assembly is provided so that the autocollimation image of the laser theodolite 1 can be simultaneously presented to the X direction and the Z direction of the precision measuring mirror body 31 through the beam splitter prism assembly, so that the position measurement of the precision measuring mirror assembly 3 can be realized through a laser theodolite 1.

[0035] Specifically, the above-mentioned beam splitter prism assembly includes three beam splitter prisms, namely, beam splitter prism 1 91, beam splitter prism 2 92 and beam splitter prism 3 93, and beam splitter prism 1 91, beam splitter prism 2 92 and beam splitter prism 3 93 are respectively placed on four-dimensional adjustable platform 1 94, four-dimensional adjustable platform 2 95 and four-dimensional adjustable platform 3 96. Taking the laser theodolite 1 as a reference, the relative positions of the three beam splitter prisms are adjusted respectively by using four-dimensional adjustable platform 1 94, four-dimensional adjustable platform 2 95 and four-dimensional adjustable platform 3 96, so that the transmitted light of the laser theodolite 1 is incident on the Z direction of the precision measuring mirror body 31 through the beam splitter prism 1, and the reflected light is reflected by the beam splitter prism 2 92 and the beam splitter prism 3 93 in turn and then incident on the X direction of the precision measuring mirror body 31.

[0036] Step 7, see Figure 6 and Figure 7 By grinding the grinding boss 33 on the bottom surface of the precision measuring mirror seat 32, the installation position of the precision measuring mirror body 31 is adjusted, and it is determined whether the autocollimation image of the laser theodolite 1 meets the preset tolerance requirement. If so, the installation position adjustment of the precision measuring mirror assembly 3 is completed. If not, the installation position of the precision measuring mirror body 31 is readjusted until the preset tolerance requirement is met.

[0037] Step 8: Measure the position of the precision measuring mirror assembly 3 relative to the optical camera 2 by using the laser theodolite 1, and then calibrate the position and attitude of the optical camera 2 according to the measurement result, so as to achieve the position and attitude measurement and calibration of the optical camera 2.

[0038] Verify the calibration method of this embodiment: The coordinate system XYZ corresponding to the measuring precision mirror body 31 and the image stabilization measuring coordinate system X corresponding to the optical camera 2 are measured. 0 -Y 0 -Z 0 The angle data between the two angles were measured for 10 groups in total, and the variance was calculated. The results showed that the maximum variance of the calibration was 8.1 seconds; the maximum variance calculated after 10 measurements using the traditional method was 33 seconds. In summary, the calibration method of the present invention has higher calibration accuracy than the traditional calibration method.

Claims

1. A method for calibrating the position and attitude of an optical camera, characterized in that: The following steps are involved: Step 1: Taking the imaging component mounting reference surface (101) on the mounting housing of the optical camera (2) as a reference, measure its flatness h, and on this basis, measure the verticality p between the imaging component mounting reference surface (101) and the optical lens mounting reference surface (102); Step 2, performing least square fitting on the flatness h and the perpendicularity p in step 1 to obtain a correction misalignment amount Δ when the optical camera (2) to be calibrated is adjusted; Step 3, mounting the optical lens (21) of the optical camera (2) to be calibrated on the optical lens mounting reference surface (102), and mounting the imaging component of the optical camera (2) to be calibrated on the imaging component mounting reference surface (101); taking the field center of the imaging component of the optical camera (2) as a reference, calibrating the correction misalignment Δ, and then measuring the maximum pixel offset between the field edge of the optical lens (21) of the optical camera (2) and the field center of the imaging component in the horizontal and vertical directions, and determining whether the maximum pixel offset meets a preset accuracy. If so, executing step 4; if not, recalibrating the correction misalignment Δ until the preset accuracy is met, thereby achieving coaxial calibration of the optical lens (21) and the imaging component of the optical camera (2); Step 4, establishing a stable image measurement coordinate system X0-Y0-Z0 based on the optical axis of the optical camera (2); Step 5: Place the laser theodolite (1) and the optical camera (2) at the front end of the large-aperture collimator (5) in sequence, and make the optical axes of the laser theodolite (1), the optical camera (2) and the large-aperture collimator (5) coaxial with each other, and establish a coordinate system X based on the optical axis of the laser theodolite (1). c -Y c -Z c ; Step 6: Mount the precision measuring mirror assembly (3) on the optical camera (2) to establish a coordinate system XYZ based on the optical axis of the precision measuring mirror assembly (3); and arrange a beam splitter prism assembly in the front optical path of the laser theodolite (1) so that the autocollimation image of the laser theodolite (1) can be simultaneously presented to the X direction and Z direction of the precision measuring mirror assembly (3) through the beam splitter prism assembly, and the X direction, Y direction and Z direction of the coordinate system XYZ are consistent with the coordinate system X c -Y c -Z c X c Direction, Y c Xiang and Z c In the initial state, they are parallel to each other; Step 7: judging whether the autocollimation image of the laser theodolite (1) meets the preset tolerance requirement through the precision measuring mirror assembly (3); if so, completing the position adjustment of the precision measuring mirror assembly (3); if not, adjusting the installation position of the precision measuring mirror assembly (3) until the preset tolerance requirement is met; Step 8: Using a laser theodolite (1), measure the position of the precision measuring mirror assembly (3) relative to the optical camera (2), and then calibrate the position and attitude of the optical camera (2) based on the measurement result, thereby achieving position and attitude measurement and calibration of the optical camera (2).

2. The method for calibrating the position and posture of an optical camera according to claim 1, characterized in that: Step 3 is as follows: Step 3.1, installing the optical lens (21) of the optical camera (2) to be calibrated on the optical lens installation reference surface (102), and installing the imaging component of the optical camera (2) to be calibrated on the imaging component installation reference surface (101); Step 3.2, connecting the optical camera (2) to be calibrated to the display (7), adjusting the image clarity of the imaging component of the optical camera (2), and judging through the display (7) whether the image clarity meets the preset clarity requirement, if so, executing step 3.3; if not, re-adjusting the image clarity of the imaging component of the optical camera (2) until the preset clarity requirement is met; Step 3.3, taking the center of the field of view of the imaging component of the optical camera (2) as a reference, adjusting the relative positions of the optical lens (21) of the optical camera (2) and the imaging component so that the optical axis of the optical lens (21) of the optical camera (2) is coaxial with the normal line of the imaging component, thereby achieving calibration of the correction misalignment amount Δ; Step 3.4, measuring the maximum pixel offset between the edge of the field of view of the optical lens (21) of the optical camera (2) and the center of the field of view of the imaging component in the horizontal and vertical directions, and determining whether the maximum pixel offset meets the preset accuracy. If so, executing step 4; if not, recalibrating the correction offset Δ until the preset accuracy is met, thereby achieving coaxial calibration of the optical lens (21) of the optical camera (2) and the imaging component.

3. The method for calibrating the position and posture of an optical camera according to claim 2, characterized in that: In step 3.3, the preset accuracy is defined as d ,but d The value range is 0≤ d ≤1.

4. An optical camera position and posture calibration method according to any one of claims 1 to 3, characterized in that: Step 5 is as follows: Step 5.1, setting a star point target on the end surface of the large-aperture collimator (5) away from the optical camera (2); Step 5.2, installing the optical camera (2) on the four-dimensional adjustable turntable four (4), and installing the installed optical camera (2) and the four-dimensional adjustable turntable four (4) as a whole and the large-aperture collimator (5) on the optical platform (6), and the optical camera (2) is located at the front end of the large-aperture collimator (5), and the relative position of the optical camera (2) and the star point target is adjusted by the four-dimensional adjustable turntable four (4), so as to achieve coaxial adjustment of the optical axes of the optical camera (2) and the large-aperture collimator (5); Step 5.3, installing the laser theodolite (1) on the two-dimensional horizontal moving platform (8), and placing the installed laser theodolite (1) and the two-dimensional horizontal moving platform (8) as a whole on one side of the optical platform (6), and on the side of the optical camera (2) away from the large-aperture collimator (5), adjusting the relative position of the laser theodolite (1) and the optical camera (2) by means of the two-dimensional horizontal moving platform (8), and finally achieving that the optical axes of the laser theodolite (1), the optical camera (2) and the large-aperture collimator (5) are mutually coaxial; Step 5.4: Establish the coordinate system X based on the optical axis of the laser theodolite (1) c -Y c -Z c , converting the image stabilization measurement coordinate system X0-Y0-Z0 based on the optical axis of the optical camera (2) into the measurement coordinate system X based on the optical axis of the laser theodolite (1) c -Y c -Z c .

5. The method for calibrating the position and posture of an optical camera according to claim 4, characterized in that: In step 6, the beam splitter prism assembly includes three beam splitter prisms, namely beam splitter prism 1 (91), beam splitter prism 2 (92) and beam splitter prism 3 (93); With the laser theodolite (1) as a reference, the relative positions of the three beam splitter prisms are adjusted respectively, so that the transmitted light of the laser theodolite (1) is incident on the Z direction of the precision measuring mirror assembly (3) through the beam splitter prism (91), and the reflected light is reflected by the beam splitter prism (92) and the beam splitter prism (93) in sequence and then incident on the X direction of the precision measuring mirror assembly (3).

6. The method for calibrating the position and posture of an optical camera according to claim 5, characterized in that: The beam splitter prism 1 (91), the beam splitter prism 2 (92) and the beam splitter prism 3 (93) are respectively placed on the four-dimensional adjustable platform 1 (94), the four-dimensional adjustable platform 2 (95) and the four-dimensional adjustable platform 3 (96).

7. The method for calibrating the position and posture of an optical camera according to claim 1, characterized in that: In step 6, the precision measuring mirror assembly (3) comprises a precision measuring mirror body (31), a precision measuring mirror base (32), and a grinding boss (33) arranged on the bottom surface of the precision measuring mirror base (32); the precision measuring mirror body (31) is arranged on the top surface of the precision measuring mirror base (32); The autocollimation image of the laser theodolite (1) is simultaneously presented to the X direction and the Z direction of the precision measuring mirror body (31) through the beam splitting prism assembly; In step 7, the installation position of the precision measuring mirror body (31) is adjusted by grinding the grinding boss (33) on the bottom surface of the precision measuring mirror base (32).

8. The method for calibrating the position and posture of an optical camera according to claim 1, characterized in that: In step 5, the exit aperture of the large-aperture collimator (5) is greater than or equal to the maximum external dimensions of the optical camera (2) and the laser theodolite (1).

9. The method for calibrating the position and posture of an optical camera according to claim 8, characterized in that: Step 1 is as follows: The three-coordinate measuring machine is used to measure the flatness h of the imaging component mounting reference surface (101) on the mounting housing of the optical camera (2) with the imaging component mounting reference surface (101) as a reference, and on this basis, the three-coordinate measuring machine is used to measure the verticality p between the imaging component mounting reference surface (101) and the optical lens mounting reference surface (102).

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