An Optical Camera Position and Attitude Calibration Method

Abstract

The present invention relates to the field of optical system calibration, and particularly to a method for calibrating the position and attitude of an optical camera. This method uses the least squares method to perform least squares fitting on the flatness h of the mounting reference plane of the imaging component and the perpendicularity p between the mounting reference plane of the imaging component and the mounting reference plane of the optical lens, so as to obtain the correction misalignment amount Δ, providing a reference for the subsequent coaxial adjustment of the optical lens and the imaging component of the optical camera to improve the calibration accuracy; then a beam splitting prism assembly is adopted, and only one laser theodolite can make its autocollimation image incident on different directions of the precise measurement mirror assembly at the same time; compared with the traditional method of using multiple laser theodolites for measurement, the present invention overcomes the rotation error generated by the mutual aiming of multiple laser theodolites, and improves the calibration accuracy and efficiency.

Description

Technical Field

[0001] The present invention relates to a calibration method, and more particularly to a calibration method for the position and attitude of an optical camera. Background Art

[0002] Currently, in multi-spectral imaging systems at home and abroad, multi-spectral imaging systems based on optical cameras occupy the vast majority. They have advantages such as high resolution, high precision, strong stability, and strong data transmission and real-time processing capabilities, which directly determine the imaging quality and data accuracy of the system.

[0003] For a multi-spectral imaging system based on an optical camera, the position and attitude of the optical camera have an important impact on the imaging quality and data accuracy of the system. Therefore, it is necessary to calibrate the position and attitude of the optical camera to ensure the imaging quality and data accuracy of the system.

[0004] In the prior art, usually multiple high-precision laser theodolites are used to perform coordinate system transfer through self-aligning and mutual aiming to achieve the pose measurement and calibration of the optical camera.

[0005] However, due to multiple conversions of the measurement reference in the existing calibration method, it is easy to cause insufficient calibration accuracy and low calibration efficiency of the position and attitude of the optical camera. Summary of the Invention

[0006] The object of the present invention is to solve the technical problems that the existing calibration method is prone to insufficient calibration accuracy and low calibration efficiency of the position and attitude of the optical camera due to multiple conversions of the measurement reference, and to provide a calibration method for the position and attitude of the optical camera.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A calibration method for the position and attitude of an optical camera, characterized in that it includes the following steps:

[0009] Step 1: Taking the imaging component installation reference plane on the optical camera installation housing as the reference, measuring its flatness h, and on this basis, measuring the perpendicularity p between the imaging component installation reference plane and the optical lens installation reference plane;

[0010] Step 2: Performing least squares fitting on the flatness h and perpendicularity p in Step 1 to obtain the correction misalignment amount Δ during the installation and adjustment of the optical camera to be calibrated;

[0011] Step 3: Install the optical lens of the optical camera to be calibrated onto the optical lens mounting reference surface, and install the imaging component of the optical camera to be calibrated onto the imaging component mounting reference surface; taking the center of the imaging component field of view of the optical camera as the reference, calibrate and correct the misalignment Δ, then measure the maximum pixel offset between the edge of the field of view of the optical lens of the optical camera in the horizontal and vertical directions and the center of the imaging component field of view, and determine whether the maximum pixel offset meets the preset accuracy. If so, proceed to Step 4; if not, recalibrate and correct the 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;

[0012] Step 4: Establish a stable image measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera as the reference;

[0013] Step 5: Place the laser theodolite and the optical camera in sequence at the front end of the large - aperture collimator, 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 c -Y c -Z c ;

[0014] Step 6: Install the precise measurement mirror assembly onto the optical camera, and establish a coordinate system X - Y - Z with the optical axis of the precise measurement mirror assembly as the reference; and set a beam - splitting prism assembly in the front optical path of the laser theodolite, so that the autocollimation image of the laser theodolite can be presented to the X - direction and Z - direction of the precise measurement mirror assembly simultaneously. The X - direction, Y - direction, and Z - direction of the coordinate system X - Y - Z are parallel to the X c -Y c -Z c 's X c -direction, Y c -direction, and Z c -direction in the initial state;

[0015] Step 7: Determine whether the autocollimation image of the laser theodolite meets the preset tolerance requirements through the precise measurement mirror assembly. If so, complete the position adjustment of the precise measurement mirror assembly; if not, adjust the installation position of the precise measurement mirror assembly until the preset tolerance requirements are met;

[0016] Step 8: Measure the position of the precise measurement mirror assembly relative to the optical camera through the laser theodolite, and then calibrate the position and attitude of the optical camera according to the measurement results, so as to achieve the position and attitude measurement calibration of the optical camera.

[0017] Furthermore,

[0018] Step 3.1: Install the optical lens of the optical camera to be calibrated onto the optical lens mounting reference surface, and install the imaging component of the optical camera to be calibrated onto the imaging component mounting reference surface;

[0019] Step 3.2: Connect the optical camera to be calibrated to the display, adjust the imaging clarity of the imaging component of the optical camera, and determine whether the imaging clarity meets the preset clarity requirement through the display. If so, proceed to Step 3.3; if not, readjust the imaging clarity of the imaging component of the optical camera until the preset clarity requirement is met.

[0020] Step 3.3: Taking the center of the field of view of the imaging component of the optical camera as the reference, adjust the relative position of the optical lens and the imaging component of the optical camera 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 the calibration of correcting the misalignment Δ.

[0021] Step 3.4: Measure the maximum pixel offset between the edge of the field of view of the optical lens of the optical camera in the horizontal and vertical directions and the center of the field of view of the imaging component, and determine whether the maximum pixel offset meets the preset accuracy. If so, proceed to Step 4; if not, recalibrate the misalignment Δ until the preset accuracy is met, thereby achieving the coaxial calibration of the optical lens and the imaging component of the optical camera.

[0022] Further, in Step 3.3, the preset accuracy d has a value range of 0 ≤ d ≤ 1.

[0023] Further, Step 5 is specifically as follows:

[0024] Step 5.1: Set a star target on the end face of the large-aperture collimator far from the optical camera.

[0025] Step 5.2: Install the optical camera on the four-dimensional adjustable turntable four, and install the assembled optical camera, the four-dimensional adjustable turntable four, and the large-aperture collimator on the optical platform respectively. The optical camera is located at the front end of the large-aperture collimator. Adjust the relative position of the optical camera and the star target through the four-dimensional adjustable turntable four to achieve the coaxial adjustment of the optical axis of the optical camera and the large-aperture collimator.

[0026] Step 5.3: Install the laser theodolite on the two-dimensional horizontal moving platform, and place the assembled laser theodolite and the two-dimensional horizontal moving platform on one side of the optical platform, and on the side of the optical camera far from the large-aperture collimator. Adjust the relative position of the laser theodolite and the optical camera through the two-dimensional horizontal moving platform to finally achieve the coaxiality of the optical axes of the laser theodolite, the optical camera, and the large-aperture collimator.

[0027] Step 5.4: Establish a coordinate system X c -Y c -Z c , and convert the image stabilization measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera as the reference to the measurement coordinate system X with the optical axis of the laser theodolite as the reference.c -Y c -Z c 。

[0028] Further, in step 6, the beam splitting prism assembly includes three beam splitting prisms, namely beam splitting prism one, beam splitting prism two, and beam splitting prism three.

[0029] Taking the laser theodolite as a reference, the relative positions of the three beam splitting prisms are adjusted respectively. The transmitted light of the laser theodolite is incident on the Z direction of the precise measurement mirror assembly through beam splitting prism one, and the reflected light is incident on the X direction of the precise measurement mirror assembly after being reflected by beam splitting prism two and beam splitting prism three in sequence.

[0030] Further, beam splitting prism one, beam splitting prism two, and beam splitting prism three are respectively placed on four-dimensional adjustable platform one, four-dimensional adjustable platform two, and four-dimensional adjustable platform three.

[0031] Further, in step 6, the precise measurement mirror assembly includes a precise measurement mirror body, a precise measurement mirror seat, and a lapping boss provided on the bottom surface of the precise measurement mirror seat; the precise measurement mirror body is provided on the top surface of the precise measurement mirror seat.

[0032] Make the autocollimation image of the laser theodolite be presented to the X direction and Z direction of the precise measurement mirror body simultaneously through the beam splitting prism assembly.

[0033] In step 7, the installation position of the precise measurement mirror body is adjusted by lapping the lapping boss on the bottom surface of the precise measurement mirror seat.

[0034] Further, in step 5, the exit aperture of the large-aperture collimator is greater than or equal to the maximum outer dimensions of the optical camera and the laser theodolite.

[0035] Further, by using a coordinate measuring machine, taking the imaging component installation reference plane on the optical camera installation housing as a reference, its flatness h is measured, and on this basis, the perpendicularity p between the imaging component installation reference plane and the optical lens installation reference plane is measured by the coordinate measuring machine.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. The present invention adopts a beam splitting prism assembly, and only one laser theodolite can make its autocollimation image be incident on different directions of the precise measurement mirror assembly simultaneously; compared with the traditional measurement method using multiple laser theodolites, the method adopted by the present invention overcomes the rotation error caused by mutual aiming of multiple laser theodolites, and improves the calibration accuracy and efficiency.

[0038] 2. The present invention uses the least squares method to perform least squares fitting on the flatness h of the imaging component installation reference plane and the perpendicularity p between the imaging component installation reference plane and the optical lens installation reference plane, obtaining a correction misalignment Δ, which provides a reference for the subsequent coaxial adjustment of the optical lens and the imaging component of the optical camera, so as to improve the calibration accuracy.

[0039] 3. The large-aperture collimator adopted by the present invention has an exit aperture that can cover the external dimensions of the optical camera and the laser theodolite. Compared with the traditional multi-target coaxial method, it eliminates the error caused by reference conversion, making the calibration accuracy and efficiency higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of measuring the flatness of the imaging component installation reference plane and the perpendicularity between the imaging component installation reference plane and the optical lens installation reference plane in step 1 of the embodiment of the present invention;

[0042] Figure 3 is Figure 2 an enlarged view of part A in

[0043] Figure 4 is a schematic diagram of the coordinate system established in steps 4, 5, and 6 of the embodiment of the present invention;

[0044] Figure 5 is a schematic diagram of the coaxial calibration of the optical camera in step 5 of the embodiment of the present invention;

[0045] Figure 6 is a schematic diagram of the calibration of the installation position of the fine measurement mirror in step 7 of the embodiment of the present invention;

[0046] Figure 7 is Figure 6 an enlarged view of part B in

[0047] In the figure: 1 - laser theodolite, 2 - optical camera, 21 - optical lens, 3 - fine measurement mirror assembly, 31 - fine measurement mirror body, 32 - fine measurement mirror base, 33 - grinding boss; 4 - four-dimensional adjustable turntable four, 5 - large-aperture collimator, 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 plane, 102 - optical lens installation reference plane. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] To make the objectives, advantages, and features of the present invention clearer, the following further elaborates in detail on an optical camera position and attitude calibration method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following specific implementation manners, the advantages and features of the present invention will be clearer.

[0049] Refer to Figure 1 , the optical camera position and attitude calibration method in this embodiment mainly includes the following steps:

[0050] Step 1: Use a coordinate measuring machine, refer to Figure 2 and Figure 3 , taking the imaging component installation reference plane 101 on the housing where the optical camera 2 is installed as the reference, measure the flatness h (unit: mm) thereof, and on this basis, use the coordinate measuring machine to measure the perpendicularity p (unit: mm) between the imaging component installation reference plane 101 and the optical lens installation reference plane 102.

[0051] Step 2: Determine the correction misalignment amount by the least squares method;

[0052] Perform least squares fitting on the flatness h and perpendicularity p measured in Step 1 to obtain the correction misalignment amount Δ (unit: mm) during the assembly and adjustment of the optical camera 2, providing a reference for the subsequent coaxial adjustment of the optical lens 21 and the imaging component of the optical camera 2.

[0053] Step 3: Coaxial adjustment of the optical lens 21 and the imaging component of the optical camera 2;

[0054] Step 3.1: First, install the optical lens 21 of the optical camera 2 to be calibrated on the optical lens installation reference plane 102, and then install the imaging component of the optical camera 2 to be calibrated on the imaging component installation reference plane 101.

[0055] Step 3.2: Connect the optical camera 2 to be calibrated to the display 7. The display 7 can perform imaging display. Adjust the imaging clarity of the imaging component of the optical camera 2, and determine whether the imaging clarity of the imaging component of the optical camera 2 meets the preset clarity requirement through the display 7. This preset clarity requirement can be subjectively set according to actual needs and is not specifically limited in this embodiment. If so, execute Step 3.3; if not, readjust the imaging clarity of the imaging component of the optical camera 2 until the preset clarity requirement is met.

[0056] Step 3.2: Taking the center of the field of view of the imaging component of the optical camera 2 as the reference, adjust the relative position between the optical lens 21 and the imaging component of the optical camera 2 so that the optical axis of the optical lens 21 of the optical camera 2 is coaxial with the normal of the imaging component, realizing the calibration of the correction misalignment amount Δ.

[0057] Step 3.3: Measure the maximum pixel offset between the optical lens 21 of the optical camera 2 and the center of the imaging component's field of view in the horizontal and vertical directions, and determine whether the maximum pixel offset meets the preset accuracy. In this embodiment, the preset accuracy d has a value range of 0 ≤ d ≤ 1. If so, execute Step 4; if not, recalibrate and correct the misalignment 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.

[0058] Step 4: Refer to Figure 4 to establish a stable image measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera 2 as the reference.

[0059] Step 5: Refer to Figure 4 , Figure 5 and Figure 6 to coaxial adjust the laser theodolite 1, the optical camera 2 and the large - aperture collimator 5;

[0060] Step 5.1: Set a star target on the end face of the large - aperture collimator 5 far from the optical camera 2 and use it as the imaging target.

[0061] Step 5.2: Install the optical camera 2 on the four - dimensional adjustable turntable 4, and install the assembled optical camera 2 and the four - dimensional adjustable turntable 4 as well as the large - aperture collimator 5 on the optical platform 6 respectively. And place 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 target through the four - dimensional adjustable turntable 4 to achieve the coaxial adjustment of the optical axes of the optical camera 2 and the large - aperture collimator 5.

[0062] Step 5.3: Install the laser theodolite 1 on the two - dimensional horizontal moving platform 8, and place the assembled laser theodolite 1 and the two - dimensional horizontal moving platform 8 on one side of the optical platform 6, and on the side of the optical camera 2 far 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.

[0063] Step 5.4: Establish a coordinate system X c -Y c -Z c with the optical axis of the laser theodolite 1 as the reference, and convert the stable image measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera 2 as the reference into a measurement coordinate system X c -Y c -Z c .

[0064] 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.

[0065] 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, Y c 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] Verify the calibration method of this embodiment:

[0070] Measure the angular data between the coordinate system X-Y-Z corresponding to the fine measurement mirror body 31 and the stabilized image measurement coordinate system X0-Y0-Z0 corresponding to the optical camera 2. A total of 10 groups are measured, and the variance is calculated. The results show that the maximum variance of the calibration is 8.1 seconds; after 10 measurements are completed using the traditional method, the maximum variance is 33 seconds. In summary, the calibration method of the present invention has higher calibration accuracy than the traditional calibration method.

Claims

1. An optical camera position and attitude calibration method, characterized in that, It includes the following steps: Step 1: Taking the imaging component installation reference plane (101) on the housing where the optical camera (2) is installed as a reference, measuring its flatness h, and on this basis, measuring the perpendicularity p between the imaging component installation reference plane (101) and the optical lens installation reference plane (102); Step 2: Performing least-squares fitting on the flatness h and perpendicularity p in Step 1 to obtain the correction misalignment Δ during the alignment of the optical camera (2) to be calibrated; Step 3: Installing the optical lens (21) of the optical camera (2) to be calibrated onto the optical lens installation reference plane (102), and installing the imaging component of the optical camera (2) to be calibrated onto the imaging component installation reference plane (101); Taking the center of the imaging field of the imaging component of the optical camera (2) as a reference, calibrating the correction misalignment Δ, then measuring the maximum pixel offset between the edges of the imaging field of the optical lens (21) of the optical camera (2) in the horizontal and vertical directions and the center of the imaging field of the imaging component, and determining 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, realizing the coaxial calibration of the optical lens (21) and the imaging component of the optical camera (2); Step 3.1: Installing the optical lens (21) of the optical camera (2) to be calibrated onto the optical lens installation reference plane (102), and installing the imaging component of the optical camera (2) to be calibrated onto the imaging component installation reference plane (101); Step 3.2: Connecting the optical camera (2) to be calibrated to the display (7), adjusting the imaging clarity of the imaging component of the optical camera (2), and determining whether the imaging clarity meets the preset clarity requirement through the display (7). If so, execute Step 3.3; if not, readjust the imaging 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 imaging field of the imaging component of the optical camera (2) as a reference, adjusting the relative positions of the optical lens (21) and the imaging component of the optical camera (2) so that the optical axis of the optical lens (21) of the optical camera (2) is coaxial with the normal of the imaging component, realizing the calibration of the correction misalignment Δ; Step 3.4: Measuring the maximum pixel offset between the edges of the imaging field of the optical lens (21) of the optical camera (2) in the horizontal and vertical directions and the center of the imaging field of the imaging component, and determining 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, realizing the coaxial calibration of the optical lens (21) and the imaging component of the optical camera (2); Step 4: Establishing a stabilized image measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera (2) as a reference; Step 5: Place the laser theodolite (1) and the optical camera (2) in sequence at the front end of the large-aperture collimator (5), 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 c -Y c -Z c ; Step 6: Install the precise measurement mirror assembly (3) on the optical camera (2), and establish a coordinate system X-Y-Z with the optical axis of the precise measurement mirror assembly (3) as the reference; and set a beam splitting prism assembly in the front optical path of the laser theodolite (1), so that the autocollimation image of the laser theodolite (1) can be presented to the X-direction and Z-direction of the precise measurement mirror assembly (3) simultaneously. The X-direction, Y-direction, and Z-direction of the coordinate system X-Y-Z are parallel to the X c -Y c -Z c -direction, Y c -direction, and Z c -direction of the coordinate system X c -Y-Z in the initial state. The beam splitting prism assembly includes three beam splitting prisms, namely beam splitting prism one (91), beam splitting prism two (92), and beam splitting prism three (93); Taking the laser theodolite (1) as a reference, respectively adjust the relative positions of the three beam splitting prisms. Through the first beam splitting prism (91), the transmitted light of the laser theodolite (1) is incident on the Z direction of the precise measurement mirror assembly (3), and the reflected light is incident on the X direction of the precise measurement mirror assembly (3) after being reflected by the second beam splitting prism (92) and the third beam splitting prism (93) in sequence; Step 7: Judge whether the autocollimation image of the laser theodolite (1) meets the preset tolerance requirements through the precise measurement mirror assembly (3). If so, complete the position adjustment of the precise measurement mirror assembly (3). If not, adjust the installation position of the precise measurement mirror assembly (3) until the preset tolerance requirements are met; Step 8: Measure the position of the precise measurement mirror assembly (3) relative to the optical camera (2) through the laser theodolite (1), and then calibrate the position and attitude of the optical camera (2) according to the measurement results to realize the position and attitude measurement and calibration of the optical camera (2).

2. An optical camera position and attitude calibration method according to claim 1, characterized in that: In step 3.3, define the preset accuracy as d, and the value range of d is 0 ≤ d ≤ 1.

3. An optical camera position and attitude calibration method according to claim 1 or 2, characterized in that, Step 5 is specifically as follows: Step 5.1: Set a star point target on the end face of the large-aperture collimator (5) far from the optical camera (2); Step 5.2: Install the optical camera (2) on the four-dimensional adjustable turntable four (4), and install 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) respectively, and the optical camera (2) is located at the front end of the large-aperture collimator (5). Adjust the relative position of the optical camera (2) and the star point target through the four-dimensional adjustable turntable four (4) to realize the coaxial adjustment of the optical axis of the optical camera (2) and the large-aperture collimator (5); 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 where the optical camera (2) is far from the large-aperture collimator (5). Adjust the relative position of the laser theodolite (1) and the optical camera (2) through the two-dimensional horizontal moving platform (8) to finally realize the coaxiality of the optical axes of the laser theodolite (1), the optical camera (2) and the large-aperture collimator (5); Step 5.4, establish a coordinate system X c -Y c -Z c , and convert the stabilized image measurement coordinate system X0 - Y0 - Z0 with the optical axis of the optical camera (2) as the reference to the measurement coordinate system X c -Y c -Z c .

4. An optical camera position and attitude calibration method according to claim 3, characterized in that: The first beam splitting prism (91), the second beam splitting prism (92) and the third beam splitting prism (93) are respectively placed on the four-dimensional adjustable platform one (94), the four-dimensional adjustable platform two (95) and the four-dimensional adjustable platform three (96).

5. An optical camera position and attitude calibration method according to claim 1, characterized in that: In step 6, the precise measurement mirror assembly (3) includes a precise measurement mirror body (31), a precise measurement mirror seat (32) and a lapping boss (33) arranged on the bottom surface of the precise measurement mirror seat (32); the precise measurement mirror body (31) is arranged on the top surface of the precise measurement mirror seat (32); Make the autocollimation image of the laser theodolite (1) be presented to the X direction and the Z direction of the precise measurement mirror body (31) through the beam splitting prism assembly at the same time; In step 7, the installation position of the fine measurement mirror body (31) is adjusted by dressing the dressing boss (33) on the bottom surface of the dressing and fine measurement mirror base (32).

6. An optical camera position and attitude calibration method according to claim 1, wherein: In step 5, the exit aperture of the large-aperture collimator (5) is greater than or equal to the maximum outer dimensions of the optical camera (2) and the laser theodolite (1).

7. A method for calibrating the position and attitude of an optical camera according to claim 6, characterized in that, Step 1 is specifically: Using a coordinate measuring machine, with the imaging component installation reference plane (101) on the installation housing of the optical camera (2) as a reference, measuring its flatness h, and on this basis, measuring the perpendicularity p between the imaging component installation reference plane (101) and the optical lens installation reference plane (102) using a coordinate measuring machine.

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