The invention relates to a
scene matching semi-physical
simulation system based on a mechanical arm with six degree of freedom, consisting of hardware systems such as a
simulation calculation sub-
system, a mechanical arm sub-
system with six degree of freedom, a photographing sub-system and a large-screen projection sub-system, and a scene
reference map database, a
scene matching software, a matching area selecting and a flight path planning
software, and a relevant
software of a mechanical arm motion model for simulating flight attitude. The actual work process of
scene matching is simulated by using the mechanical arm with six degree of freedom, a camera, a large-screen
projector and a mechanical arm motion model; a common PC is adopted as a
simulation computer; the matching area selecting and the flight path planning software generates matching area data and
orbit data; the dynamic characteristics of the system is accomplished by utilizing the mechanical arm motion model and the large-screen
projector; the main errors (illumination and
smoke) of the system are simulated by controlling the turning-on and turning-off of a
fluorescent lamp; and the collection of real-time images, the control of the mechanical arm, the control of the projection speed, and a matching calculation are accomplished in the simulation computer, thus accomplishing the scene matching semi-physical
simulation system. The system truly simulates the actual work process and the error of the scene matching, and the experimental result has significant meaning to the research and manufacture and the applications of scene matching
engineering samples and can replace the flight-test experimental process in the actual research and development process, thus greatly improving the research and manufacture efficiency, lowering the research and manufacture cost, and having significant economic value and popularization value.