摘要
炮弹空间位置和姿态参数的解算是研究其飞行弹道特性和弹道控制的非常重要的内容。利用4个已知空间坐标的非共面控制点,通过建立控制点的过渡坐标系,提出了一种基于单目视觉,采用欧拉角直接参与计算的炮弹位姿参数的测量方法,建立了位姿参数测量的误差修正模型。最后对该算法进行了完整的数学仿真。仿真结果表明,该算法简单有效且稳定,能满足位姿参数测量的精度要求。
The solution of the spatial position and attitude parameters of projectiles are regarded as significant contents in studying its flight trajectory characteristics and realizing trajectory control. In this paper, an optical measurement of closed- form method for position and attitude parameters based on monocular vision model is presented by using data from four noncoplanar, spacewise known reference points, by building up the transitional reference frame attached to the control points, and by computing the pose parameters using the Europe directly. And also establishing model of the closed- form method for pose parameters. At last the solution has been validated by using lation. The simulation results show that the measuring method and the error correcting model are simpl the error correcting mathematical simue, effective and valid and stable which can satisfy the accuracy requirements of the measurement.
出处
《航空计算技术》
2009年第3期68-73,共6页
Aeronautical Computing Technique
关键词
炮弹
单目视觉
欧拉角
相对位置
相对姿态
projectile
monocular vision
europe
relative position
relative attitude
