基于靶标的火箭炮位姿视觉测量方法研究

梁熙; 杨长浩; 葛世程; 李学霖; 高光民; 李军; 李永泽; 冯高鹏

doi:10.15892/j.cnki.djzdxb.2023.03.010

弹箭与制导学报 >

2023 , Vol. 43 >Issue 3: 68 - 75

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2023.03.010

基于靶标的火箭炮位姿视觉测量方法研究

梁熙 ¹ ,
杨长浩 ² ,
葛世程 ³ ,
李学霖 ³ ,
高光民 ³ ,
李军 ³ ,
李永泽 ¹ ,
冯高鹏 ¹

展开

¹ 中国工程物理研究院总体工程研究所, 四川绵阳 621999
² 中国运载火箭技术研究院北京航天计量测试技术研究所, 北京 100076
³ 南京理工大学机械工程学院, 江苏南京 210094

梁熙(1995—),男,硕士,助理工程师,研究方向:系统测试与发射技术。

收稿日期: 2022-03-03

网络出版日期: 2025-02-07

收起

Research on the Visual Measurement Method of Rocket Launcher Pose Based on Target

LIANG Xi ¹ ,
YANG Changhao ² ,
GE Shicheng ³ ,
LI Xuelin ³ ,
GAO Guangmin ³ ,
LI Jun ³ ,
LI Yongze ¹ ,
FENG Gaopeng ¹

Expand

¹ Institute of Systems Engineering, China Academy of Engineering Physics, Mianyang 621999, Sichuan, China
² Beijing Institute of Aerospace Metrology and Testing Technology, China Academy of Launch Vehicle Technology, Beijing 100076, China
³ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China

Received date: 2022-03-03

Online published: 2025-02-07

Fold

摘要

为提供火箭炮起落架相对于弹药装填车的精准位姿关系,提出了一种使用新型靶标的位姿视觉测量方法。使用一种以标志圆为定位原点的新型特征标志,解决了棋盘格因旋转带来的特征点排序混乱问题;基于边界聚类原理设计了椭圆检测算法;设计了一种Harris算法和角点检测模板相结合的角点提取算法,用于提取角点的准确坐标;利用特征点分布规律设计了特征点排序算法,用于实现特征点的自动排序。使用有限元方法得到起落架在不同载荷下的变形情况,经过分析发现其对位姿测量造成的误差很小,并得到减小起落架变形干扰的最合适靶标安装位置。位姿测量实验表明:文中算法的角度误差均值为0.16°,位移误差均值为0.29 mm,达到了测量精度要求。

关键词： 箱式火箭炮; 位姿视觉测量; 特征标志; 特征点提取与排序; 误差分析

本文引用格式

梁熙 , 杨长浩 , 葛世程 , 李学霖 , 高光民 , 李军 , 李永泽 , 冯高鹏 . 基于靶标的火箭炮位姿视觉测量方法研究[J]. 弹箭与制导学报, 2023 , 43(3) : 68 -75 . DOI: 10.15892/j.cnki.djzdxb.2023.03.010

Abstract

In order to provide the accurate position and attitude relationship of the rocket launcher landing gear with respect to the ammunition loading vehicle, this paper proposes a vision measurement method for the position and attitude using a new target. A new type of feature mark with the mark circle as the origin is used to solve the chaotic order of feature points caused by the rotation of the checkerboard; the ellipse detection algorithm is designed based on the boundary clustering principle; a corner point extraction algorithm combining Harris algorithm and corner point detection template is designed to extract the accurate coordinates of corner points; a feature point sorting algorithm is designed by using the feature point distribution law to realize the automatic sorting of feature points. The finite element method is used to obtain the deformation of the landing gear under different loads. After analysis, it is found that the error caused by the measurement of the pose is very small, and the most suitable target installation position to reduce the interference of the deformation of the landing gear is obtained. Pose measurement experiments show that the average angle error of this algorithm is 0.16°, and the average displacement error is 0.29 mm, which meets the measurement accuracy requirements.

Key words： box rocket launcher; visual measurement of pose; feature mark; feature point extraction and sorting; error analysis

[an error occurred while processing this directive]

参考文献

原文顺序 | 文献年度倒序 | 文中引用次数倒序

[1]	李军. 火箭发射系统设计[M]. 北京: 国防工业出版社, 2008. LI J. Design of rockets launching system[M]. Beijing: National Defense Industry Press, 2008.

[2]	曹禹堡. 导弹装填弹筒自动对接系统设计与研究[D]. 哈尔滨: 哈尔滨工业大学, 2020. CAO Y B. Design and research of automatic docking system for missile loading cartridges[D]. Harbin: Harbin Institute of Technology, 2020.

[3]	袁媛, 刘柯, 孙增玉, 等. 单目视觉三维运动位姿测量方法研究[J]. 宇航计测技术, 2019, 39(6): 1-6. YUAN Y, LIU K, SUN Z Y, et al. Research on the measurement method of monocular vision three-dimensional motion pose[J]. Aerospace Measurement Technology, 2019, 39(6): 1-6.

[4]	段振云, 王宁, 赵文辉, 等. 基于点阵标定板的视觉测量系统的标定方法[J]. 光学学报, 2016, 36(5): 151-159. DUAN Z Y, WANG N, ZHAO W H, et al. Calibration method of vision measurement system based on dot matrix calibration plate[J]. Acta Optica Sinica, 2016, 36(5): 151-159.

[5]	莫邵文, 邓新蒲, 王帅, 等. 基于改进视觉背景提取的运动目标检测算法[J]. 光学学报, 2016, 36(6): 204-213. MO S W, DENG X P, WANG S, et al. Moving target detection algorithm based on improved visual background extraction[J]. Acta Optica Sinica, 2016, 36(6): 204-213.

[6]	曹雨. 基于合作目标和单相机的空间相对位姿测量方法研究[D]. 天津: 天津大学, 2017. CAO Y. Research on spatial relative pose measurement method based on cooperative target and single camera[D]. Tianjin: Tianjin University, 2017.

[7]	周辉. 基于合作靶标的目标检测方法研究与实现[D]. 北京: 华北电力大学, 2017. ZHOU H. Research and realization of target detection method based on cooperative target[D]. Beijing: North China Electric Power University, 2017.

[8]	赵丹. 面向单目视觉测量的合作目标优化研究[D]. 哈尔滨: 哈尔滨工业大学, 2018. ZHAO D. Research on cooperative target optimization for monocular vision measurement[D]. Harbin: Harbin Institute of Technology, 2018.

[9]	牟金震, 方亚毜, 王诗强, 等. 一种基于TOF相机的空间合作目标相对位姿测量方法[J]. 电光与控制, 2019, 26(9): 66-72. MOU J Z, FANG Y Z, WANG S Q, et al. A TOF camera-based method for measuring relative pose of space cooperation targets[J]. Electro-Optics and Control, 2019, 26(9): 66-72.

[10]	ZHAO F, WEI C, WANG J, et al. An automated X-corner detection algorithm(AXDA)[J]. Journal of Software, 2011, 6(5): 791-797.

[11]	赵斌, 周军. 基于改进棋盘的角点自动检测与排序[J]. 光学精密工程, 2015, 23(1):237-244. ZHAO B, ZHOU J. Automatic corner detection and sorting based on improved chessboard[J]. Optics and Precision Engineering, 2015, 23(1): 237-244.

[12]	田苗, 郝向阳, 刘松林, 等. 基于黑白环扇圆盘的角点自动识别与排序[J]. 测绘科学技术学报, 2016(3): 285-289. TIAN M, HAO X Y, LIU S L, et al. Automatic recognition and sorting of corner points based on black and white circular fan discs[J]. Journal of Surveying and Mapping Science and Technology, 2016(3): 285-289.

[13]	YU C S. Robust recognition of checkerboard pattern for camera calibration[J]. Optical Engineering, 2006, 45(9): 1173-1183.

[14]	梁力, 尹东斐, 王川. 高精度摄像机标定模板的设计及识别算法[J]. 西安交通大学学报, 2011, 45(4): 82-85. LIANG L, YIN D F, WANG C. Design and recognition algorithm of high-precision camera calibration template[J]. Journal of Xi'an Jiaotong University, 2011, 45(4): 82-85.

[15]	LU C, XIA S, SHAO M, et al. Arc-support line segments revisited: an efficient high-quality ellipse detection[J]. IEEE Transactions on Image Processing, 2020, 29: 768-781.

[16]	MENG C, LI Z, BAI X, et al. Arc adjacency matrix-based fast ellipse detection[J]. IEEE Transactions on Image Processing, 2020, 29: 4406-4420.

[17]	GEIGER A, MOOSMANN F, CAR O, et al. Automatic camera and range sensor calibration using a single shot[C]// IEEE. Proceedings of the IEEE International Conference on Robotics & Automation. New York: IEEE, 2012: 3936-3943.

[18]	何海清, 黄声享. 改进的Harris亚像素角点快速定位[J]. 中国图象图形学报, 2012, 17(7): 853-857. HE H Q, HUANG S X. Improved Harris sub-pixel rapid positioning of corner points[J]. Chinese Journal of Image and Graphics, 2012, 17(7): 853-857.

Options

文章导航