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

LIANG Xi; YANG Changhao; GE Shicheng; LI Xuelin; GAO Guangmin; LI Jun; LI Yongze; FENG Gaopeng

doi:10.15892/j.cnki.djzdxb.2023.03.010

Journal of Projectiles, Rockets, Missiles and Guidance >

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

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

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

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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

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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

Cite this article

LIANG Xi , YANG Changhao , GE Shicheng , LI Xuelin , GAO Guangmin , LI Jun , LI Yongze , FENG Gaopeng . Research on the Visual Measurement Method of Rocket Launcher Pose Based on Target[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2023 , 43(3) : 68 -75 . DOI: 10.15892/j.cnki.djzdxb.2023.03.010

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