Researchs On Measurement Error Corrction Of Vehicle Photoelectric Theodolite Working On The Quasi-Moving Base

The photoelectric theodolite is the basic optical measurement equipment to get trajectory data and flight parameters in the weapon shooting ranges. It is widely used in the aeronautics, weapon trials and many other scientific research areas. There are mainly two kinds of photoelectric theodolite in the home shooting ranges, one is fixation and the other is movement. The main atvantage of the fixation system is high measurement precision and far-forth measuring ability, but it can not fulfill the demands of new kind weapon trials because of its limited measuring area. While with the moveable ability, the movement photoelectric theodolite system is able to track and measure objects broadly and flexibly. However it must be carried to the measurement site and fixed on a still solid base, only in this way can it obtain accurate measurement result. So it is very significant to develop a new kind of photoelectric theodolite system which can measure accurately on the quasi-moving vehicle platform.The correction of measurement error of vehicle photoelectric theodolite working on the quasi-moving base is taken as the background of this dissertion. The reasons of measurement error, the methods of error correction and the scheme of error correction system are investigated and presented in this dissertation. The pose estimation problem which is one of the key problems of the error correction methods is mainly studied. Finally, simulation experiments are conducted according to the proposed scheme and methods. The whole work has maken a foundation for the next project work.The main contents of the works in this dissertation are as follows.1).The causations for measuremet error of vehicle photoelectric theodolite working on the quasi-moving base are analysised. It concluded that the main error causation is the rotation of the quasi-monving base. By using a fixed camera on the quasi-moving base, an error correction method is presented, and the theory of error correction is given.2).The pose estimation is one of the key and core problems of the error correction scheme. Algorithms for this problem from point correspondences are studied. Based on the Orthogonal Iteration (OI) algorithm, a modified method from point correspondences is presented. Experiments show that the modified algorithm is more accurate.3).It is advantageous to compute pose from line correspondences.To get a more accurate result, algorithms based line correspondences are studied. An iterative algorithm named LBOI (Line-Based Orthogonal Iteration Algorithm) which is extended from the OI algorithm is proposed. Synthetic and real experiments data show the proposed algorithm is less sensitive to initialization, accurate and robust.4).An error correction system scheme is designed. A simulation experiment system is built. In the last part of this dissertation, data and physical simulation experiments are conducted. The experiment results show that the presented methods and algorithms are suit for error correction. The error correction and the quasi-moving roation measurement methods in this dissertatin can be applied to the movement measuring or pose computing of vehicle and vessel weapon system. The proposed pose estimation algorithms can be applied to mobile robots, camera calibration and object tracking, etc.