Study On The Self-measuring Method Of The Attitude And Position Based On Geometrical Characteristic Parameter

Attitude and position self-measuring method is proposed to meet the requirements of dynamic measurement system for the better real-time working and high accuracy. The image-collection system was fixed on the dynamic platform, and got the geometrical information of the reference plane. Using these information could calculate the attitude and position of the dynamic platform to realize the self-measuerment. The mathematical model was based on the pin-hole imaging model and the geometrical relationship, which had more fast computing speed and high-accuracy measurement. The key work to guarantee the mathematical model simple was making the laser designator forming the target and the camera to be a whole body. The measurement accuracy of system could be designed according to the requirement of the working condition. Attitude and position measurement system is an important part in modern technique field, such as controlling, guiding, tracing, and so on. It can be fixed on static or dynamic carriers to realize the function of real-time measurement and localization. Now,the method of attitude and position measurement based on monocular machine vision becomes the hot item as its simple structure and flexibility using. It has highly research value, because it can be widely used by guiding, vehicle landing, target tracing and locating, 3D reconstruction, building mass detecting, and so on.In this thesis, the main contents and innovative points include:1. Development situations of home and oversea attitude and position measurement technology are widely studied. The feature was generalized, and the advantage and shortage for application were also compared. Deeply analysis and studies were made for the representative methods, including the theoretical basis, mathematical model, the type and the feature of target, the range of uses, the advantage and the limitation for application. After analyzing above items synthetically, the object of this thesis was conformed, which is to design a new method of attitude and position measurement based on geometrical property with simple model, fast computing speed, flexible using and low cost.2. Based on the deeply studies on the theoretical basis of the monocular machine vision and kinds of methods for attitude and position measurement, a mathematical model of getting three attitude and position parameters was founded. The three parameters are yaw angle, pitch angle and the distance between the camera center and the crossing point of the camera axis and the reference plane. Then the measuring principle was formulated clearly, and the process of calculation was explained and derived in detail.3. In the new mathematical model, a new kind target was designed. This target was formed by the laser point coming from laser designator. The laser designator and the camera were fixed on the one device to be a whole body. Through the change of the attitude of the imaging plane relative to the objective plane, the laser points on the objective plane would also change. And from this, the attitude information could be got.4. According to the new mathematical model, the proving experiment system was designed. Numbers of experiments were made in different attitude conditions, and mass of data were gained. The measuring result indicated that this method can realize the measurement of the three attitude and position parameters, and proved the feasibility of the method studied in this thesis.