Research On Precision Pose Measurement Technology Based On Orthogonal Cylindrical Imaging Measurement Network

According to the large scale spatial objects real-time attitude measurement demand in the process of large equipment assembly docking in the field of aviation and aerospace,a new method of pose measurement based on orthogonal cylindrical imaging is studied in this thesis.In this method,the orthogonal angle imaging system is combined with two orthogonally arranged linear array CCDs to realize two-dimensional angle measurement function of the area imaging device in the photogrammetry.Then multi-angle intersection can achieve three-dimensional positioning of the spatial point,and further achieve space object attitude measurement.The method makes full use of the advantages such as high one-dimensional angular resolution,fast acquisition speed and simple treatment of linear array CCD.In order to solve the problem of orthogonal cylindrical imaging pose measurement,three aspects: the basic principle of pose measurement,algorithms research and systematic design are studied in turn.Experiments are used to verify the proposed methods.The experimental results show that the orthogonal cylindrical imaging measurement system has good 3D coordinate measurement accuracy and high accuracy of attitude measurement.The main research work of this thesis are:1.With respect to the proposed orthogonal cylindrical imaging measurement system,the composition and imaging rules of the optical system in the orthogonal cylindrical imaging pose measurement method are described.The pinhole imaging model of the orthogonal cylindrical imaging camera is described.The principle of the pose measurement is described.Positioning and attitude measurement to achieve the process.The principle of pose measurement is studied,and the process of three dimensional coordinate positioning and attitude measurement is described.2.In order to meet the needs of real-time measurement,an attitude solution model of the orthogonal cylindrical imaging measurement system based on Rodrigues parameters is established.This thesis researches real-time recognition tracking method based on extended Kalman prediction to realize parallel measurement of multiple target,which provides the theoretical basis for measurement system.3.Describing the project design of the precision pose measurement based on orthogonal cylindrical imaging measurement network.This thesis approve orthogonal cylindrical imaging optical path by determineing reasonable optical parameters.LEDs' light source is choosed reasonably,and the LEDs' mechanical structure is designed.And the sub-pixel location of the image spot is ensured by the threshold centroid method.Synchronization of multiple cameras is achieved by using external trigger.The comparable camera calibration platform,the internal parameter calibration program and the measurement program on computer are designed for the system.4.A large number of experiments are carried out on the orthogonal cylindrical imaging measurement system.The experimental results show that 3D coordinate measurement accuracy is better than 0.5 mm and the maximum measurement error of space object pose solution in yaw,roll and pitch three directions are 0.20 degrees,0.12 degrees and 0.23 degrees respectively by this measurement method.It means that the method has high accuracy and feasibility,and has a good application prospect.