Research On High Precision Position And Attitude Measurement Technology Of Large Target

The three-dimensional attitude(pitch angle,yaw angle,roll angle)is an important parameter reflecting the flight state of the aircraft.Inertial navigation system provides information on heading,attitude and position for other systems on the aircraft.However,due to the drift of inertial devices such as gyroscopes,the navigation accuracy of the inertial navigation system decreases with time.Therefore,it is necessary to calibrate inertial navigation by high-precision measurement of three-dimensional attitude.In the stage of take-off and landing,there are problems such as large target,small intersection angle and high precision demand.In order to solve the above difficulties,this paper studies a high-precision position and attitude measurement method for large targets based on visual guidance.In order to realize the pose measurement of large targets,the laser rangefinder is fixed near the camera in this project,and a pose measurement system based on monocular camera-laser rangefinder is established.A suitable cooperative target is set on the target to be positioned,the central position of the cooperative target is acquired by using a monocular camera,the laser rangefinder/laser theodolite is guided to automatically aim at the central position of the cooperative target,and then the spatial pose of the target to be positioned is obtained by solving the parameters,so as to realize high-precision automatic guiding measurement.The specific research content is as follows:1.Summarize the current situation of spatial coordinate measurement at home and abroad,and elaborate the research significance of this topic;2.Analyze the camera model and pose measurement theory,and establish a monocular vision pose measurement model;3.An improved edge refinement algorithm was proposed to realize sub-pixel center positioning of the cooperation target;A target detection and tracking algorithm based on deformable part model and kernel correlation filtering is proposed to realize real-time detection and stable tracking of cooperative targets.4.Establish the position and attitude measurement system based on monocular camera-laser rangefinder,analyze the influence of various parameters on the measurement accuracy of the system,and use the calibration algorithm for calibration;5.The correctness of the measurement model is verified by experiments.The position error of the measurement system is less than 10 mm.The attitude measurement accuracy is above 0.2° within the distance range of 20m~60m.