Research And Design Of Target Spatial Position And Attitude Measurement System Based On PSD

The measurement of target position and attitude in space has very important applications in military,scientific research and aerospace fields.The measurement of the position and attitude of the traditional target mainly depends on the techniques of inertial navigation system,GPS,lidar,CCD camera and so on.However,these techniques have some shortcomings such as low precision,slow system response and complicated data processing in the process of obtaining the target spatial pose and attitude.In order to make up for the lack of precision of the traditional attitude and attitude measurement,this paper proposes a monocular vision method to measure the position and attitude of the target based on the position sensitive detector(PSD).In this method,a plurality of light spots are installed on the measured target,and the position information of each feature spot is quickly measured by using the PSD.Then,the position and attitude of the target are calculated by the attitude demodulation algorithm.The main contents of this paper include the following aspects:1.According to the system requirements of the functions and technical indicators,proposed based on the monocular PSD space pose measurement program,and completed the overall system design.2.Analyzed the detection characteristics of PSD,the movement characteristics of the measured target,and studied the spatial position and attitude algorithm of single target PSD.That was to say,the position information of multiple feature spots placed on the measured object was obtained through PSD detection to complete the solution of the position and attitude of the target space.3.Analyzed the optical characteristics and detection requirements of the system,selected the suitale PSD and completed the design of the photoelectric detection unit.Finally,realized the fast and accurate detection of the target spot posion under the use of PSD.4.Designed the embedded control system based on ARM and USB,completed the preparation of the host computer and the next crew-related program code.Set up a simulation experiment system of space target position and attitude test and completed the test of the stability and accuracy of the designed system.Which the system response speed up to 1?s,90% confidence interval was [-22.05 mm,22.5mm],the standard deviation was less than 12.25 mm when at 20 m test distance.