CN103090796B - Rocket beat, the measuring system of sedimentation and method - Google Patents
Rocket beat, the measuring system of sedimentation and method Download PDFInfo
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Abstract
The present invention relates to a kind of rocket beat, the measuring system of sedimentation and method, measuring system includes that image-forming module, image capture module, initial pictures processing module, image processing module and display device after displacement, image-forming module are simultaneously imaged for capturing at least identifier being arranged on storepipe；Image capture module is used for the identifier image for gathering image-forming module acquisition, and identifier image includes image after initial pictures and displacement；Initial pictures processing module calculates first coordinate figure of the initial pictures relative to a calibration position according to the pixel of image-forming module；After displacement, image processing module calculates second coordinate figure of the image relative to calibration position after displacement according to the pixel of image-forming module, and calculates the displacement of rocket according to the variable quantity of relative first coordinate figure of the second coordinate figure；Display device is used for showing the displacement.The present invention can be carried out visualizing to the prism location state of rocket and aiming state, intelligentized tracking.
Description
Technical field
The present invention relates to rocket field of measuring technique, specifically, is to be related to a kind of rocket beat, the measuring system of sedimentation
And method.
Background technology
The ground aiming system of new generation's carrier rocket has larger difference compared with present.This is mainly manifested in：
(1) using the method for the closely horizontal sight that will be built between aiming on launching service tower.
(2) strapdown inertial measurement unit initial orientation mode is adopted on arrow, that is, be used to group prism and rigidly connect firmly with rocket body.Rocket body is put with the wind
The deformation that motion and sunshine, filling etc. are caused, passes to a used group prism by 1: 1, makes that a used group prism is subjected to displacement or orientation is reversed.
If used group prism side-play amount is excessive, aiming function can be caused to fail.Need the real-time active tracing measuring prism of ground aiming system
Displacement.
(3) rocket from liquid hydrogen filling, will be implemented from backstage long-range at launching site in the case of nobody by ground aiming system
Monitoring, measurement are used to the displacement of group prism and control guide rail be tracked.
For above-mentioned sighting system, how under remote control state, the used group prism displacement data of rocket is intuitively obtained in time,
It is to realize one of key technology of remote control tracking aiming.
Content of the invention
The technical problem to be solved, there is provided a kind of rocket beat, the measuring system of sedimentation, with remote control state
Group prism displacement data is used to by the lower rocket that intuitively obtains in time.
In order to solve above-mentioned technical problem, the present invention provides ground rocket beat, the measuring system of sedimentation, including being imaged mould
Block, image capture module, initial pictures processing module, image processing module and display device after displacement, image-forming module are used for catching
Obtain at least identifier that is arranged on storepipe and be imaged；Image capture module is used for gathering the image-forming module
The identifier image of acquisition, the identifier image include identifier be located at initial position when initial pictures and mark
Symbol be subjected to displacement after displacement after image；Initial pictures processing module calculates described initial according to the pixel of the image-forming module
First coordinate figure of the image relative to a calibration position；Pixel meter of the image processing module according to the image-forming module after displacement
Second coordinate figure of the image relative to the calibration position after the displacement is calculated, and according to second coordinate figure relatively described
The variable quantity of one coordinate figure calculates the displacement of rocket；Display device is used for showing the displacement.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, the image-forming module includes that a pointing instrumentation and a CCD take the photograph
Camera, the ccd video camera are arranged on the pointing instrumentation, are provided with cross differentiation line on the camera lens of the pointing instrumentation.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, the initial pictures processing module includes：Character mother plate
Module is set up, which sets up first coordinate figure according to the center relation that initial pictures break up line with cross；Cross hairs mark
Cover half block, its are used for demarcating the relation between the center of the cross differentiation line and the camera lens zero point, to obtain the demarcation position
The coordinate that puts；Calibrating length module, its are used for demarcating the corresponding actual millimeter of pixel of the ccd video camera.
Above-mentioned rocket beat, the measuring system of sedimentation, wherein, first coordinate figure and second coordinate figure pass through
Matrix is represented.
Further, the present invention provides a kind of rocket beat, the measuring method of sedimentation, including：S100, by an imaging mould
The block at least identifier that is arranged on storepipe of capture the step of be imaged；S130, gathers the image-forming module
The identifier image step of acquisition, the identifier image include identifier be located at initial position when initial pictures and
Identifier be subjected to displacement after displacement after image；S200, initial pictures process step, according to the pixel meter of the image-forming module
Calculate first coordinate figure of the initial pictures relative to a calibration position；S300, calculates institute according to the pixel of the image-forming module
Second coordinate figure of the image relative to the calibration position after rheme shifting, and sat according to second coordinate figure relatively described first
The variable quantity of scale value calculates the displacement of rocket；And S400, show the displacement step.
Above-mentioned measuring method, wherein, in the S100 steps, the image-forming module includes a pointing instrumentation and a CCD
Video camera, the ccd video camera are arranged on the pointing instrumentation, are provided with cross differentiation line on the camera lens of the pointing instrumentation.
Above-mentioned measuring method, wherein, in the S200 steps, including Character mother plate establishment step S210, according to first
The template file of beginning image creation character, and described first is set up according to the center relation of initial pictures and cross differentiation line
Coordinate figure.
Above-mentioned measuring method, wherein, in the S200 steps, including cross hairs demarcating steps S220, for demarcating
Relation between the center of the cross differentiation line and the camera lens zero point, to obtain the coordinate of the calibration position.
Above-mentioned measuring method, wherein, in the S200 steps, including calibrating length step S230, for demarcating
State the corresponding actual millimeter of pixel of ccd video camera.
Above-mentioned measuring method, wherein, in the calibrating length step, including calibrating ccd video camera in length and width two
The corresponding actual millimeter step of each pixel of individual direction.
Above-mentioned measuring method, wherein, in the S300 steps, including：
S310, intensity slicing, morphology screen step；
S320, finds image I after similarity highest displacement according to i-th Character mother plate；
S330, judges that similarity score, whether higher than a first threshold, if so, carries out step S340, if it is not, being walked
Rapid S350；
S340, obtains the position of image I after displacement, calculates the displacement O of rocketi；
The value of S350, i adds 1, and saves as i；
Whether S360, judge i≤n, numbers of the n for identifier, if so, returns execution step S320；If it is not, executing
Step S370；
S370, judges displacement OiNumber, if OiNumber be equal to 1, execution step S380；If OiNumber be equal to 2,
Execution step S390；If OiNumber be more than or equal to 3, execution step S3110；
Whether S380, judge similarity score less than a Second Threshold, if it is not, execution step S400；If so, step is executed
Rapid S3112；
S390, judges two displacement OiDifference whether beyond one first setting value or any one displacement OiInstitute
Corresponding affinity score is less than one the 3rd threshold value, if it is not, execution step S400；If so, execution step S3114；
S3110, judges multiple displacement OiWhether mutual difference exceeds one second setting value, if it is not, executing step
Rapid S400；If so, execution step S3116；
S3112, rejects displacement Oi, only show initial pictures；
S3114, rejects two displacement Oi, only show initial pictures；
S3116, deletes the multiple displacement O of deviationiThe maximum displacement O of meansigma methodssi, and return execution step S370.
Above-mentioned measuring method, wherein, in the S400 steps, as displacement OiNumber be equal to 1 when, show this one
Individual OiValue；As displacement OiNumber when being more than 1, show the meansigma methodss of multiple Oi.
The beneficial functional of the present invention is, by using cooperatively for image-forming module and two image processing modules, two figures
As processing module receive from image-forming module target image, and to image in target carry out feature identification, calculate rocket
Displacement, as the input criterion of tracking aiming, and the prism location state of rocket and aiming state can be carried out visually
Change, intelligentized tracking.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of the drawings
Fig. 1 is the rocket beat of the present invention, the structured flowchart of the measuring system of sedimentation；
Fig. 2 is the initial pictures of the identifier of an embodiment；
Fig. 3 be the identifier of an embodiment displacement after image；
Fig. 4 is the rocket beat of the present invention, the theory diagram of the measuring method of sedimentation；
Fig. 5 is the rocket beat of the present invention, the control flow chart of the measuring method of sedimentation.
Wherein, reference
100- measuring systems
10- image-forming modules
11- pointing instrumentations
12-CCD video cameras
130- image capture modules
20- initial pictures processing modules
21- Character mother plates set up module
22- cross hairs demarcating modules
23- calibrating length modules
Image processing module after 30- displacements
31- calculating and comparing modules
40- display devices
S100～S400 steps
200- measured targets
Specific embodiment
Technical solution of the present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings, with further
The solution purpose of the present invention, scheme and effect, but it is not intended as the restriction of scope of the appended claims of the present invention.
As the ground aiming system of carrier rocket of a new generation has larger area with the sighting system of conventional carrier rocket
Not, need intuitively to obtain the used group prism displacement data of rocket under remote control state in time, to realize far controlling tracking aiming.This
The following principle of the bright carrier rocket based on a new generation：Used group of strapdown inertial measurement unit initial orientation mode, i.e. rocket is adopted on rocket
Prism is rigidly connected firmly with the rocket body of rocket, the deformation that motion that rocket body is put with the wind and sunshine, filling etc. are caused, and passed at 1: 1
Used group prism, makes used group prism be subjected to displacement or orientation torsion.That is the change in location of the rocket body of rocket is rocket
Used group prism location change, based on this, the surface of shell setting identifier in rocket corresponding height of the invention is (in Fig. 2
M, Z, H, B, K character, certainly, M, Z, H, B, K character herein is simply illustrated, and can also be other any side in actual use
Just the character for recognizing), identifier is carried out capturing by image-forming module, image capture module and two image processing modules,
Extract and process, obtain identifier deviate initial position distance, identifier movement actual range be rocket beat,
The actual range of sedimentation.Just the measuring system 100 of the rocket beat of the present invention, sedimentation is described in detail below.
As shown in figure 1, in order to meet a new generation carrier rocket ground aiming system demand, the present invention provide fire
Arrow beat, the measuring system 100 of sedimentation, including image-forming module 10, image capture module 130, initial pictures processing module 20, position
Image processing module 30 and display device 40 after shifting, wherein, image-forming module 10 is arranged on storepipe extremely for capture
A few identifier is simultaneously imaged, and at least identifier on storepipe herein corresponds to the measured target in Fig. 1
200；Image capture module 130 is used for the identifier image for gathering the acquisition of image-forming module 10, and identifier image includes identifying
Symbol be located at initial position when initial pictures and identifier be subjected to displacement after displacement after image, initial pictures such as Fig. 2 institutes
Show, after displacement, image is as shown in Figure 3；It is relative that initial pictures processing module 20 calculates initial pictures according to the pixel of image-forming module 10
The first coordinate figure in a calibration position；Displacement image processing module 30 calculates image after displacement according to the pixel of image-forming module 10
Relative to the second coordinate figure of the calibration position, and the variable quantity according to relatively described first coordinate figure of second coordinate figure
Calculate the displacement of rocket；Display device 40 is used for showing the displacement.Image-forming module 10 can include a pointing instrumentation 11
With a ccd video camera 12, ccd video camera 12 is arranged on pointing instrumentation 11, is provided with cross differentiation line on the camera lens of pointing instrumentation 11.
Initial pictures processing module 20 includes that Character mother plate sets up module 21, cross hairs demarcating module 22, calibrating length module 23, character
Template is set up module 21 and sets up the first coordinate figure according to the center relation that initial pictures break up line with cross；Cross hairs are demarcated
Module 22 is used for demarcating the relation between the center of the cross differentiation line and the camera lens zero point, to obtain the calibration position
Coordinate；Calibrating length module 23 is used for the corresponding actual millimeter of pixel for demarcating ccd video camera 12；Image procossing after displacement
Module 30 mainly includes a calculating and comparing module 31, and which is used for calculating the relatively described first coordinate value changes of second coordinate figure
To calculate the displacement of rocket.
Character mother plate is set up when module 21 is run to be needed to provide preferable environmental condition and less interference, specifically,
Can be by the center superposition of the cross division line on camera lens of the target prism centers to be identified on rocket with pointing instrumentation 10, collection
The preferable image of one width (i.e. initial pictures), obtains character therein, and records center and the word of now cross division line
Relation between symbol, by taking five characters of M, Z, H, B, K in such as Fig. 2 as an example, record be now cross division line centre bit
Put and the relation between five characters of M, Z, H, B, K, the relation can be represented by matrix, and by position relationship and Character mother plate
It is stored in systems parameters document.Work as character position, stroke weight, when width, height or character are changed in itself, by calling this
Module, preserves Character mother plate again.Cross hairs demarcating module 22 is used for demarcating between the center of cross division line and camera lens zero point
Relation, during demarcation, target is white background, now needs the center for recognizing cross division line, by cross division line centre bit
Put corresponding coordinate on ccd video camera and be stored in systems parameters document.Calibrating length module 23 is used for demarcating ccd video camera 12
The corresponding actual millimeter of pixel, does not know as target to be identified sets up distance, so a pixel is corresponding on ccd video camera
The physical length of distant object do not know yet, the calibrating length module 23 calibrates ccd video camera pixel in two sides of length and width
To the corresponding millimeter of each pixel.
As shown in figure 4, when being measured to rocket beat, sedimentation using above-mentioned measuring system, including：
S100, captures at least identifier being arranged on storepipe the step being imaged by image-forming module 10
Suddenly.
S130, gathers the identifier image step that image-forming module 10 is obtained, and the identifier image includes identifier
Number be located at initial position when initial pictures and identifier be subjected to displacement after displacement after image.The step passes through image acquisition
Completing, image capture module 130 herein can be image pick-up card to module 130.
S200, initial pictures process step calculate the initial pictures relative to one according to the pixel of the image-forming module
First coordinate figure of calibration position.
S300, calculates after the displacement image relative to the second of the calibration position according to the pixel of the image-forming module
Coordinate figure, and the displacement of rocket is calculated according to the variable quantity of relatively described first coordinate figure of second coordinate figure.
S400, shows the displacement step.
In the S200 steps, after rocket transition, due to being used to the uncertainty that group prism is initially installed, need to carry out thick
Take aim at, just find used position of the group prism centers normal between aiming, and demarcate, store the initial position for being used to group prism, set up
The masterplate file of mark character and calculate organize prism centers to used in each mark character center transition matrix (that is, according to
Initial pictures create the template file of character, and the center relation for breaking up line according to initial pictures and cross sets up described the
One coordinate figure).Staking-out work need when carrying out ensure rocket body mark character surrounding environment light line homogeneous and bright, unobstructed, smog,
Rocket body is without substantially waving.By the capture of image-forming module 10 be arranged at an at least identifier on storepipe and by its into
As after, especially preferably whole system is first initialized before image after displacement is obtained, such as initialization image pick-up card etc.,
And environmental condition is judged, such as environmental condition there occurs change, then need to resurvey initial pictures, and cross hairs again
(being also Zero calibration) and calibrating length is demarcated, according to resurveying initial pictures, the zero point coordinate that re-scales and again long
The transition matrix obtained after scale is fixed obtains the first coordinate figure.Do not change such as external environment condition, can directly using being
The zero point coordinate stored in system Parameter File and transition matrix.External environment condition herein is, for example, identifier position, pen
Draw thickness, width, height or character to change in itself.
As shown in figure 5, image processing step includes after the displacement of the present invention：
S310, intensity slicing, morphology screen step.
S320, finds image I after similarity highest displacement according to i-th Character mother plate.Still with above-mentioned M, Z, H, B, K five
As a example by individual character, the corresponding Character mother plate of each character, i.e. have five Character mother plates, in this step, if first according to character
M then needs to find the M character figures after displacement according to first character template (i.e. M Character mother plates) calculating the displacement of rocket
Picture.
S330, judges that similarity score, whether higher than a first threshold, if so, carries out step S340, if it is not, being walked
Rapid S350.First threshold herein can be 80～90, e.g., judge the similarity point of the M character pictures after displacement and M Character mother plates
Whether number is 80～90.
S340, obtains the position of image I after displacement, calculates the displacement O of rocketi.Still by taking M characters as an example, calculate
The position of the M character pictures after displacement, the position are aforesaid second coordinate figure, by second coordinate figure and M Character mother plates
Initial coordinate values (i.e. the first coordinate figure) compare and obtain the displacement O of rocketi.
The value of S350, i adds 1, and saves as i.
Whether S360, judge i≤n, n for identifier number (in the embodiment of Fig. 2, the value of n for 5), if so,
Return execution step S320；If it is not, execution step S370.
S370, judges displacement OiNumber, if OiNumber be equal to 1, execution step S380；If OiNumber be equal to 2,
Execution step S390；If OiNumber be more than or equal to 3, execution step S3110.
Whether S380, judge similarity score less than a Second Threshold, if it is not, execution step S400；If so, step is executed
Rapid S3112.In the embodiment that Second Threshold herein can be given for 95～99, Fig. 5, Second Threshold is 99.
S390, judges two displacement OiDifference whether beyond one first setting value or any one displacement OiInstitute is right
The affinity score that answers is less than one the 3rd threshold value, if it is not, execution step S400；If so, execution step S3114.Enforcement in Fig. 5
In example, the 3rd threshold value is 90.It should be noted that first setting value is mainly used to judge two displacement OiDifference,
In actual use, can be selected as needed.
S3110, judges multiple displacement OiWhether mutual difference exceeds one second setting value, if it is not, executing step
Rapid S400；If so, execution step S3116.It should be noted that second setting value is mainly used to judge multiple displacement OiPhase
Difference between mutually, in actual use, can be selected as needed.
S3112, rejects displacement Oi, only show initial pictures.
S3114, rejects two displacement Oi, only show initial pictures.
S3116, deletes the multiple displacement O of deviationiThe maximum displacement O of meansigma methodssi, and return execution step S370.
In the S400 steps, as displacement OiNumber be equal to 1 when, show an OiValue (such as the S41 in Fig. 5
Step)；When the number of displacement Oi is more than 1, show the meansigma methodss (such as S42, S43 step in Fig. 5) of multiple Oi.
In practical operation, when rocket beat, settlement measurement is carried out using the system and method for the present invention, can pass through people
Machine interactive interface is operated, and arranges " showing in real time " button, " establishment masterplate " button, click on man-machine on human-computer interaction interface
" showing in real time " button on interactive interface, the image in main interface start display in real time.Each mark character on input rocket body
Developed width and height (width and height value of spraying all be 30mm or more), click " establishment masterplate " button, character mould
Plate is set up module and can be automatically separated out each mark character as characteristic point.If without mould under file parameters regulation path
The image creation template of module meeting automatic data collection current identification character set up by plate file, Character mother plate.And obtain each identifier word
The center of symbol, calculates corresponding to each character further according to cross differentiation line center, the conversion square of the character and prism centers
Battle array, and store.The moment that each character of piece image is recognized, human-computer interaction interface shows and recognizes
Each character, so as to complete calibration process.When real-time tracking is needed, " showing in real time " button is clicked on, system can
Go out to be used to automatic decision displacement polarity and size of the group prism relative to initial position, and show the main boundary in display device in real time
On face, the display device can be and human-computer interaction interface one, or split.
Take said method to measure beat, the sedimentation of rocket to new generation's carrier rocket, have the advantage that：
(1) test proves that, a range of change of background light intensity does not affect the identification to identifying character, measurement system
Adaptable illuminance excursion of uniting is more than 300lx-100000lx；
(2) interference of the long and narrow fine rule and reinforcement etc. through whole visual field to image recognition can be rejected, and can be complete
The whole character retained after removing interfering line.
(3) when due to external interference or in the case of blocking, the character quantity that CCD camera can be caused to collect not enough,
But as long as collecting at least one character, prism centers position can be extrapolated, reduce the requirement to ambient environmental conditions.
(4) test proves that, the method can measure the displacement that group prism is used to by rocket under rocket 25m distances
Amount, Measurement Resolution reach 1mm, and accuracy of identification reaches 5mm.
(5) to be used to group prism displacement carry out real-time tracking and measurement process time within 100ms.
(6) prism location state and aiming state can be carried out visualizing, intelligentized tracking.
Certainly, the present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, ripe
Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (11)
1. a kind of rocket beat, sedimentation measuring method, it is characterised in that include：
S100, by an image-forming module at least identifier that is arranged on storepipe of capture and the step of be imaged；
S130, gathers the identifier image step that the image-forming module is obtained, and the identifier image includes identifier
Be located at initial position when initial pictures and identifier be subjected to displacement after displacement after image；
S200, initial pictures process step calculate the initial pictures according to the pixel of the image-forming module and demarcate relative to one
First coordinate figure of position；
S300, image processing step after displacement, according to image after the pixel of the image-forming module calculating displacement relative to institute
The second coordinate figure of calibration position is stated, and fire is calculated according to the variable quantity of relatively described first coordinate figure of second coordinate figure
The displacement of arrow；And
S400, shows the displacement step；
Wherein, in the S300 steps, including：
S310, intensity slicing, morphology screen step；
S320, finds image I after similarity highest displacement according to i-th Character mother plate；
S330, judges that similarity score, whether higher than a first threshold, if so, carries out step S340, if it is not, carrying out step
S350；
S340, obtains the position of image I after displacement, calculates the displacement O of rocketi；
The value of S350, i adds 1, and saves as i；
S360, judges that if so, i whether n, numbers of the n for identifier return execution step S320；If it is not, execution step
S370；
S370, judges displacement OiNumber, if OiNumber be equal to 1, execution step S380；If OiNumber be equal to 2, execute
Step S390；If OiNumber be more than or equal to 3, execution step S3110；
Whether S380, judge similarity score less than a Second Threshold, if it is not, execution step S400；If so, execution step
S3112；
S390, judges two displacement OiDifference whether beyond one first setting value or any one displacement OiCorresponding
Affinity score is less than one the 3rd threshold value, if it is not, execution step S400；If so, execution step S3114；
S3110, judges multiple displacement OiWhether mutual difference exceeds one second setting value, if it is not, execution step
S400；If so, execution step S3116；
S3112, rejects displacement Oi, only show initial pictures；
S3114, rejects two displacement Oi, only show initial pictures；
S3116, deletes the multiple displacement O of deviationiThe maximum displacement O of meansigma methodssi, and return execution step S370.
2. measuring method according to claim 1, it is characterised in that in the S100 steps, the image-forming module bag
A pointing instrumentation and a ccd video camera is included, the ccd video camera is arranged on the pointing instrumentation, sets on the camera lens of the pointing instrumentation
It is equipped with cross differentiation line.
3. measuring method according to claim 2, it is characterised in that in the S200 steps, build including Character mother plate
Vertical step S210, according to the template file that initial pictures create character, and the centre bit for breaking up line according to initial pictures and cross
The relation of putting sets up first coordinate figure.
4. measuring method according to claim 3, it is characterised in that in the S200 steps, demarcates including cross hairs
Step S220, for demarcating the relation between the center of the cross differentiation line and the camera lens zero point, to obtain the demarcation position
The coordinate that puts.
5. measuring method according to claim 4, it is characterised in that in the S200 steps, walks including calibrating length
Rapid S230, the corresponding actual millimeter of the pixel for demarcating the ccd video camera.
6. measuring method according to claim 5, it is characterised in that in the calibrating length step, including calibrating
Ccd video camera is in the corresponding actual millimeter step of length and width both direction each pixel.
7. measuring method according to claim 1, it is characterised in that in the S400 steps, as displacement OiNumber
When being equal to 1, show an OiValue；As displacement OiNumber when being more than 1, show multiple OiMeansigma methodss.
8. a kind of application claim 1 methods described rocket beat, sedimentation measuring system, it is characterised in that include：
Image-forming module, at least identifier being arranged on storepipe for capture are simultaneously imaged；
One image capture module, for gathering the identifier image that the image-forming module is obtained, the identifier image bag
Include image after the displacement after initial pictures and identifier when identifier is located at initial position are subjected to displacement；
One initial pictures processing module, its calculate the initial pictures according to the pixel of the image-forming module and demarcate position relative to one
The first coordinate figure that puts；
Image processing module after one displacement, which is according to image after the pixel of the image-forming module calculating displacement relative to described
Second coordinate figure of calibration position, and rocket is calculated according to the variable quantity of relatively described first coordinate figure of second coordinate figure
Displacement；And
One display device, for showing the displacement.
9. rocket beat according to claim 8, sedimentation measuring system, it is characterised in that the image-forming module includes
One pointing instrumentation and a ccd video camera, the ccd video camera are arranged on the pointing instrumentation, are arranged on the camera lens of the pointing instrumentation
There is cross differentiation line.
10. rocket beat according to claim 9, the measuring system of sedimentation, it is characterised in that the initial pictures are processed
Module includes：
Character mother plate sets up module, and which creates the template file of character according to initial pictures, and according to initial pictures and cross point
The center relation for changing line sets up first coordinate figure；
Cross hairs demarcating module, its are used for demarcating the relation between the center of the cross differentiation line and the camera lens zero point, to obtain
Obtain the coordinate of the calibration position；
Calibrating length module, its are used for demarcating the corresponding actual millimeter of pixel of the ccd video camera.
11. rocket beats according to claim 8, sedimentation measuring system, it is characterised in that first coordinate figure and
Second coordinate figure is represented by matrix.
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| CN104111663A (en) * | 2014-07-04 | 2014-10-22 | 北京航天发射技术研究所 | Three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation |
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