CN110207666A - The vision pose measuring method and device of analog satellite on a kind of air floating platform - Google Patents
The vision pose measuring method and device of analog satellite on a kind of air floating platform Download PDFInfo
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- CN110207666A CN110207666A CN201910289690.XA CN201910289690A CN110207666A CN 110207666 A CN110207666 A CN 110207666A CN 201910289690 A CN201910289690 A CN 201910289690A CN 110207666 A CN110207666 A CN 110207666A
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- cooperative target
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- air floating
- analog satellite
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of vision pose measuring method of analog satellite on air floating platform and devices, and described method includes following steps: arrangement cooperative target establishes world coordinate system and obtains the three-dimensional coordinate of cooperative target；Current frame image is obtained in real time by camera model；Described image is subjected to processing identification cooperative target, two-dimensional pixel coordinate and the three-dimensional coordinate are matched, matching double points are obtained；Pose is solved to matching double points according to PNP algorithm；Cost is relatively low by the present invention, realizes simple, can guarantee that camera fields of view includes cooperative target in the moving range of analog satellite, thus can it is stable, export pose in real time.
Description
Technical field
The present invention relates to a kind of vision pose measuring method of analog satellite on air floating platform and devices, belong to vision pose
Field of measuring technique.
Background technique
With the development of space technology, in order to reduce the risk of satellite development, it usually needs to satellite motion simulator into
Row physical simulation experiment.Basic principle of the marble air floating platform based on air bearing is realized and is put down without friction with vibrationless
Sliding is dynamic, can be used for microgravity environment of the analog satellite under space environment, is surveyed with carrying out comprehensive 6848 demonstration of side and performance
Examination.
In order to verify the motion control of analog satellite, absolute pose of the real-time measurement analog satellite on air floating platform is needed
Or relative motion, including translate, rotate.Usually usable laser tracker or the measurement of polyphaser motion capture system, which
Precision is high, but cost is also high.Inertial Measurement Unit (IMU) can also be configured on analog satellite to measure, but which is at any time
Between can have accumulated error, it is difficult to realize high-acruracy survey.Vision pose measurement based on cooperative target, identified by camera,
Matching space cooperative target solves camera pose using pose algorithm for estimating, and which is at low cost, precision is high, realization is simple
The advantages of single, not by electromagnetic interference.
Liu Yuhang, Gu Yingying et al. (are published in " infrared and laser work in paper " air floating platform pose vision measuring method "
Journey " the 10th phase of volume 46 in 2017) a kind of pose measuring method based on monocular vision is proposed, to measure air bearing experimental bench
Third party's pose is realized using the cooperation target that the video camera identification above air bearing experimental bench is installed on air bearing experimental bench and is surveyed
Amount.This method must assure that there are cooperative target marks effectively to measure in camera fields of view, position and third party to camera
Moving range have larger limitation.
Summary of the invention
The purpose of the present invention is to provide a kind of vision pose measuring method of analog satellite on air floating platform and device, with
It solves the above-mentioned multiple defects caused by the prior art or one of defect.
The vision pose measuring method of analog satellite on a kind of air floating platform, described method includes following steps:
Arrangement cooperative target establishes world coordinate system and obtains the three-dimensional coordinate of cooperative target；
Current frame image is obtained in real time by camera model；
Described image is subjected to processing identification cooperative target, two-dimensional pixel coordinate and the three-dimensional coordinate are matched, acquisition
With point pair；
Pose is solved to matching double points according to PNP algorithm.
Preferably, the cooperative target is designed as the galaxy of simulation, and the galaxy is by 8 equal-sized circles and center circle
Ring composition.
Preferably, the center of circle that at least four is justified in the galaxy is not on the straight line where the circle ring center.
Preferably, the arrangement of the cooperative target selects the biggish color print of background colour difference, the reality of the printing
Size is the rule design that entire galaxy accounts for camera fields of view 1/2 to 2/3.
Preferably, the quantity of the galaxy and position are set according to measurement range, keep camera fields of view equal in moving range
It can observe the annulus of one of them galaxy.
Preferably, the differentiation of the galaxy is distinguished with the inside and outside radius of circle difference of annulus.
Preferably, the acquisition of the matching double points includes the following steps:
Noise-containing cooperative target binary map is obtained to described image Threshold segmentation；
Noise-containing cooperative target binary map is filtered out by morphological transformation；
The profile of noncooperative target is further filtered out according to radius, contour area；
The circular profile of galaxy is found, if it exists multiple galaxies, then coarse positioning is carried out according to exterior pixel radius ratio in annulus；
Rectangular extent is generated with the center of circle of the galaxy annulus, the range filled circles is traversed and obtains the two-dimensional coordinate in its center of circle；
The center pixel distance for calculating filled circles and annulus, then calculates the ratio of the distance of center circle and filled circles pixel radius, root
Obtaining the corresponding two-dimensional coordinate of three-dimensional coordinate of the galaxy in world coordinate system according to the ratio is matching double points.
The vision pose measuring apparatus of analog satellite on a kind of air floating platform, including air floating platform, analog satellite system, phase
Machine module, cooperative target background board and cooperative target；
The air floating platform is equipped with analog satellite system, and the camera model is set to the top of analog satellite system, the conjunction
Make target background plate and cooperative target is set to the top of camera model, the cooperative target is located at cooperative target background board 4
Lower section, the camera model are connected with vision measurement system.
Compared with prior art, advantageous effects of the invention: compared with prior art, cost is relatively low by the present invention,
It realizes simply, can guarantee that camera fields of view includes cooperative target in the moving range of analog satellite, therefore can be stable, real
When output pose, while using vision measuring method, therefore pose accuracy is higher.
Detailed description of the invention
Fig. 1 is that the hardware of the embodiment of the present invention forms frame diagram；
Fig. 2 is the cooperative target arrangement schematic diagram of the embodiment of the present invention；
Fig. 3 is the measuring system software surface chart of the embodiment of the present invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figure 1-3, disclosing a kind of vision pose measuring method of analog satellite on air floating platform, the method packet
Include following steps:
Arrangement cooperative target 5 establishes world coordinate system and obtains the three-dimensional coordinate of cooperative target 5；
Current frame image is obtained in real time by camera model 3；
Described image is subjected to processing identification cooperative target 5, two-dimensional pixel coordinate and the three-dimensional coordinate are matched, acquisition
With point pair；
Pose is solved to matching double points according to PNP algorithm.
Specifically, the cooperative target 5 is designed as the galaxy of simulation, the galaxy is by 8 equal-sized circles and center
Annulus composition, it is assumed that radius of circle d, then successively apart the annulus center of circle is in 8 round centers of circle, and arrange
The center of circle of at least four circle is not on the straight line where the circle ring center in annulus surrounding, galaxy.
Specifically, the arrangement of the cooperative target 5 selects the biggish color print of background colour difference, the reality of the printing
Size be 1/2 to the 2/3 rule design that entire galaxy accounts for 3 visual field of camera model, the quantity of the galaxy and position according to
It is set according to measurement range, makes 3 visual field of camera model that can observe the annulus of one of them galaxy, star in moving range
The differentiation of system is distinguished with the inside and outside radius of circle difference of annulus；
Further, the arrangement of cooperative target 5 should select and the biggish color print cooperative target 5 of background colour difference, actual ruler
Very little size should account for the rule design of camera fields of view 1/3 to 2/3 according to entire galaxy.The quantity of galaxy and position should be according to measurement models
Setting is enclosed, makes camera that can observe the annulus of one of them " galaxy " in moving range depending on 3 visual field of module, wherein different
" galaxy " is distinguished with the inside and outside radius of circle difference of annulus.
Specifically, obtaining noise-containing cooperative target binary map to carrying out image threshold segmentation；It is filtered out by morphological transformation
Noise-containing cooperative target binary map；The profile of noncooperative target 5 is further filtered out according to radius, contour area；Find star
The circular profile of system, multiple galaxies, then carry out coarse positioning according to exterior pixel radius ratio in annulus if it exists；With the galaxy annulus
The center of circle generates rectangular extent, traverses the range filled circles and obtains the two-dimensional coordinate in its center of circle；Calculate the circle of filled circles and annulus
Then heart pixel distance calculates the ratio of the distance of center circle and filled circles pixel radius, it is alive to obtain the galaxy according to the ratio
The corresponding two-dimensional coordinate of three-dimensional coordinate in boundary's coordinate system.
The vision pose measuring apparatus of analog satellite on a kind of air floating platform as shown in Figure 1, including air floating platform 1, simulation
Satellite system 2, camera model 3, cooperative target background board 4 and cooperative target 5；
The air floating platform 1 is equipped with analog satellite system 2, and the camera model 3 is set to the top of analog satellite system 2, institute
The top that cooperative target background board 4 and cooperative target 5 are set to camera model 3 is stated, the cooperative target 5 is located at cooperative target back
The lower section of scape plate 4, the camera model 3 are connected with vision measurement system, and wherein air floating platform size is rice, camera measurement distance
It is 1.6 meters, visual field size isRice.To enable " galaxy " cooperative target 5 to account for visual field size, then " galaxy "
In solid radius of circle be 2.5 centimetres.To move analog satellite on air floating platform 1, always comprising closing in 3 visual field of camera model
Make target 5, by cooperative target background board 4 is divided into 9 as shown in Figure 2Rice, in diagonal and 5 " stars of center arrangement
System ".It is illustrated in figure 3 measuring system software surface chart, is divided into: real-time display interface 6, camera parameter demarcating module 7, camera behaviour
Make module 8, pose and exports 9, video record module 10, serial communication module 11 in real time；
The above is only a preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. the vision pose measuring method of analog satellite on a kind of air floating platform, which is characterized in that the method includes walking as follows
It is rapid:
Arrangement cooperative target establishes world coordinate system and obtains the three-dimensional coordinate of cooperative target；
Current frame image is obtained in real time by camera model；
Described image is subjected to processing identification cooperative target, two-dimensional pixel coordinate and the three-dimensional coordinate are matched, acquisition
With point pair；
Pose is solved to matching double points according to PNP algorithm.
2. the vision pose measuring method of analog satellite on air floating platform according to claim 1, which is characterized in that described
Cooperative target is designed as the galaxy of simulation, and the galaxy is made of 8 equal-sized circles and central circular.
3. the vision pose measuring method of analog satellite on air floating platform according to claim 2, which is characterized in that described
The center of circle of at least four circle is not on the straight line where the circle ring center in galaxy.
4. the vision pose measuring method of analog satellite on air floating platform according to claim 1, which is characterized in that described
The arrangement of cooperative target selects the biggish color print of background colour difference, and the actual size size of the printing is that entire galaxy accounts for
The rule design of camera fields of view 1/2 to 2/3.
5. the vision pose measuring method of analog satellite on air floating platform according to claim 4, which is characterized in that described
The quantity of galaxy and position are set according to measurement range, observe camera fields of view can described in one of them in moving range
The annulus of galaxy.
6. the vision pose measuring method of analog satellite on air floating platform according to claim 4, which is characterized in that described
The differentiation of galaxy is distinguished with the inside and outside radius of circle difference of annulus.
7. the vision pose measuring method of analog satellite on air floating platform according to claim 1, which is characterized in that obtain
The step of matching double points, is as follows:
Noise-containing cooperative target binary map is obtained to described image Threshold segmentation；
Noise-containing cooperative target binary map is filtered out by morphological transformation；
The profile of noncooperative target is further filtered out according to radius, contour area；
The circular profile of galaxy is found, if it exists multiple galaxies, then coarse positioning is carried out according to exterior pixel radius ratio in annulus；
Rectangular extent is generated with the center of circle of the galaxy annulus, the range filled circles is traversed and obtains the two-dimensional coordinate in its center of circle；
The center pixel distance for calculating filled circles and annulus, then calculates the ratio of the distance of center circle and filled circles pixel radius, root
The corresponding two-dimensional coordinate of three-dimensional coordinate of the galaxy in world coordinate system, as matching double points are obtained according to the ratio.
8. the vision pose measuring apparatus of analog satellite on a kind of air floating platform, which is characterized in that defended including air floating platform, simulation
Star system, camera model, cooperative target background board and cooperative target；
The air floating platform is equipped with analog satellite system, and the camera model is set to the top of analog satellite system, the conjunction
Make target background plate and cooperative target is set to the top of camera model, the cooperative target is located under cooperative target background board
Side, the camera model are connected with vision measurement system.
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Cited By (5)
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| CN111252270A (en) * | 2020-02-20 | 2020-06-09 | 哈尔滨工业大学 | Air floatation robot position and attitude control device and method |
| CN113432603A (en) * | 2021-06-25 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Method for measuring relative pose of mother platform and son platform in complex environment |
| CN113608244A (en) * | 2021-07-27 | 2021-11-05 | 中国科学院微小卫星创新研究院 | Space gravitational wave detection satellite constellation ground demonstration verification system |
| CN114233800A (en) * | 2022-02-28 | 2022-03-25 | 聚时领臻科技(浙江)有限公司 | Mounting support for quickly and manually adjusting rigidity and damping and rigidity adjusting method |
| CN116592899A (en) * | 2023-04-28 | 2023-08-15 | 哈尔滨工业大学 | Pose measurement system based on modularized infrared targets |
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| CN114233800A (en) * | 2022-02-28 | 2022-03-25 | 聚时领臻科技(浙江)有限公司 | Mounting support for quickly and manually adjusting rigidity and damping and rigidity adjusting method |
| CN114233800B (en) * | 2022-02-28 | 2022-07-01 | 聚时领臻科技(浙江)有限公司 | Mounting support for quickly and manually adjusting rigidity and damping and rigidity adjusting method |
| CN116592899A (en) * | 2023-04-28 | 2023-08-15 | 哈尔滨工业大学 | Pose measurement system based on modularized infrared targets |
| CN116592899B (en) * | 2023-04-28 | 2024-03-29 | 哈尔滨工业大学 | Pose measurement system based on modularized infrared targets |
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Application publication date: 20190906 |