大口径光学组件面形检测系统研究

利用角差法原理设计了一种集高精度测角仪与五棱镜于一体的面形检测系统,实现了大口径平面镜不同姿态下的面形测试。系统主要由光学系统、三维运动平台、图像处理系统和面形数据绘制与管理等组成,突破常规以大测大的高成本检测方法。实验结果表明,水平方向上的均方根误差(RMS)为0.03μm,垂直方向上的RMS为0.07μm,全面形的RMS为0.06μm,能满足检测需要。     

姿态航向测量与误差补偿方法研究

设计了一种基于MEMS陀螺仪、加速度计、磁传感器的小型姿态航向参考系统;以四元数和角速率偏差为状态矢量,磁场强度和加速度计信息为量测矢量,构建基于Kalman的四元数姿态航向解算方法;通过调整测量噪声方差矩阵,解决动态过程中由于运动加速度造成的姿态角误差;采用陀螺仪误差建模和磁航向罗差补偿技术,进一步提高了系统测量精度。根据飞行数据分析,姿态航向参考系统具有较高测量精度和较好的稳定性、动态性,姿态角均方根误差小于1.5°,航向角均方根误差小于3°。     

基于卡尔曼滤波的航姿参考系统设计

针对传统的航姿参考系统AHRS（Attitude and Heading Reference System）中姿态角精度不高的问题,设计了一种新型的基于卡尔曼滤波的姿态检测系统。该系统采用了三轴磁传感器、三轴陀螺仪及三轴加速度计,用四元数的方法来描述载体运动的姿态,通过陀螺仪测姿态四元数,卡尔曼滤波算法融合加速度计和磁传感器数据,对姿态四元数进行修正,从而提高姿态解算精度。实验数据表明,系统能够较好修正陀螺仪漂移,且三个角度的均方根误差均优于0.25°,具有良好的噪声抑制能力。     

基于高斯和SCKF 的姿态角辅助三维目标跟踪

首先, 根据目标运动与姿态角的关系, 分析目标在偏航角和俯仰角下的速度变化, 进而推导出姿态角辅助三维目标跟踪模型; 然后, 针对姿态角量测非高斯情况, 在分析均方根容积卡尔曼滤波的基础上, 提出新的高斯和均方根容积卡尔曼滤波算法, 以提高非线性非高斯的处理能力; 最后, 结合不同运动模式下姿态角分量的特点, 建立姿态角分量不同的跟踪模型, 通过模型切换实现对姿态角机动的跟踪. 仿真结果验证了所提出跟踪模型和滤波算法的正确性和有效性.     

基于光学运动跟踪系统的机器人末端位姿测量与误差补偿

针对工业机器人绝对定位精度较低的问题,采用加拿大NDI公司的Optotrak Certus HD光学运动跟踪系统作为机器人位姿的测量设备,提出了一种基于再生权最小二乘法的最优剪枝极限学习机算法,通过该算法将机器人目标位姿映射到修正位姿上,实现了对机器人末端位姿补偿的效果.利用爱普生6轴机器人末端进行实验,在不同速度下完成直线轨迹运动、圆轨迹运动以及离散随机运动,对该误差补偿方法的有效性进行验证和分析.结果表明,该误差补偿方法均能提高机器人的位姿精度,其测试点在X、Y、Z三轴总方向上的绝对位置精度为0.06 mm～0.25 mm,比无补偿时的2 mm～3 mm有了1个数量级的提高;而姿态误差补偿后,其均方根误差和平均绝对误差均减小到未补偿时姿态误差的26.09%.同时,该补偿方法还可有效降低异常值的影响,具有良好的稳健性.     

大口径光学组件面形检测系统关键算法研究

大口径光学组件面形检测系统中,激光光斑的分割、质心提取和背表面光斑的自动剔除算法关系到系统的检测精度。针对系统中多路光斑光强差异比较大的现象,提出了两次分割法,有效定位各光斑区域;通过比较不同质心提取算法的稳定性,选取灰度重心法提取激光光斑质心;采取基于特征的分类技术识别元件前表面反射光斑。实验结果表明,算法能精确稳定地提取光斑质心和有效识别前表面光斑,该方法已商用于光学组件面形检测系统。     

基于谱峰斜率进行变步长搜索的DOA估计方法

针对经典Capon方法存在计算量和存储量庞大、运行时间长、精准度不高的问题,提出一种低复杂度变步长的搜索算法.该方法首次搜索使用大步长的Capon算法,根据谱峰值确定波达方向(DOA)检测范围并求出其斜率值;然后根据斜率首次小于零确定谱峰在其左侧,记斜率小于零点为P,并从点P-2处开始向右进行变步长搜索;最后进行变步长的迭代逼近,得出期望信号的估计角度.所提方法避免了谱峰穷尽搜索,降低了计算量.仿真实验证明,在相同的信噪比下,所提算法准确性的精准度有近9倍的改善;在不同的信噪比下,所提算法的分辨成功率更高;同时,所提算法的均方根误差均明显优于经典的Capon算法.     

一种基于多视点图象的可变姿态人脸识别系统

本文报告了一种多姿态人脸图象识别原型系统，它不同于现有系统和方法，该系统可工作在合作对象下允许姿态变化（存在图象平面内旋转和深度方向上旋转，限于双眼可见）的人脸图象识别。由于对成象条件有所放松，故可望应用于身份验证、保安和视频会议等领域。对姿态可变条件下的人脸特征检测、姿态估计、识别建模以及基于模板相关的匹配等技术进行了深人研究，分析了光照、姿态及分辨率变化等因素对识别的影响程度。实验结果表明，对于３０类人脸，每人１８幅图象大小的测试集，达到了１００％的识别率。     

基于CC1110的车载主动酒精检测系统设计

为减少酒后驾驶,研究设计了基于无线射频芯片CC1110的车载主动防酒后驾车检测系统;系统自制的酒精检测模块基于电子鼻原理,可将多个酒精传感器的检测信号通过模糊算法融合,并使用湿度和氧气两种传感器的检测信号校正补偿,从而排除环境因素干扰,提高酒精检测精度;系统采用电风扇将呼气快速导向酒精检测模块,避免使用吹管,提高了检测快速性和便利性;系统利用CC1110芯片无线数传可将酒驾信息上传至附近的交警基站或交警手持移动检测设备上,提高了交警检测酒驾的工作效率。实验结果表明:所设计的系统酒检准确度高,均方根误差为0.04mg/L;通信距离在300～400m之间能够准确接收数据,可靠性好;在实际应用中具有很好的推广价值。     

基于人体姿态的P SO-SVM特征向量跌倒检测方法

在可穿戴设备检测人体跌倒情况时,单一采用加速度阈值判别方法不能完整表征人体跌倒行为变化的信息,导致对跌倒信息误判.为此,提出了一种基于人体姿态的PSO-SVM特征向量跌倒检测算法.首先通过MEMS加速度传感器节点采集人体姿态数据,并利用共轭梯度法对采集的数据进行优化处理,降低非线性误差;然后,利用支持向量机SVM(Support Vector Machine)分类器检测跌倒行为,并通过粒子群PSO(Particle Swarm Optimization)算法对SVM参数进行优化,获得最佳分类模型,根据SVM分类模型对采集的姿态数据进行分析,判断是否跌倒;最后根据人体姿态角,构建融合人体姿态角的PSO-SVM特征向量,检测跌倒过程的具体信息.实验结果表明:该检测方法取得95.5%的识别率,能够较好地区分其他非跌倒性动作,检测精度较其他方法较高,均方根误差较小,有较好的鲁棒性.     

大口径光学元件面形检测中重叠激光光斑的分离

在大口径光学元件面形检测系统中,激光光斑的检测及后续处理是基础,直接影响面形检测的精度;针对光学元件面形检测中激光光斑重叠的问题,提出了一种激光光斑重叠分离算法;该算法首先用一种减背景与乘法滤波相结合的方法对光斑图像进行预处理,再用两次阈值法分割图像以获取光斑目标,最后采用距离变换、重叠判别及估算圆心相结合来分离重叠的光斑;实验中,对3种重叠类型不同的光斑进行分离,结果表明,算法能有效地分离重叠的激光光斑;目前,该算法通过长时间的实验验证与改进,已成功运用于实际项目中.     

镜面杂质与水汽吸放对露点仪影响的实验研究

显微成像露点仪在研制和测试过程中发现镜面杂质和内腔材质吸放水汽等影响测量精度的问题。针对镜面杂质对显微成像露点仪测量的影响开展了镜面图像特征的实验研究，结果表明：镜面杂质点处露珠凝结具有优先性，且反复凝结消散后镜面出现杂质沉降现象。针对水汽吸放对显微成像露点仪的影响开展了水汽释放与吸附效应的实验研究，结果表明：当温度发生变化时，显微成像露点仪感应舱内壁氧化铝材质存在释放（或吸附）水汽现象，使得显微成像露点仪测量值偏大（或偏小）。研究结果为露点仪在功能设置及镜面与腔体材料选择方面提供了参考。     

Electromagnetically actuated mirror arrays for use in 3-D optical switching applications

This paper presents an electromagnetic MEMS mirror technology for use in 3-D optical switching applications. These mirrors may be actuated through large angles at low voltage and low current. Multiple coils on the backs of the mirrors interact with permanent magnetic fields to provide two-axis orthogonal actuation. A custom package brings the MEMS mirror array and magnets into close proximity. Actuation is linear versus drive current on both axes, and displays negligible charging and drift. These mirrors have achieved greater than 10/spl deg/ mechanical rotation per mA in each axis. The mirror rotation angle is hysteresis free to less than the 0.01/spl deg/ measurement accuracy.     

A simple method to account for topography in the radiometric correction of radar imagery

This article presents a method to study and correct radiometric distortions caused by topography in SAR images. The method is easy to implement and requires neither sophisticated software nor code-level programming. It also considers the case of a flat surface having an elevation different from the one for which calibration parameters were derived. An ortho-image of the slant range distance is used with a Digital Elevation Model to generate images of the local incident angle along the range and azimuth directions. The method compensates for variations in the terrain area of each pixel and for the angular dependence of backscatter, allowing the choice of either an empirical or semi-empirical scattering model. The method is applied to high-resolution C-SAR subsets of an agricultural area in the Central Cordillera of Costa Rica. The removal of topographic features appears excellent for local incident angles up to 80°, but small-scale structures have pronounced effects on the radar return for higher local incident angles and are not adequately corrected.     

Viewing‐angle characterization of reflective‐type liquid‐crystal displays by using an ellipsoidal mirror and a two‐dimensional CCD camera

A new photometry to perform the viewing‐angle characterization for reflective‐type LCDs has been developed. The optics consists of a rotating ellipsoidal mirror and a 2‐D CCD camera. The information obtained by this photometry includes the viewing‐angle characteristics of reflectance, contrast ratio, and chromaticity coordinates, which are comparable to gonioscopic photometry in terms of accuracy. Both the illuminating polar angle and azimuth angle can be scanned. The measurement time for this method is as short as that for conoscopic photometry when using a 2‐D CCD camera. An instrument equipped with light‐polarizing devices is already available. If analytic software was available, viewing‐angle characterization could be determined by a polarization analysis.     

Detection of three-axis angles by an optical sensor

This article describes an optical method for measurement of three-axis angles (roll angle Δθ_X, pitch angle Δθ_Y, yaw angle Δθ_Z). The laser autocollimation method is improved from two-axis angle measurement to three-axis angle measurement by employing a diffraction grating instead of a plane mirror as the target reflector. The three-axis angle components can be calculated by three methods of using different diffraction light spots reflected from the diffraction grating. Method 1 uses three beams, which are the 0th-order and the ±1st-order diffraction light spots. Both Method 2 and Method 3 use two light spots. The former uses the ±1st-order diffraction light spots and the latter combines the 0th-order with the +1st-order or the −1st-order diffraction light spots. A prototype three-axis angle sensor is also designed and fabricated to compare the characteristics of the three methods from the viewpoints of sensitivity, linearity and resolution of the sensor output.     

Assessment of the impacts of surface topography, off-nadir pointing and vegetation structure on vegetation lidar waveforms using an extended geometric optical and radiative transfer model

In order to prioritize the measurement requirements and accuracies of the two new lidar missions, a physical model is required for a fundamental understanding of the impact of surface topography, footprint size and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval. In this study, we extended a well developed Geometric Optical and Radiative Transfer (GORT) vegetation lidar model to take into account for the impacts of surface topography and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval and applied this extended model to assess the aforementioned impacts on vegetation lidar waveforms and height retrieval.Model simulation shows that surface topography and off-nadir pointing angle stretch waveforms and the stretching effect magnifies with footprint size, slope and off-nadir pointing angle. For an off-nadir pointing laser penetrating vegetation over a slope terrain, the waveform is either stretched or compressed based on the relative angle. The stretching effect also results in a disappearing ground peak return when slope or off-nadir pointing angle is larger than the “critical slope angle”, which is closely related to various vegetation structures and footprint size. Model simulation indicates that waveform shapes are affected by surface topography, off-nadir pointing angle and vegetation structure and it is difficult to remove topography effects from waveform extent based only on the shapes of waveform without knowing any surface topography information.Height error without correction of surface topography and off-nadir pointing angle is the smallest when the laser beams at the toward-slope direction and the largest from the opposite direction. Further simulation reveals within 20° of slope and off-nadir pointing angle, given the canopy height as roughly 25 m and the footprint size as 25 m, the error for vegetation height (RH100) ranges from − 2 m to greater than 12 m, and the error for the height at the medium energy return (RH50) from − 1 m to 4 m. The RH100 error caused by unknown surface topography and without correction of off-nadir pointing effect can be explained by an analytical formula as a function of vegetation height, surface topography, off-nadir pointing angle and footprint size as a first order approximation. RH50 is not much affected by topography, off-nadir pointing and footprint size. This forward model simulation can provide scientific guidance on prioritizing future lidar mission measurement requirements and accuracies.     

Biaxial scanning mirror with large rotation angle and low resonance frequency for LIDAR application

Microsystem Technologies - We propose a biaxial scanning mirror with a large rotation angle and low resonance frequency for a compact and low-power-consuming LIDAR. The scanning mirror in LIDAR,...