球幕点目标投影跟踪系统的精确标定方法

针对球幕点目标投影与跟踪系统中多个子系统相对位置关系探测复杂的问题，提出了一种适合现场测量的精确标定方法。将球幕作为世界坐标系，利用子系统对球幕球心标定，得到子系统在球幕坐标系下的坐标，从而实现目标点在子系统之间的坐标转换。研究了球幕球心标定原理及标定点投射方法，建立了球幕球心在标定系统坐标系下的高斯-马尔科夫(G-M)求解模型，仿真分析了影响标定误差的因素。结果表明，通过减小子系统到球心的距离和改进投射的标定点空间分布能够有效提高标定精度，最后提出基于整体最小二乘(TLS)的球幕标定方法。根据仿真结果，设计模拟球幕和标定器并完成实验，标定结果满足现场快速精确标定的要求。

An accurate calibration method of the ball screen projection point targets tracking system

This paper proposes an accurately calibration method which is suitable for the scene, on the issues of multiple subsystems relative position detecting complexity in a ball screen projection point targets tracking system. Take the ball screen as the world coordinate system, and mark center of the ball by subsystem to implement coordinate transformation of the projection point among the subsystems. The author studies the calibration principle and the projecting method, and provides a solution. Through Matlab simulation analysis of the error factor, simulated results show that the ball screen calibration precision can be effectively improved by reducing the distance between the subsystem and its center or perfecting the projection point spatial distribution. Eventually, this paper presents a calibration method based on the TLS and designs a virtual sphere, calibration device and finishes the experiments. The experimental results meet the demand of quick and accurate site calibration.