基于单目视觉的制导炮弹位姿参数测量方法

为了给制导炮弹末端弹道的精确控制提供有效依据,根据弹丸飞行弹道特性,借鉴计算机单目视觉技术和摄影测量方法,提出了一种基于四元数的炮弹位姿参数测量的新方法.该方法通过分析摄像机采集的目标区图像序列,利用4个已知空间坐标的非共面控制点,建立过渡坐标系,分两步来计算炮弹的空间位置和姿态参数.仿真结果表明,测量误差随着相对距离减小而收敛.提出的新方法可以精确测量炮弹的位姿参数,作为构建弹道控制模型的基础.

A Measuring Method for Position and Attitude Parameters of Certain Guided Projectile Based on Monocular Vision Model

In order to support the precise terminal trajectory control of a certain guided projectile effectively,a new measuring method for position and attitude parameters was presented.The method is based on the flight trajectory characteristics,the computer monocular vision,computational photogrammetric and quaternion.The method was proposed by analyzing the target area image sequence collected by projectile-borne camera and four non-coplanar reference points whose space coordinates had been known were used.The sp...