基于单目视觉的火炮身管指向静态测量

为解决自行高炮(SPAAG)火控系统精度测试过程中身管指向测量这一难点问题，提出了一种基于单目视觉的非接触直接测量方法。将棋盘状平面模板作为标志物固定到火炮身管上，使之位于相机视场范围内，测量身管在任一位置的高低角与方位角。首先利用Harris角点检测方法提取到角点坐标，进行相机成像模型的解算(相机标定)，得到相机的内参。然后根据多点透视（PnP）问题解的稳定性，结合最小二乘拟合算法得到相应位置的外参矩阵。最终根据身管的运动模型以及标志物与之的相对位置解算出身管的两个指向角。仿真和实验均验证了该方法的可操作性和准确性。

Static Pose Measurement of Gun Barrel Based on Monocular Vision

The pose measurement of gun barrel is difficult in the precision analysis of self-propelled antiaircraft gun (SPAAG) fire control system. To solve this problem, a non-contact and direct measurement method based on monocular vision was proposed. A checked planar template was fixed on the gun barrel as a marker which is within the field of view of a camera. Both elevation angle and azimuth angle were measured. Firstly, the coordinates of corner points were obtained by using Harris corner detection algorithm to calibrate the camera, and the camera’s intrinsic parameters were obtained by solving the camera model. Then, combined with LSE algorithm, the extrinsic parameter matrix of the corresponding position was found according to the stability of solutions in PnP problem. Finally, based on the motion model of gun barrel and its position relative to the marker, two angles were figured out. Simulation and experiment results show that the method can measure the barrel pose easily and accurately.