期刊文献+

无人月球探测器缓冲着陆抛投试验视觉测量系统 被引量:2

Vision measuring system for soft-landing drop test of unmanned lunar explorer
下载PDF
导出
摘要 针对无人月球探测器缓冲着陆运动抛投试验中对探测器缓冲着陆过程中三维姿态、三维速度等运动参数和缓冲着陆机构缓冲行程的测量,设计了基于计算机视觉的抛投试验测量系统。首先,在探测器主体结构上喷绘若干对顶角标志,并用全站仪测量出这些标志的空间坐标。然后,用高速摄像机采集探测器缓冲着陆过程的序列图像。最后,利用单目视觉的方法对标志的空间坐标及探测器的序列图像进行处理得到上述参数。该系统硬件设备简单,软件操作方便。理论分析和实验验证均表明,采用该系统测量探测器运动参数,其姿态角测量精度优于4′,运动速度测量精度约为0.02m/s,探测器缓冲行程精度约为4mm,完全满足无人月球探测器缓冲着陆运动试验中的测量精度要求。 A measuring system based on computer vision was developed to measure the movement parameters of a unmanned lunar explorer at a soft-landing test,such as the 3Dpose,3Dvelocity of explorer and the working strobe of snubber.Firstly,some opposite-vertical-angle marks were painted on the surface of the explorer,and their 3Dcoordinates were measured by a high-precision total station.Then,a series of images were taken by a high speed digital camera during the soft-landing test of explorer.Finally,the above parameters could be obtained by processing serial images of the explorer and 3Dcoordinates of the marks with the mono-vision method.The system is compact and easy to be operated.The theoretical analysis and experiments for the measurement precision of the system were performed.The results indicate that accuracies of pose angle,velocity and working strobe in measurements are 4',0.02m/s and 4mm,respectively,which can satisfy the requirements of movement parameter measurements in the soft-landing tests for unmanned lunar explorers.
出处 《光学精密工程》 EI CAS CSCD 北大核心 2010年第9期2044-2052,共9页 Optics and Precision Engineering
基金 '嫦娥'二期工程'着陆缓冲机构组合缓冲试验'项目
关键词 计算机视觉 无人月球探测器 缓冲着陆 抛投试验 运动测量 computer vision unmanned lunar explorer soft-landing drop test movement measurement
  • 相关文献

参考文献13

  • 1杨湘杰,刘焕焕,王文林.月球探测器的软着陆技术[J].机电产品开发与创新,2008,21(3):27-28. 被引量:3
  • 2单永正,段广仁,吕世良.月球探测器软着陆的最优控制[J].光学精密工程,2009,17(9):2153-2158. 被引量:10
  • 3尚洋,于起峰,陆宏伟.圆形对角标志自动识别与精确定位[C].成都:2002年全国光电技术学术交流会,2002:218-223.
  • 4马颂德 张正友.计算机视觉[M].北京:科学出版社,1998.72-80.
  • 5LU C P,HAGER G D,MJOLSNESS E.Fast and globally convergent pose estimation from video images[J].IEEE,2000,22(6):610-622.
  • 6QUAN L,LAN Z.Linear N-point camera pose determination[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1999,21(7):774-780.
  • 7ANSAR A,DANIILIDIS K.Linear pose estimation from points or lines[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2003,25(5):578-589.
  • 8ZHANG Z Y,ZHU D Y,ZHANG J.An improved pose estimation algorithm for real-time vision applications[J].IEEE,2006,28(6):402-406.
  • 9LEPETIT V.EPnP:An accurate O(n) solution to the PnP problem[J].Int J Comput Vis,2009,81(2):155-166.
  • 10ZHANG Z Y.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.

二级参考文献46

共引文献253

同被引文献6

引证文献2

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部