The invention belongs to the technical field of measurement, and relates to a tower falling test load motion multi-parameter monocular vision synchronous measurement method, which comprises the following steps of: acquiring a calibration image by using a measurement camera, and calibrating internal parameters and a distortion coefficient of the measurement camera; designing a cooperative mark point array on a plane of the target load as a measurement feature point; a target load and a measurement camera are fixed in the test cabin, when the test cabin freely falls, the target load is unlocked, the measurement camera collects an image containing cooperative mark point array information, the collected image is preprocessed, and measurement feature points are extracted; calculating a rotation matrix and a translation vector from the target coordinate system to the camera coordinate system at different moments by using a PnP algorithm; calculating the three-dimensional coordinates of the mass center of the target load at different moments under a camera coordinate system by using the rotation matrix and the translation vector, and further calculating the translation direction and the translation speed of the target load; calculating unit direction vectors of the reference vectors under the target coordinate system at different moments under the camera coordinate system by using the rotation matrix, and generating rotation feature points; and fitting a rotation track plane by using the rotation feature points, constructing a space circle fitting optimization function, calculating to obtain a track circle equation, carrying out dimensionality reduction on coordinates of the rotation feature points, and calculating the rotation angle and the rotation angular velocity of the target load by using the dimensionality-reduced coordinates.

    本发明属于测量技术领域,涉及一种落塔试验载荷运动多参数单目视觉同步测量方法,使用测量相机采集标定图像,标定测量相机内部参数和畸变系数;在目标载荷的一个平面上设计合作标记点阵列,作为测量特征点;在试验舱内固定目标载荷与测量相机,试验舱自由落体时,目标载荷解锁,测量相机采集包含合作标记点阵列信息的图像,并对采集图像进行预处理,提取测量特征点;利用PnP算法计算不同时刻下目标坐标系到摄像机坐标系的旋转矩阵和平移向量;利用旋转矩阵和平移向量计算不同时刻目标载荷质心在摄像机坐标系下的三维坐标,进而计算目标载荷的平移方向和平移速度;利用旋转矩阵计算不同时刻目标坐标系下的参考向量在摄像机坐标系下的单位方向向量,生成旋转特征点;利用旋转特征点拟合旋转轨迹平面,构建空间圆拟合优化函数,计算得到轨迹圆方程,并将旋转特征点的坐标降维,使用降维坐标计算目标载荷的旋转角度和旋转角速度。


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    Title :

    Tower falling test load motion multi-parameter monocular vision synchronous measurement method


    Additional title:

    一种落塔试验载荷运动多参数单目视觉同步测量方法


    Contributors:
    ZHOU FUQIANG (author) / ZHANG PEIRAN (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / B64G Raumfahrt , COSMONAUTICS / G01V Geophysik , GEOPHYSICS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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