球幕点目标投影跟踪系统的精确标定方法

蔡怀宇; 丁蕾; 黄战华; 刘堃

doi:doi:10.12086/oee.2018.170656

光电工程, 2018, 45 (8): 170656, 网络出版: 2018-08-25

球幕点目标投影跟踪系统的精确标定方法

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

论文大纲

蔡怀宇 ^1,2,*丁蕾 ^1,2黄战华 ^1,2刘堃 ^1,2

作者单位

¹ 天津大学精密仪器与光电子工程学院，天津 300072

² 光电信息技术教育部重点实验室(天津大学)，天津 300072

摘要

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。

Abstract

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.

参考文献

[1] 周立伟, 刘玉岩. 目标识别与探测[M]. 北京: 北京理工大学出版社, 2002.

[2] 董明. XX 目标坐标测定仪伺服控制系统的设计与实现[D]. 南京: 南京理工大学, 2012.

[3] 孙鑫, 白加光, 王忠厚. 球幕投影光学系统的设计与研究[J]. 光子学报, 2006, 35(11): 1766–1769.

Sun X, Bai J G, Wang Z H. Design and study of the dome-screen projector optical system[J]. Acta Photonica Sinica, 2006, 35(11): 1766–1769.

[4] 黄战华, 张超, 蔡怀宇, 等. 基于二轴转台的运动目标球幕投影联合控制[J]. 光电工程, 2014, 41(9): 32–37.

Huang Z H, Zhang C, Cai H Y, et al. The research of joint control algorithm of moving target dome projection based on two-axis turntable[J]. Opto-Electronic Engineering, 2014, 41(9): 32–37.

[5] 高教波, 李建军, 孙治家, 等. 多波长激光复合点目标运动模拟 [J]. 应用光学, 2011, 32(3): 562–567.

Gao J B, Li J J, Sun Z J, et al. Simulation of multi-wavelength laser composite point target motion[J]. Journal of Applied Optics, 2011, 32(3): 562–567.

[6] 官云兰. 地面三维激光扫描数据处理中的若干问题研究[D]. 上海: 同济大学, 2008.

[7] 鲁铁定, 周世健, 张立亭, 等. 基于整体最小二乘的地面激光扫描标靶球定位方法[J]. 大地测量与地球动力学, 2009, 29(4): 102–105.

Lu T D, Zhou S J, Zhang L T, et al. Sphere target fixing of point cloud data based on TLS[J]. Journal of Geodesy and Geodynamics, 2009, 29(4): 102–105.

[8] 陈玮娴, 陈义, 袁庆, 等. 加权总体最小二乘在三维激光标靶拟合中的应用[J]. 大地测量与地球动力学, 2010, 30(5): 90–96.

Chen W X, Chen Y, Yuan Q, et al. Application of weighted total least-squares to target fitting of three-dimensional laser scanning[ J]. Journal of Geodesy and Geodynamics, 2010, 30(5): 90–96.

[9] Jazaeri S, Amiri-Simkooei A R, Sharifi M A. Iterative algorithm for weighted total least squares adjustment[J]. Survey Review, 2014, 46(334): 19–27.

[10] 王乐洋, 陈汉清, 林永达, 等. 利用稳健WTLS 方法进行三维激光扫描标靶球定位[J]. 大地测量与地球动力学, 2016, 36(8): 745–749.

Wang L Y, Chen H Q, Lin Y D, et al. Spherical target positioning of 3D laser scanning by using robust WTLS method[J]. Journal of Geodesy and Geodynamics, 2016, 36(8): 745–749.

[11] 黄维彬. 近代平差理论及其应用[M]. 北京: 解放军出版社, 1992.

[12] 魏木生. 广义最小二乘问题的理论和计算[M]. 北京: 科技出版社, 2006.

[13] Muellner J. Multispectral Target Simulation Dome for Hardware- in-the-loop Simulation of fire Control and Optronic Seeker Systems[M]. Orlando: SPIE, 2004, 5408: 22–32.

[14] Schaffrin B. A note on constrained total least-squares estimation[ J]. Linear Algebra and Its Applications, 2006, 417(1): 245–258.

[15] 张皓琳, 林嘉睿, 邾继贵. 三维坐标转换精度及其影响因素的研究[J]. 光电工程, 2012, 39(10): 26–31.

Zhang H L, Lin J R, Zhu J G. Three-dimensional coordinate transformation accuracy and its influencing factors[J]. Opto- Electronic Engineering, 2012, 39(10): 26–31.

蔡怀宇, 丁蕾, 黄战华, 刘堃. 球幕点目标投影跟踪系统的精确标定方法[J]. 光电工程, 2018, 45(8): 170656. Cai Huaiyu, Ding Lei, Huang Zhanhua, Liu Kun. An accurate calibration method of the ball screen projection point targets tracking system[J]. Opto-Electronic Engineering, 2018, 45(8): 170656.

球幕点目标投影跟踪系统的精确标定方法

关于本站 Cookie 的使用提示

全站搜索

球幕点目标投影跟踪系统的精确标定方法

相关论文

相关资讯

关于本站 Cookie 的使用提示

全站搜索