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Research on the Monocular Vision Position and Attitude Parameters Measurement System

Author: WangWeiXing
Tutor: WangZiCai
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: Visual measurement Mono-vision Attitude measurement PNP method Coplanar feature-points
CLC: TP274
Type: Master's thesis
Year: 2013
Downloads: 4
Quote: 0
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Abstract


In allusion to non-contact measarement technology of rigid body position andattitude parameters, it becomes the key point of the recearch at here and abroad.Theposition and attitude parameters measurement of the spacecraft and aircraft not onlymakes up the shorttage as the particle, but also take the important role in buttjoint ofthe large-scale workpiece and spacecrafe. The position and attitude parameters canact as significant basis for experimental results identification and incident causesjudgement. Therefore, this paper make the research work of the following aspects:Firstly, take the research of the motion position and attitude parameters method.On base of monocular vision measarement theory, PNP arithmetic overcomedepth-deficiency of field, expound PNP problem and the important conclus ionrelated to it, establish the PNP mathematics model of the motion position andattitude parameters, present this paper’s calculating method combining with theimproved two-stage iterative arithmetic.Secondly, research the monocular vision position and attitude parametersmeasuring method. This paper design the programs of the motion position andattitude parameters measuring system, construct experimental system frame andmake the experimental thinking clearly. According to the frame, this paper choosethe experimental equipment which be presented later. This paper manufacturefeaturing target and research the optimal distribution of the featuring target,specially to the right-angled ladder-shaped. The conclusion can be got by means ofpractical measuring experiment. In the purpose of experimental measyring errorcomparing with the sourse analysis of the experimental measuring error, this papertake the simulation of the motion position and attitude parameters measuringsystem.Finally, the paper carries on the experiment of the motion position and attitudeparameters measuring system. In the experiment, the paper unify the coordinatevalue of the featuring points in every，easuring coordinate system to calculating thepose parameters. The cirde-dot are used to calculating the pose parameters. In baseof the experimental data, the paper analysis the relation between the baseline’slength of featuring target and the calculating precisio n、 the influence to thecalculating precision by the featuring circle-dot ellipse problem and rigid bodythree-axis motion position and attitude parameters measuring precision. Though theexperimental data comparing with the simulation result, the paper present the meansof improving the system precision and analysis to get the level of the systemprecision.Though the image acquisition based on the LabVIEW, the diode light target is used in the measuring exeriment, and next step is achieving the measuringthe diode light position and attitude parameters measuring to get the final analyse ofthe experimental data.

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