CN103925909A - Method and device for measuring position of chamber-opening point by two high-speed cameras - Google Patents

Abstract

The invention discloses a method and a device for measuring the position of a chamber-opening point by two high-speed cameras, belonging to the field of vision measurement. In order to obtain the position of a chamber-opening point of a canister shot with high precision rapidly and accurately, a timing system terminal is connected with a first high-speed camera and a second high-speed camera; a control computer is connected with the first high-speed camera and the second high-speed camera; camera target feature points can form clear images in a crossed view field of the two high-speed cameras; the timing system terminal provides a synchronous pulse signal and time information for the first high-speed camera by a serial interface, and provides a synchronous pulse signal and time information for the second high-speed camera by a serial interface; the control computer receives image information of the camera targets of the first high-speed camera and the chamber-opening point of the canister shot by a network interface, and receives image information of the camera targets of the second high-speed camera and the chamber-opening point of the canister shot by a network interface; the position information of the chamber-opening point of the canister shot can be obtained by intersection after data treatment of the control computer.

Description

Translated fromChinese

两个高速摄像机测量开舱点位置的方法及装置Method and device for measuring the position of opening point with two high-speed cameras

技术领域technical field

本发明属于视觉测量领域，具体涉及利用两个高速摄像机测量开舱点位置的方法及装置。The invention belongs to the field of visual measurement, and in particular relates to a method and a device for measuring the position of a cabin opening point by using two high-speed cameras.

背景技术Background technique

子母弹用于对付集群目标，作为大纵深、大面积的压制兵器，其射击效力主要由子弹落点的分布和散布特性决定。而子弹落点的分布和散布取决于子母弹开舱点的位置及速度，因此有必要测量子母弹开舱点的空间位置。传统方法是用多台光电经纬仪跟踪母弹航迹，获得子母弹开舱点附近的图像，进而推算出子母弹的开舱点位置及速度。该方法因为开舱后目标的突变，致使经纬仪提取目标困难，很难获取精确的开舱点位置和速度，而且光电经纬仪的采样频率较低，导致开舱点的位置和速度精度较低。Submunitions are used to deal with cluster targets. As a large-depth, large-area suppression weapon, its shooting effectiveness is mainly determined by the distribution and dispersion characteristics of the bullets' impact points. The distribution and dispersion of bullet impact points depends on the position and speed of the opening point of the sub-cluster bomb, so it is necessary to measure the spatial position of the opening point of the sub-cluster bomb. The traditional method is to use multiple photoelectric theodolites to track the trajectory of the parent bomb, obtain images near the opening point of the sub-munition, and then calculate the position and speed of the opening point of the sub-munition. Due to the sudden change of the target after the opening of the cabin, it is difficult for the theodolite to extract the target, and it is difficult to obtain the precise position and velocity of the opening point. Moreover, the sampling frequency of the photoelectric theodolite is low, resulting in low accuracy of the position and velocity of the opening point.

发明内容Contents of the invention

为了快速、准确地获取较高精度的子母弹开舱点位置，弥补传统测量方法的不足，本发明提出了利用两个高速摄像机测量开舱点位置的方法及装置。In order to quickly and accurately obtain the position of the opening point of the sub-munitions with higher precision and make up for the shortcomings of the traditional measurement method, the present invention proposes a method and device for measuring the position of the opening point by using two high-speed cameras.

本发明的技术方案为：Technical scheme of the present invention is:

两个高速摄像机测量开舱点位置的方法，包括以下步骤，The method for two high-speed cameras measuring the position of the opening point comprises the following steps,

步骤一，第一高速摄像机的视场为ab、cd间的夹角，第二高速摄像机的视场为ac、bd间的夹角，摄像机靶标及理论开舱点位于四边形abdc中，两个高速摄像机的世界坐标O_j(x_j,y_j,z_j)j＝1,2，摄像机靶标的世界坐标O₃(x₃,y₃,z₃)，三者相距一定距离，且摄像机靶标在第一高速摄像机和第二高速摄像机视场内成清晰的图像；Step 1, the field of view of the first high-speed camera is the angle between ab and cd, the field of view of the second high-speed camera is the angle between ac and bd, the camera target and the theoretical opening point are located in the quadrilateral abdc, the two high-speed The world coordinates of the camera O_j (x_j ,y_j ,z_j )j=1,2, and the world coordinates of the camera target O₃ (x₃ ,y₃ ,z₃ ), the three are separated by a certain distance, and the camera target is at A clear image is formed in the fields of view of the first high-speed camera and the second high-speed camera;

步骤二，控制计算机利用网络接口采集第一高速摄像机拍摄的摄像机靶标的图像，并提取特征点，控制计算机利用网络接口采集第二高速摄像机拍摄的摄像机靶标的图像，并提取特征点，利用线性成像模型标定两个高速摄像机参数，利用高速摄像机与摄像机靶标的位置关系解算出摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ；Step 2, the control computer utilizes the network interface to collect the image of the camera target taken by the first high-speed camera, and extracts feature points, and the control computer utilizes the network interface to collect the image of the camera target taken by the second high-speed camera, and extracts the feature points, and utilizes linear imaging The model calibrates the parameters of two high-speed cameras, and uses the positional relationship between the high-speed camera and the camera target to calculate the azimuth α between the camera and the X-axis of the world coordinate system, and the elevation angle λ between the horizontal plane;

其中，高速摄像机的图像坐标系和世界坐标系关系如式①，Among them, the relationship between the image coordinate system of the high-speed camera and the world coordinate system is as follows:

$Z_c\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$   ①$Z_c\left[\begin{array}{c}x\\ \mathrm{the\; y}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{x}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$ ①

(a_u,a_v)为高速摄像机成像器件的像素尺寸；(a_u , a_v ) is the pixel size of the high-speed camera imaging device;

(u₀,v₀)为高速摄像机的光轴与图像平面的交点；(u₀ , v₀ ) is the intersection of the optical axis of the high-speed camera and the image plane;

R、T分别为摄像机坐标系与世界坐标系的旋转矩阵、平移矩阵；R and T are the rotation matrix and translation matrix of the camera coordinate system and the world coordinate system respectively;

利用高速摄像机与摄像机靶标的位置关系，根据式②解算出高速摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ，Using the positional relationship between the high-speed camera and the camera target, the azimuth α between the high-speed camera and the X-axis of the world coordinate system and the elevation angle λ between the horizontal plane are calculated according to formula ②.

$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{X_i-X_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(X_j-X_3)}^2}}\right)\end{array}\right.$   ②$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{x_i-x_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(x_j-x_3)}^2}}\right)\end{array}\right.$ ②

O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;

O₃(x₃,y₃,z₃)表示靶标在世界坐标系中的坐标；O₃ (x₃ , y₃ , z₃ ) represents the coordinates of the target in the world coordinate system;

步骤三，第一高速摄像机和第二高速摄像机在时统终端的同步脉冲作用下，通过网络接口获取目标的开舱点图像信息，经过图像处理得到开舱点的脱靶量信息；Step 3, the first high-speed camera and the second high-speed camera obtain the image information of the opening point of the target through the network interface under the synchronous pulse action of the time system terminal, and obtain the miss information of the opening point through image processing;

步骤四，控制计算机利用两个高速摄像机的参数及高速摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ信息，再根据公式③计算出开舱点的位置信息（x，y，z），Step 4, the control computer uses the parameters of the two high-speed cameras, the azimuth α between the high-speed camera and the X-axis of the world coordinate system, and the height angle λ of the horizontal plane, and then calculates the position information of the opening point according to the formula ③ (x, y ,z),

$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1(y_1-y_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2(y_2-y_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ y=0.5(y_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+y_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$   ③$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1({\mathrm{the\; y}}_1-{\mathrm{the\; y}}_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2({\mathrm{the\; y}}_2-{\mathrm{the\; y}}_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ \mathrm{the\; y}=0.5({\mathrm{the\; y}}_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+{\mathrm{the\; y}}_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$ ③

O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;

(α_j,λ_j)j＝1,2表示两个高速摄像机与世界坐标系X轴的方位角、与水平面的高低角。(α_j ,λ_j )j=1,2 represents the azimuth angle between the two high-speed cameras and the X-axis of the world coordinate system, and the elevation angle between them and the horizontal plane.

利用高速摄像机测量开舱点位置的方法所应用的测量装置，时统终端依靠串行接口连接第一高速摄像机，时统终端依靠串行接口连接第二高速摄像机；控制计算机依靠网络接口连接第一高速摄像机，控制计算机依靠网络接口连接第二高速摄像机；The measurement device used in the method of measuring the position of the opening point with a high-speed camera, the time system terminal is connected to the first high-speed camera by a serial interface, and the time system terminal is connected to the second high-speed camera by a serial interface; the control computer is connected to the first high-speed camera by a network interface. A high-speed camera, the control computer is connected to the second high-speed camera through the network interface;

摄像机的标定靶标，其特征点均能在两个高速摄像机的视场内成清晰的图像；The calibration target of the camera, its feature points can form a clear image in the field of view of the two high-speed cameras;

时统终端，其通过串行接口为第一高速摄像机提供同步脉冲信号和时间信息；其通过串行接口为第二高速摄像机提供同步脉冲信号和时间信息；A time system terminal, which provides a synchronous pulse signal and time information for the first high-speed camera through a serial interface; it provides a synchronous pulse signal and time information for the second high-speed camera through a serial interface;

控制计算机，其通过网络接口接收第一高速摄像机的靶标及子母弹开舱点的图像信息；其通过网络接口接收第二高速摄像机的靶标及子母弹开舱点的图像信息；控制计算机经过数据处理后交会出子母弹开舱点的位置信息。The control computer receives the image information of the target of the first high-speed camera and the opening point of the sub-cluster bomb through the network interface; it receives the image information of the target of the second high-speed camera and the opening point of the sub-cluster bomb through the network interface; the control computer rendezvous after data processing The position information of the opening point of the sub-cluster bomb is displayed.

本发明的有益效果是：利用两个高速摄像机采集靶标的特征点图像（两个高速摄像机及靶标位置已知），解算出摄像机参数、方位角和高低角；在时统终端的作用下，两个高速摄像机同时获取开舱点的图像信息，提取脱靶量信息，交会计算出开舱点的位置信息。此方法简单易行、测量精度较高，可有效降低测量成本。The beneficial effect of the present invention is: use two high-speed cameras to collect the feature point images of the target (the two high-speed cameras and the target position are known), and calculate the camera parameters, azimuth angle and elevation angle; under the action of the time system terminal, the two A high-speed camera acquires the image information of the opening point at the same time, extracts the miss information, and calculates the location information of the opening point by intersection. This method is simple and easy, has high measurement accuracy, and can effectively reduce the measurement cost.

附图说明Description of drawings

图1：本发明两个高速摄像机测量开舱点位置的方法所用装置的示意图。Fig. 1: the schematic diagram of the device used in the method for measuring the position of the opening point with two high-speed cameras of the present invention.

图2：本发明两个高速摄像机测量开舱点位置的方法的工作流程图。Fig. 2: The working flowchart of the method for measuring the position of the opening point by two high-speed cameras of the present invention.

图3：本发明中高速摄像机的线性成像模型示意图。Figure 3: Schematic diagram of the linear imaging model of the high-speed camera in the present invention.

具体实施方式Detailed ways

下面结合附图对本发明做进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.

如图1所示，两个高速摄像机测量开舱点位置的方法所应用的装置，包括时统终端3依靠串行接口5连接第一高速摄像机1，时统终端3依靠串行接口6连接第二高速摄像机2；控制计算机4依靠网络接口7连接第一高速摄像机1，控制计算机4依靠网络接口8连接第二高速摄像机2。As shown in Figure 1, the device that two high-speed cameras are used in the method for measuring the position of the opening point comprises that the time system terminal 3 is connected to the first high-speed camera 1 by means of the serial interface 5, and the time system terminal 3 is connected to the first high-speed camera by means of the serial interface 6. Two high-speed cameras 2; the control computer 4 is connected to the first high-speed camera 1 by means of the network interface 7, and the control computer 4 is connected to the second high-speed camera 2 by means of the network interface 8.

摄像机靶标9特征点均能在第一高速摄像机1和第二高速摄像机2的交叉视场内成清晰的图像。All the feature points of the camera target 9 can form a clear image in the intersection field of view of the first high-speed camera 1 and the second high-speed camera 2 .

时统终端3通过串行接口5为第一高速摄像机1提供同步脉冲信号和时间信息；时统终端3通过串行接口6为第二高速摄像机2提供同步脉冲信号和时间信息。Time system terminal 3 provides synchronization pulse signal and time information for first high-speed camera 1 through serial interface 5 ; time system terminal 3 provides synchronization pulse signal and time information for second high-speed camera 2 through serial interface 6 .

控制计算机4通过网络接口7接收第一高速摄像机1的靶标及子母弹开舱点的图像信息；控制计算机4通过网络接口8接收第二高速摄像机2的靶标及子母弹开舱点的图像信息；控制计算机4经过数据处理后交会出子母弹开舱点的位置信息。The control computer 4 receives the target of the first high-speed camera 1 and the image information of the opening point of the sub-cluster bomb through the network interface 7; the control computer 4 receives the target of the second high-speed camera 2 and the image information of the opening point of the sub-cluster bomb through the network interface 8; the control computer 4 After data processing, the location information of the opening point of the sub-munition is intersected.

如图2所示，两个高速摄像机测量开舱点位置的方法，实现步骤如下：As shown in Figure 2, the method for two high-speed cameras to measure the position of the opening point is implemented as follows:

步骤一，按图1所示，第一高速摄像机1的视场为ab、cd间的夹角，第二高速摄像机2的视场为ac、bd间的夹角，摄像机靶标9及理论开舱点位于四边形abdc中，在世界坐标系中，两个高速摄像机位于坐标O_j(x_j,y_j,z_j)j＝1,2，靶标位于坐标O₃(x₃,y₃,z₃)，三者相距一定距离，且靶标在第一高速摄像机1和第二高速摄像机2视场内成清晰的图像。Step 1, as shown in Figure 1, the field of view of the first high-speed camera 1 is the angle between ab and cd, the field of view of the second high-speed camera 2 is the angle between ac and bd, the camera target 9 and the theoretical opening The point is located in the quadrilateral abdc. In the world coordinate system, the two high-speed cameras are located at the coordinates O_j (x_j ,y_j ,z_j )j=1,2, and the target is located at the coordinates O₃ (x₃ ,y₃ ,z₃ ), the three are separated by a certain distance, and the target forms a clear image in the field of view of the first high-speed camera 1 and the second high-speed camera 2 .

步骤二，控制计算机4利用网络接口7接收第一高速摄像机1的摄像机靶标9的图像，并提取特征点，控制计算机4利用网络接口8接收第二高速摄像机2的摄像机靶标9的图像，并提取特征点。由图3可以得到摄像机的图像坐标系和世界坐标系关系如式①，Step 2, the control computer 4 utilizes the network interface 7 to receive the image of the camera target 9 of the first high-speed camera 1, and extracts feature points, and the control computer 4 utilizes the network interface 8 to receive the image of the camera target 9 of the second high-speed camera 2, and extracts Feature points. From Figure 3, the relationship between the image coordinate system of the camera and the world coordinate system can be obtained as formula ①,

$Z_c\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$   ①$Z_c\left[\begin{array}{c}x\\ \mathrm{the\; y}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{x}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$ ①

(a_u,a_v)为高速摄像机成像器件的像素尺寸；(a_u , a_v ) is the pixel size of the high-speed camera imaging device;

(u₀,v₀)为高速摄像机的光轴与图像平面的交点；(u₀ , v₀ ) is the intersection of the optical axis of the high-speed camera and the image plane;

R、T分别为摄像机坐标系与世界坐标系的旋转矩阵、平移矩阵。R and T are the rotation matrix and translation matrix of the camera coordinate system and the world coordinate system, respectively.

利用高速摄像机与摄像机靶标的位置关系解算出摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ，Use the positional relationship between the high-speed camera and the camera target to calculate the azimuth α between the camera and the X-axis of the world coordinate system, and the height angle λ between the horizontal plane,

$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{X_i-X_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(X_j-X_3)}^2}}\right)\end{array}\right.$   ②$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{x_i-x_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(x_j-x_3)}^2}}\right)\end{array}\right.$ ②

O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;

O₃(x₃,y₃,z₃)表示摄像机靶标9在世界坐标系中的坐标。O₃ (x₃ , y₃ , z₃ ) represents the coordinates of the camera target 9 in the world coordinate system.

步骤三，第一高速摄像机1和第二高速摄像机2在时统终端3的同步脉冲作用下，通过网络接口获取目标的开舱点图像信息，经过图像处理得到开舱点的脱靶量信息。Step 3, the first high-speed camera 1 and the second high-speed camera 2 obtain the image information of the opening point of the target through the network interface under the action of the synchronous pulse of the time system terminal 3, and obtain the information on the amount of misses at the opening point through image processing.

步骤四，控制计算机4利用两个高速摄像机的参数及高速摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ信息，根据公式③计算出开舱点的位置信息（x，y，z），Step 4, the control computer 4 utilizes the parameters of the two high-speed cameras and the azimuth α between the high-speed camera and the X-axis of the world coordinate system, and the height angle λ information of the horizontal plane, and calculates the position information (x, y) of the opening point according to the formula 3. ,z),

$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1(y_1-y_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2(y_2-y_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ y=0.5(y_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+y_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$③$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1({\mathrm{the\; y}}_1-{\mathrm{the\; y}}_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2({\mathrm{the\; y}}_2-{\mathrm{the\; y}}_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ \mathrm{the\; y}=0.5({\mathrm{the\; y}}_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+{\mathrm{the\; y}}_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$ ③

O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;

(α_j,λ_j)j＝1,2表示两个高速摄像机与世界坐标系X轴的方位角、与水平面的高低角。(α_j ,λ_j )j=1,2 represents the azimuth angle between the two high-speed cameras and the X-axis of the world coordinate system, and the elevation angle between them and the horizontal plane.

Claims (2)

Translated fromChinese

1.两个高速摄像机测量开舱点位置的方法，其特征是，包括以下步骤，1. The method for two high-speed cameras measuring the position of the opening point is characterized in that it comprises the following steps,步骤一，第一高速摄像机（1）的视场为ab、cd间的夹角，第二高速摄像机（2）的视场为ac、bd间的夹角，摄像机靶标（9）及理论开舱点位于四边形abdc中，两个高速摄像机的世界坐标O_j(x_j,y_j,z_j)j＝1,2，摄像机靶标（9）的世界坐标O₃(x₃,y₃,z₃)，三者相距一定距离，且摄像机靶标（9）在第一高速摄像机（1）和第二高速摄像机（2）视场内成清晰的图像；Step 1, the field of view of the first high-speed camera (1) is the angle between ab and cd, the field of view of the second high-speed camera (2) is the angle between ac and bd, the camera target (9) and the theoretical opening The point is located in the quadrilateral abdc, the world coordinates O_j (x_j ,y_j ,z_j )j=1,2 of the two high-speed cameras, and the world coordinates O₃ (x₃ ,y₃ ,z₃ ), the three are separated by a certain distance, and the camera target (9) forms a clear image in the field of view of the first high-speed camera (1) and the second high-speed camera (2);步骤二，控制计算机（4）利用网络接口（7）采集第一高速摄像机（1）拍摄的摄像机靶标（9）的图像，并提取特征点，控制计算机（4）利用网络接口（8）采集第二高速摄像机（2）拍摄的摄像机靶标（9）的图像，并提取特征点，利用线性成像模型标定两个高速摄像机参数，利用高速摄像机与摄像机靶标（9）的位置关系解算出摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ；Step 2, the control computer (4) uses the network interface (7) to collect the image of the camera target (9) captured by the first high-speed camera (1), and extracts feature points, and the control computer (4) uses the network interface (8) to collect the first The image of the camera target (9) taken by the two high-speed cameras (2) and feature points are extracted, the parameters of the two high-speed cameras are calibrated using the linear imaging model, and the coordinates of the camera and the world are calculated by using the positional relationship between the high-speed camera and the camera target (9) It is the azimuth angle α of the X-axis and the elevation angle λ of the horizontal plane;其中，高速摄像机的图像坐标系和世界坐标系关系如式①，Among them, the relationship between the image coordinate system of the high-speed camera and the world coordinate system is as follows:$Z_c\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{X}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$   ①$Z_c\left[\begin{array}{c}x\\ \mathrm{the\; y}\\ 1\end{array}\right]=\left[\begin{array}{ccc}{a}_u& 0& u_0\\ 0& a_v& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 1& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& T\\ 0^T& 1\end{array}\right]\left[\begin{array}{c}{x}_W\\ Y_W\\ Z_W\\ 1\end{array}\right]$ ①(a_u,a_v)为高速摄像机成像器件的像素尺寸；(a_u , a_v ) is the pixel size of the high-speed camera imaging device;(u₀,v₀)为高速摄像机的光轴与图像平面的交点；(u₀ , v₀ ) is the intersection of the optical axis of the high-speed camera and the image plane;R、T分别为摄像机坐标系与世界坐标系的旋转矩阵、平移矩阵；R and T are the rotation matrix and translation matrix of the camera coordinate system and the world coordinate system respectively;利用高速摄像机与摄像机靶标的位置关系，根据式②解算出高速摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ，Using the positional relationship between the high-speed camera and the camera target, the azimuth α between the high-speed camera and the X-axis of the world coordinate system and the elevation angle λ between the horizontal plane are calculated according to formula ②.$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{X_i-X_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(X_j-X_3)}^2}}\right)\end{array}\right.$   ②$\left\{\begin{array}{c}\mathrm{\α}=\mathrm{arctg}\left(\frac{x_i-x_3}{Z_i-Z_3}\right)\\ \mathrm{\λ}=\mathrm{arctg}\left(\frac{Y_j-Y_3}{\sqrt{{(Z_j-Z_3)}^2+{(x_j-x_3)}^2}}\right)\end{array}\right.$ ②O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;O₃(x₃,y₃,z₃)表示靶标在世界坐标系中的坐标；O₃ (x₃ , y₃ , z₃ ) represents the coordinates of the target in the world coordinate system;步骤三，第一高速摄像机（1）和第二高速摄像机（2）在时统终端（3）的同步脉冲作用下，通过网络接口获取目标的开舱点图像信息，经过图像处理得到开舱点的脱靶量信息；Step 3, the first high-speed camera (1) and the second high-speed camera (2) obtain the image information of the opening point of the target through the network interface under the action of the synchronization pulse of the time system terminal (3), and obtain the opening point through image processing Off-target amount information;步骤四，控制计算机（4）利用两个高速摄像机的参数及高速摄像机与世界坐标系X轴的方位角α、与水平面的高低角λ信息，再根据公式③计算出开舱点的位置信息（x，y，z），Step 4, the control computer (4) uses the parameters of the two high-speed cameras, the azimuth angle α between the high-speed camera and the X-axis of the world coordinate system, and the height angle λ information of the horizontal plane, and then calculates the position information of the opening point according to the formula ③ ( x,y,z),$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1(y_1-y_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2(y_2-y_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ y=0.5(y_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+y_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$   ③$\left\{\begin{array}{c}{m}_1=\cos {\mathrm{\α}}_1(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_1({\mathrm{the\; y}}_1-{\mathrm{the\; y}}_2)+\sin {\mathrm{\α}}_1(z_1-z_2)\\ m_2=\cos {\mathrm{\α}}_2(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_2({\mathrm{the\; y}}_2-{\mathrm{the\; y}}_1)+\sin {\mathrm{\α}}_2(z_2-z_1)\\ K={(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)}^2-{\sec }^2{\mathrm{\λ}}_1{\sec }^2{\mathrm{\λ}}_2\\ l_1=\frac{m_2(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_1{\sec }^2{\mathrm{\λ}}_2}{K}\\ l_2=\frac{m_1(\cos ({\mathrm{\α}}_1-{\mathrm{\α}}_2)+\mathrm{tg}{\mathrm{\λ}}_1\mathrm{tg}{\mathrm{\λ}}_2)+m_2{\sec }^2{\mathrm{\λ}}_1}{K}\\ x=0.5(x_1+l_1\cos {\mathrm{\α}}_1+x_2+l_2\cos {\mathrm{\α}}_2)\\ \mathrm{the\; y}=0.5({\mathrm{the\; y}}_1+l_1\mathrm{tg}{\mathrm{\λ}}_1+{\mathrm{the\; y}}_2+l_2\mathrm{tg}{\mathrm{\λ}}_2)\\ z=0.5(z_1+l_1\sin {\mathrm{\α}}_1+z_2+l_2\sin {\mathrm{\α}}_2)\end{array}\right.$ ③O_j(x_j,y_j,z_j)j＝1,2表示两个高速摄像机在世界坐标系中的坐标；O_j (x_j ,y_j ,z_j )j=1,2 represents the coordinates of two high-speed cameras in the world coordinate system;(α_j,λ_j)j＝1,2表示两个高速摄像机与世界坐标系X轴的方位角、与水平面的高低角。(α_j ,λ_j )j=1,2 represents the azimuth angle between the two high-speed cameras and the X-axis of the world coordinate system, and the elevation angle between them and the horizontal plane.2.利用高速摄像机测量开舱点位置的方法所应用的测量装置，其特征是，时统终端（3）依靠串行接口（5）连接第一高速摄像机（1），时统终端（3）依靠串行接口（6）连接第二高速摄像机（2）；控制计算机（4）依靠网络接口（7）连接第一高速摄像机（1），控制计算机（4）依靠网络接口（7）连接第二高速摄像机（2）；2. The measuring device used in the method of measuring the position of the opening point with a high-speed camera, characterized in that the time-control terminal (3) is connected to the first high-speed camera (1) by means of a serial interface (5), and the time-control terminal (3) Rely on the serial interface (6) to connect the second high-speed camera (2); the control computer (4) connects to the first high-speed camera (1) by relying on the network interface (7), and the control computer (4) connects to the second high-speed camera by relying on the network interface (7) High-speed camera (2);摄像机靶标（9），其特征点均能在两个高速摄像机的视场内成清晰的图像；The camera target (9), the feature points of which can form a clear image in the field of view of the two high-speed cameras;时统终端（3），其通过串行接口（5）为第一高速摄像机（1）提供同步脉冲信号和时间信息；其通过串行接口（6）为第二高速摄像机（2）提供同步脉冲信号和时间信息；Time system terminal (3), which provides synchronization pulse signal and time information for the first high-speed camera (1) through the serial interface (5); provides synchronization pulse for the second high-speed camera (2) through the serial interface (6) signal and timing information;控制计算机（4），其通过网络接口（7）接收第一高速摄像机（1）的靶标及子母弹开舱点的图像信息；其通过网络接口（8）接收第二高速摄像机（2）的靶标及子母弹开舱点的图像信息；控制计算机（4）经过数据处理后交会出子母弹开舱点的位置信息。The control computer (4), which receives the image information of the target of the first high-speed camera (1) and the opening point of the sub-cluster bomb through the network interface (7); it receives the target and image information of the second high-speed camera (2) through the network interface (8). The image information of the opening point of the sub-munitions; the control computer (4) will hand over the position information of the opening points of the sub-munitions after data processing.