When voyaging,ships are subject to inevitable hull deformations caused by the changes in the environmental temperature and external stress.These are a crucial source of errors when measuring data using a spacecraft tracking,telemetry,and control(TT&C) ship.A prototype system based on photogrammetry was developed for the real-time measurement of a spacecraft TT&C ship's hull deformation.This system has high accuracy,a simple structure,and convenient maintenance,and requires few changes to the ship's structures.To improve its performance,an estimation approach is proposed for hull deformation angles.With the proposed approach,the central positions of cross spots in successive frames can be predicted based on the prediction of the camera's attitude,and their extract locations can be found by defining a series of small windows around each predictive location.Then,the optimal estimate of the camera's attitude is updated by the designed extended Kalman filter using the extracted cross spots and their corresponding local coordinates,with which the hull deformation angles can be found.To verify the proposed measurement approach,its performance was tested during the normal sailing,floating,and rocking on the sea of a spacecraft TT&C ship.The experimental testing results demonstrated that the proposed approach performs well in terms of accuracy and robustness.It can satisfy the hull deformation measurement requirement for a spacecraft TT&C ship in real time.
LIU HaiBoSUN CongZHANG YueQiangLIU XinMingLIU JinBoZHANG XiaoHuYU QiFeng
The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation.A new method for camera pose estimation based on line correspondence is put forward in this paper.First,two appropriate lines are selected in the space to establish a local coordinate system,the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane;then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P,and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution;finally,the rotation matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition(SVD).The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1°and the 3σ error is superior to 0.3′.The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.
LIU JinBoZHANG XiaoHuLIU HaiBoYUAN YunZHU ZhaoKunYU QiFeng
During the non-landing measuring of vehicle mounted theodolite, especially under high-speed tracking measurement, the misalignment of theodolite's center of mass and spindle etc. will cause high-frequency vibration of theodolite platform, increase the observation error of targets and even unbelievable results. In this paper, a correction method of non-landing measuring of theodolite based on static datum conversion is presented, which can effectively improve the observation accuracy of theodolite. The CCD camera is fixed to the theodolite platform to calculate the gesture shaking quantity of theodolite platform in geodetic coordinate system through the real time imaging of static datum. The observation results of theodolite are corrected by using such shaking quantity. The experiment shows that the correction accuracy exceeds 10 s of arc. The intrinsic parameter calibration technology of camera based on stellar angular distance and absolute conic put forward in this paper can prevent the estimated error of extrinsic parameters influencing the intrinsic parameter calibration and improve the intrinsic parameter calibration accuracy; the static datum conversion technology can reduce the influence of installation error of camera and theodolite platform on gesture measuring of the platform. The simulation experiment shows that when the shaking range of the platform is less than 30 min of arc, the influence of the three-axis installation error of camera within 3deg on the accuracy of correction results is less than 8 s of arc. The method in this paper can be extended to and used in the field of gesture shaking measuring and micro-structure deformation of various unstable platforms, therefore it is of important theoretical research significance and has wide engineering application prospect.
LIU JinBoZHANG XiaoHuLIU HaiBoYUAN YunZHU ZhaoKunYU QiFeng
