【作者】 王昊予； 江洁； 张广军； 崔运东；

【Author】 WANG Hao-yu,JIANG Jie,ZHANG Guang-jun,CUI Yun-dong(Key Laboratory of Precision Opto-mechatronics Techonology,Ministry of Education School of Instrumental Science and Opto-electronics Engineering,BeiHang University,Beijing 100191,China)

【机构】 北京航空航天大学仪器科学与光电工程学院精密光机电一体化技术教育部重点实验室；

【摘要】 为实现大量程高精度的姿态角测量,基于光电准直和针孔成像原理,设计并实现了一种新型二维姿态角测量系统。避免了自准直测量中反射镜对视场的约束,扩大了视场。采用针孔光阑作为光学系统,体积小,重量轻,且系统设计与工作距离无关。详细介绍了其基本原理和具体实现,包括CMOS的驱动电路设计,实时并行质心定位算法、硬件姿态角实时计算和USB接口设计。标定和实验表明,该测量系统视场范围为±30°,测角精度为0.04°,帧频可达到27f/s,能够实时传输姿态信息,便于实时监测和跟踪调试,可以满足大视场、高精度、高实时性的测量要求。更多还原

【Abstract】 Based on photoelectric collimating and pinhole imaging theory,a new type of two-dimensional attitude angle measuring system is designed to realize large FOV high precision attitude angle measurement.The restriction of reflector in photoelectric auto-collimating is avoided to enlarge FOV.The pinhole aperture is set as the optical system to assure the small bulk and light weight of system,and the system design is independent of measuring distance.The basic principle and specific implementation are introduced,including the design of CMOS driving timing,real-time parallel centroid acquisition algorithms and real-time attitude calculation algorithms as well as USB interface design.Calibration and experiments show that the system has maximum FOV of ±30 °,precision of 0.04 ° and frame rate can of 27 frame/s,so the calculating result can be transferred immediately,which is convenient for real-time tracking and debugging,and the system can meet the requirements of large FOV,high precision and high frame rate.更多还原