Calibration and experiment of vision measurement accuracy for motion of rocket nozzle

LIU Bo; YE Dong; CHEN Gang; CHE Ren-sheng

doi:10.3788/OPE.20101811.2513

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Calibration and experiment of vision measurement accuracy for motion of rocket nozzle

Article | 更新时间：2020-08-12

- Calibration and experiment of vision measurement accuracy for motion of rocket nozzle
- Optics and Precision Engineering Vol. 18, Issue 11, Pages: 2513-2520(2010)
- 作者机构：
  
  哈尔滨工业大学自动化测试与控制系,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20101811.2513
  CLC： TP391.4
- Received：08 March 2010，
  
  Revised：09 September 2010，
  
  Published Online：25 November 2010，
  
  Published：25 November 2010
- 稿件说明：
移动端阅览
刘博, 叶东, 陈刚, 车仁生. 火箭喷管运动视觉测试精度的校准与实验[J]. 光学精密工程, 2010,18(11): 2513-2520

LIU Bo, YE Dong, CHEN Gang, CHE Ren-sheng. Calibration and experiment of vision measurement accuracy for motion of rocket nozzle[J]. Editorial Office of Optics and Precision Engineering, 2010,18(11): 2513-2520
刘博, 叶东, 陈刚, 车仁生. 火箭喷管运动视觉测试精度的校准与实验[J]. 光学精密工程, 2010,18(11): 2513-2520 DOI： 10.3788/OPE.20101811.2513.

LIU Bo, YE Dong, CHEN Gang, CHE Ren-sheng. Calibration and experiment of vision measurement accuracy for motion of rocket nozzle[J]. Editorial Office of Optics and Precision Engineering, 2010,18(11): 2513-2520 DOI： 10.3788/OPE.20101811.2513.

摘要

基于新型双轴摇摆直线升降运动校准装置

提出了一种喷管运动视觉测量系统的校准方法。首先

将校准装置提供的摆心、摆角的标准值与视觉测量系统的测量值在空间上对应起来

通过校准装置提供给喷管模型2次不同轴的摆动

推导出视觉运动测量系统的世界坐标系与喷管摆角坐标系之间的位姿关系。然后求解出二者位姿矩阵和平移向量

在视觉运动测量系统中建立喷管的摆角坐标系;通过时间同步系统向校准装置和视觉运动测量系统发送同步时间基准信号和同步触发信号

同步二者的采样时间

实现标准值与测量值在时间上的对应关系

完成摆动动态数据的直接比较。最后对喷管运动视觉测量系统进行了校准实验

分析了喷管在12的摆动空间内不同位置的摆心、摆角的测量误差。实验结果表明

在运动范围内摆角的最大测量误差为0.093

摆心的最大测量误差为0.832 mm。

Abstract

On the basis of the novel dual axes rotating and single axis translating calibration equipment

a calibration method for vision measurement of the motion of a rocket nozzle was proposed. Firstly

the motion metric from the calibration equipment and the measured values from vision system were mapped in the space

then the position and pose relations between the world coordinate system of stereo vision and the coordinate system of nozzle were deduced. After solving the pose matrix and translation vector

the vector angle coordinate system of the nozzle was established in vision measurement system. Subsequently

by sending a trigger signal and a synchronized time signal from the calibration equipment to cameras

the sampling time was synchronized

and the dynamic data were directly compared. Finally

the experiment for calibrating the vision measurement system was completed.The measurement errors of rotation center and vector angle in nozzle motion space 12 were analyzed. The experiment results indicate that the max error of vector angle is 0.093 and the max error of rotation center position is 0.832 mm.

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references

<td valign='top'>[1]SUTTON G. Rocket Propulsion Elements: An Introduction to the Engineering of Rockets[M]. New York: Wiley, 1992:12-17.<td valign='top'>[2]CAO W P, BI W, CHE R SH. 6-DOF motion and center of rotation estimation based on stereo vision[J]. Chinese Journal of Mechanical Engineering (English Edition),2008,21(2):87-92.<td valign='top'>[3]JAMES G. The measurement of human motion: a comparison of commercially available systems[J]. Human Movement Science, 1999(18):589-602.<td valign='top'>[4]ANDREW D W, DAVID G T, DONALD D F. Accuracy assessment and interpretation for optical tracking systems . Proceedings of Medical Imaging, Waitsfield, 2004:421-432.<td valign='top'>[5]STATES R A, PAPPAS E. Precision and repeatability of the Optotrak 3020 motion measurement system[J].Journal of Medical Engineering & Technology.2006,30 (1):11-16<a href='http://dx.doi.org/ournal of Medical Engineering' target='_blank'><img src='../../images/crossref.gif' width='41' height='15' border='0' /><td valign='top'>[6]ANGELA E. K, TREVOR B, THOMAS R J. Comparative accuracy of radiostereometric and optical tracking systems[J]. Journal of Biomechanics, 2009(42):1350-1354.<td valign='top'>[7]潘淑杰,董守平,王红丽. 应用灭点标定的立体视觉自由曲面三维重建[J]. 光学精密工程,2009,17(5):1127-1133. PAN SH J, DONG SH P, WANG H L. Three dementional reconstruction of stereo vision free-form surface based on vanishing-point calibration[J]. Opt. Precision Eng., 2009,17(5):1127-1133. (in Chinese)<td valign='top'>[8]王一, 刘常杰, 任永杰, 等. 通用机器人视觉检测系统的全局校准技术[J]. 光学精密工程,2009,17(12):3028-3033. WANG Y, LIU CH J, REN Y J, et al.. Global calibration of visual inspecion system based on universal robots[J]. Opt. Precision Eng., 2009,17(12):3028-3033. (in Chinese)<td valign='top'>[9]孙军华,刘震,张广军,等. 基于柔性立体靶标的摄像机标定[J]. 光学学报,2009,29(12):3433-3439. SUN J H, LIU ZH, ZHANG G J, et al..Camera calibration based on flexible 3D target[J]. Acta Optica Sinica,2009,29(12):3433-3439.(in Chinese)<td valign='top'>[10]刘博,叶东,车仁生. 火箭喷管三维运动测试的校准装置及误差分析[J]. 光学精密工程,2009,17(7):1553-1560. LIU B, YE D, CHE R SH, Calibration equipment for rocket nozzle motion testing and its error analysis[J]. Opt. Precision Eng., 2009,17(7):1553-1560.(in Chinese)<td valign='top'>[11]SHIU Y C, AHMAD S. Calibration of wrist-mounted robotic sensors by solving homogenous transform equations of the form AX=XB[J]. Robotics and Automation IEEE,1989,5(1):16-29.

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Related Institution

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