Study on attitude of dynamic object based on binocular vision system

摘要

The binocular vision measurement system is adopted in which two CCDs are used and their optic axes are vertical to obtain the attitude of dynamic shell. At first, the mathematic model of the measurement system with vertical optic axes is established, and the calibration and adjustment is implemented to make two CCDs'' optical axes vertical and co-planarity. The axis vector of shell is obtained using the vertical principle of two CCDs'' optical axes. Then the moving attitude of shell such as pitch angleθ, yaw angleψ is obtained by relationship between the vector of shell axis and the attitude of moving shell. The result of simulation experiment and analysis shows that the measurement method has higher precision, and can meet the measurement require on the dynamic parameter of moving object in long distance.