探讨了设计的大视场复眼定位系统的结构特点、定位数学模型、三维目标阵列、标定方法和定位特点.介绍了复眼结构和系统装置,建立了目标定位和多通道同时标定的数学模型.通过引入分光器,调整目标平面水平移动轴和目标平面的垂直性以及目标平面和复眼平面之间的平行性.然后,使用消逝点和目标共像点求得初始点和初始距离,得到目标平面上每一点的空间三维坐标.最后,求出目标阵列与对应通道的入射角度,提取出对应的目标像点重心,建立了各通道入射角度和像点重心之间的对应关系.实验结果显示,初步标定后的系统能对横向110°、纵向90°视场范围内的目标进行定位,距离定位精度在2％以内.提出的方案基本能满足复眼成像非线性标定的要求,具有一定的操作灵活性.%To position the target with a large field of view for a novel compound eye system, the design features of the system, mathematical models for positioning target, three-dimensional coordinates of target array, calibration methods and the positioning performance were investigated. Firstly, the design of the compound eye system and its structure were introduced and a mathematical model for positioning the target was established. With an optical splitter,the verticality between target plane and its horizontal movement axle and the parallelity between target plane and compound eye plane were adjusted. Then, By using the methods of vanishing points and the common imaging point of different points on the Y-axis to get the initial point and initial distance, the three-dimensional coordinate of every point located on the target plane was obtained. Finally, by deriving the angles between every target and corresponding channel to achieve the imaging center, the corresponding relation between the angle of each channel and the imaging center was established. Experimental results show that the system calibrated initially can position the target with the viewing angle within 110° on the horizontal plane and 90° on the vertical plane and the distance precision for target positioning can be limited to 2%. The scheme can meet the requirement of compound eye for nonlinear calibration and has operational flexibility.
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