采用单目视觉的航天模拟器位姿参数测量研究 Research on Measurement of Pose Parameters of Aerospace Simulator Based on Monocular-Vision System

针对航天模拟器位姿参数的测量问题，提出一种基于单目视觉系统的实时测量方法。将多个特征点布置在航天模拟器表面，利用单目相机实时提取特征点像点，并通过本文所建立的单目视觉坐标测量模型和位姿求解模型，可实现航天模拟器的位姿参数测量。最后，通过实验表明了利用单目视觉方法实现航天模拟器位姿测量的可行性。 This article proposed a real-time measurement method based on monocular vision system to measure the pose parameters of aerospace simulator. Several feature points were arranged on the surface of aerospace simulator and monocular camera was used to extract the images of feature points. Monocular vision coordinates measurement model and pose computation model were established to obtain the pose parameters of aerospace simulation. Finally, experiments were conducted to verify the feasibilities of applying monocular-vision method to measure the pose of aerospace simulator.