Attitude measurement method of the Three-axis air bearing table based on monocular vision

doi:10.13741/j.cnki.11-1879/o4.2021.06.004

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Attitude measurement method of the Three-axis air bearing table based on monocular vision

更新时间：2025-09-01

- Attitude measurement method of the Three-axis air bearing table based on monocular vision
- Vol. 47, Issue 6, Pages: 658-665(2021)
- 作者机构：
  
  1:南京航空航天大学航天学院
- 作者简介：
- 基金信息：
- DOI：10.13741/j.cnki.11-1879/o4.2021.06.004
  CLC：
- Published：2021
- 稿件说明：
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Attitude measurement method of the Three-axis air bearing table based on monocular vision[J]. 2021, 47(6): 658-665.
DOI：

Attitude measurement method of the Three-axis air bearing table based on monocular vision[J]. 2021, 47(6): 658-665. DOI： 10.13741/j.cnki.11-1879/o4.2021.06.004.

摘要

鉴于气浮台姿态测量是实现气浮台控制的重要基础

为了实现三轴气浮台姿态准确、快速测量

提出一种基于单目视觉的实时、高精度的姿态测量方法。采取一种鲁棒性强的三轴气浮台靶标形状及布局来提高姿态获取精度。提出一种拟合圆心流程

通过粗获取与精获取方法对靶标进行实时、鲁棒跟踪。最后利用提取到的圆心位置信息采用迭代最小二乘的姿态估计算法解算出气浮台的位姿信息。实验结果表明:单目视觉测量算法的实时帧数可达20帧

静态姿态测量精度约为0.02°

动态姿态测量精度约为0.12°

能够满足气浮台对姿态测量时的实时性、准确性、鲁棒性需求。

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