The Positioning Technology Of Mass Projectiles In The Large-scale Falling Area

In view of the lack of ideal methods for the detection of the location of the cluster projectiles in the combat training of artillery,aviation and other units,this paper designs a method based on stereo vision for the mass projectiles aimed at the problem of solving the location of the cluster projectiles.The method uses the left and right dual cameras to acquire image sequences,and combines the stereo vision measurement principle and the digital image processing technology to realize the identification,tracking and positioning functions of the cluster projectiles in the volley mode.The main contents and achievements of this paper are as follows:1)The measurement method based on binocular stereo vision is studied,and a stereo vision measurement model based on small hole imaging is established for the mass projectiles.The corresponding relationship between image pixel coordinates and world coordinates is analyzed.And the expression of coordinates of cluster projectiles under the meaning of least square is given.2)A variety of calibration methods are studied and compared.The stereo vision calibration principle is analyzed.A wide range calibration method is proposed and the formula of camera internal and external parameters in the calibration process is derived.3)This paper analyzes the imaging characteristics of cluster projectiles and explores the causes of noise in the image,and studies the image processing algorithm of mass projectiles.The target center coordinates are extracted by using the method of cluster projectilesdiscrimination and pseudo-target culling,and the method of mass projectiles stereo matching based on polar line constraint is studied.In this paper,the experimental platform of the system is built and the positioning of simulated cluster projectiles is tested and verified.The experimental results show that the system not only meets the design requirements,but also overcomes the shortcomings of low efficiency of manual measurement,single measurement target and inflexibility,so as to improve the operability of the positioning system and expand the scope of application.