Research On The Measurement Method Of Projectile Motion Pose Parameters Based On High-speed Imaging Technology

The position and orientation parameters of moving targets such as rocket,missile and projectile are the key parameters to reflect the state of their spatial movement,and they play an important role in the performance analysis and comprehensive performance evaluation of weapons systems.The existing high-speed imaging technology can't simultaneously take into account the resolution,shooting frequency,sensitivity and ease of measurement,affecting the measurement accuracy and application of small moving target pose parameters in the shooting range.In this paper,In this paper,a method of measuring the projectiles motion pose based on high-speed imaging technology is developed to try to improve the accuracy of high-speed small target space pose measurement.Based on the analysis of the characteristics of high-speed small target and the existing imaging technologies,a high-precision measurement method of projectile motion pose parameters based on high-resolution imaging,laser illumination and binocular imaging is proposed.The measurement scheme design,given the measurement principle and system components.Compared with the existing methods,the method has the characteristics of simple measurement,flexible and high precision,and is suitable for field measurement.Aimed at the amount of blur caused by high-speed small target motion,the pulsed laser light source illumination technology was studied.According to the high-speed small target movement and structural characteristics,as well as the performance of high-resolution camera,theoretical analysis and calculation of laser light source parameter selection basis.It is analyzed that the image noise under laser illumination is mainly speckle noise,and a denoising algorithm based on homomorphic filtering and bilateral filtering is presented.The denoising algorithm also protects the image detail information well.According to the projectile model,the movement rule of the projectile in the barrel and the binocular visual imaging model of the projectile,the method of designing two groups of circumferentially surrounding markers along the projectile axial direction was determined.The recognition method based on the region feature codes is adopted to match the same name points in the left and right images and the single frame images are effectively extracted and matched.Aiming at the problem that the genetic algorithm may prematurely converge in the method of solving the pose parameter based on the feature points,a genetic algorithm based on the error threshold judgment is proposed to solve the pose parameters.The simulation results show that compared with SVD method,the calculation precision isn't be reduced,and the problem of large angle variation of Euler attitude angles is solved without initial values,which satisfies the requirements of the accuracy of projectile motion and the large angle change of the roll angle.The high-speed imaging experimental system based on laser lighting was set up,and the feasibility of the measurement method of projectile motion pose parameters based on high-speed imaging was verified by the static simulation test.Place the object to be tested on a six-axis parallel robot,by controlling its movement method,simulated projectile air movement changes in attitude,through contrasted validated six-axis parallel robot pose parameters and measured values,the accuracy and reliability of the measurement method of pose parameters based on feature points and the measurement method of attitude angles based on the central axis are verified.