Research On Projectile Flight Attitude Test Technology Based On Multi-eye Vision

In order to solve the problem that the accuracy of the angle of attack paper target method is low when measuring the flying attitude of the projectile near the muzzle in the field environment,the shadow photography method needs to build a complex optical path system.Based on the principle of trinocular vision,the real image of the projectile is directly captured by laser camera By measuring the flying attitude of the projectile,it is possible to obtain the projectile flying attitude with high accuracy without building a complicated optical path system.Compared with the binocular vision attitude measurement method,the stability of the test results is also improved.The effects on the camera parameters in the trinocular vision projectile attitude test system,the selection of pulse lasers,and the timing requirements of the timing controller are introduced.The projectile trigger trigger design circuit is given,and the trinocular vision projectile attitude test system is completed.The method of extracting the centerline of the projectile was deduced,which can identify the straight line of the projectile's edge in the projectile image,and the equation of the centerline of the projectile in each image in the pixel coordinate system can be obtained.The model introduces the coordinate transformation of the three cameras,gives the trinocular vision attitude solution method,and explains the process of projectile attitude solution.The principle of binocular vision is analyzed,and a trinocular vision projectile measurement model is established.After eliminating the influence of the measurement error of the camera coordinate system translation relationship,the calculated projectile space posture is solved.The correctness of the trinocular vision projectile attitude measurement method was verified by static experiments.According to the actual test application situation,a trinocular test device was set up,and the true attitude of the target and the projectile was measured by a total station.The three cameras took images of the projectile at different angles,and solved the space attitude of the projectile through the established calculation method to obtain the pitch and yaw angles of the projectile.By comparison,it is concluded that the three-eye vision projectile attitude measurement method is available,and the measured pitch and yaw angle errors are less than 0.35 °.