Research And Implementation Of The Horizon Measurement System For Armored Vehicles

The armored vehicle vision is the maximum range that the observer inside the armored vehicle can see when observing outside.The quality of the horizon has an important influence on the occupant's perception of the battlefield situation.Vision measurement of armored vehicles is a measurement item specified in national military standard GJB 59.33 "Vision measurement of Armored Vehicles Test Procedures".Therefore,it is of certain practical value and practical significance to explore the vision measurement system of armored vehicles.The main work of the current study is as follows:(1)According to the national military standards,the measurement parameters were clarified,the mathematical model was established,and the overall scheme of the armored vehicle measurement system based on machine vision was designed.(2)A pinhole wide-angle lens and a CMOS camera module were used to build an image acquisition module,and the position control module design was completed through an STM32 microcontroller and a stepper motor.Based on the STM32F103C8T6 chip,the smallest system circuit,light source control circuit and motor driver were designed,and the measurement system prototype was built on the optical platform.(3)The camera calibration was carried out by using Zhang Zhengyou's calibration method.The collected images were filtered and also finished threshold segmentation and edge detection.The edge detection algorithm was optimized based on residual analysis,and the vision parameter measurement algorithm was designed.The above algorithm is implemented through Open CV visual library,the system application program was developed by MFC,and the measurement data were managed by My SQL database.(4)Finally,the system measurement accuracy calibration experiment was completed,with the absolute error less than ± 0.1°,and the relative error less than 1%.The periscope vision parameter measurement has been completed,and these data are credible at the 99% confidence level.Experimental results showed that the prototype of the armored vehicle vision measurement system had good performance and the measurement accuracy could meet the national standard requirements.