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首页> 外文期刊>Journal of Spacecraft and Rockets >Low-Cost, High-Performance Monocular Vision System for Air Bearing Table Attitude Determination
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Low-Cost, High-Performance Monocular Vision System for Air Bearing Table Attitude Determination

机译：低成本，高性能的单目视觉系统，用于确定空气轴承台的姿态

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摘要

Attitude determination is one of the most important prerequisites for the implementation of an air bearing table. In this context, computer vision is shown to be an enabling technology; a cost-effective monocular camera vision system, including hardware setup and navigation software, has been developed to determine the attitude of the air bearing table. Both infrared light-emitting diodes and filter are selected to simplify image processing, thereby maximizing the attitude update rate. A fiducial marker system uses five infrared light-emitting diodes with four in the same plane and the fifth outside the plane. This noncoplanar design not only improves the attitude determination accuracy, but also provides an element of robustness via a fiducial marker fault diagnosis and process method in case one of the light-emitting diodes is obscured by the top balance mass or is faulty. The static experimental results show that the system can provide attitude accuracy of 0.06 deg and angular velocity accuracy of 0.15 deg /s with an attitude update rate of at least 10 Hz. Finally, a yaw-axis maneuver is performed to demonstrate the system performance under dynamic conditions. The developed system could be reused to support testing for other scientific space missions, which represents a major added value of this work.
机译：姿态确定是实施空气轴承台的最重要先决条件之一。在这种情况下，计算机视觉被证明是一种使能技术。已经开发出了一种经济高效的单眼相机视觉系统，包括硬件设置和导航软件，以确定气垫台的姿态。选择红外发光二极管和滤光片以简化图像处理，从而最大化姿态更新率。基准标记系统使用五个红外发光二极管，其中四个在同一平面内，第五个在平面外。这种非共面设计不仅提高了姿态确定的准确性，而且还通过基准标记故障诊断和处理方法提供了坚固性元素，以防其中一个发光二极管被顶部平衡块遮盖或出现故障。静态实验结果表明，该系统可以以至少10 Hz的姿态更新速率提供0.06度的姿态精度和0.15度/ s的角速度精度。最后，执行偏航轴操纵以演示动态条件下的系统性能。开发的系统可以重复使用，以支持其他科学太空任务的测试，这是这项工作的主要附加值。

著录项

  • 来源
    《Journal of Spacecraft and Rockets》 |2014年第1期|66-75|共10页
  • 作者

    Yuh-Hua Wu; Yang Gao; Jia-Wei Lin; Robin Raus; Shi-Jie Zhang; Mark Watt;

  • 作者单位

    University of Surrey, Guildford, England GU2 7XH, United Kingdom;

    University of Surrey, Guildford, England GU2 7XH, United Kingdom;

    University of Surrey, Guildford, England GU2 7XH, United Kingdom;

    University of Surrey, Guildford, England GU2 7XH, United Kingdom;

    University of Surrey, Guildford, England GU2 7XH, United Kingdom;

    EADS Astrium, Ltd., Stevenage, England SG1 2AS, United Kingdom;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
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