| 其他摘要 | With the rapid development of weapons systems, new requirements are raised for measurement of small, dark, rapid, multi targets in modern shooting ranges. Since the rapid, multi targets are small and non-luminous, to get clear pictures of the targets, corresponding optical measurement equipment must have the characteristics of high frame rate, high sensitivity and large field of view. For reasons of safety and cost, optical measurement equipment are posited far from the targets, therefore details of the targets movement are missed. Based on modern electronic communication technology and camera measurement technique, image acquisition and storage, camera calibration and targets measurement are taken into consideration this problem in this dissertation. The main works are summed in follows: (1) A new low-cost high speed camera is designed with the consideration of measurement requirements and hardware costs. The image resolution is 2Kx1K and the maximum frame frequency is up to 280 fps under the condition of full resolution. Exposure of the camera can adjust to application environment. The key technologies of camera design are explained in details, especially for bit alignment and word alignment technique in the process of high-speed data acquisition. Under the miniaturization of the measuring device, trend of better portability and low power consumption, an embedded image storage system is also designed with the high-speed SATA interface. The experimental results indicate that the bandwidth of storage system can reach 294MB/s。 (2) In this paper, the camera calibration technology is in-depth researched. The external and internal parameters of camera are estimated using the plane calibration algorithm with planar checkerboard. The plane calibration algorithm is easy and flexible, but sometimes the algorithm is not convergent in practice when the number of calibration images more than 10. A modified method is proposed to ensure calibration convergence. The modified method divides the calibration images into correct images and false images using Random Sample Consensus（RANSAC）algorithm, and calibrates camera only for good images. The experimental results show that the robust modified method can reduce the number of iteration, and calibration precision increase by 35%. (3) To satisfy actual demand for the measurement of small, dark, rapid, multi targets, planar imaging measurement, easy and high flexibly, is used to monocular measure the miss distance and drop point coordinates of targets in this paper. On this basis, nature of the projective geometry of parabola is proved and a novel monocular measurement method is proposed for parabolic motion of point targets. Both computer simulation and real data have been used to verify the feasibility of this method. . Practical globule throwing experiments show that the measurement error is less than 1.2% compared with binocular measurement methods. (4) For general measurement tasks, the key technologies for intersection measuring are firstly introduced, which include 3D European reconstruction, stereo matching and external parameters calibration, etc. Secondly, the influence of external structure parameters on the accuracy of measurement is analyzed emphatically, and the optimal parameters are achieved by numerical simulation. Finally, Aiming at measurement of the small, dark, rapid, multi targets drop point, a novel plane intersection method is raised and it can be applied in large view field, long distance and coarse measurement occasions. |
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