直升机着舰双摄影测量算法及DSP数字图像处理技术

【作者】 易莉；

【导师】 朱大勇；

【作者基本信息】 电子科技大学 ， 光学工程， 2003， 硕士

【摘要】 本论文以十五科技项目为背景，详细介绍了利用双CCD摄像机和DSP数字图像处理技术实现直升机安全着降的系统设计。本文对直升机着舰精确定位技术中的摄影测量算法进行了系统分析和深入研究，在四特征点测量算法基础上建立了双CCD摄影测量直升机精确位置坐标的数学模型，进一步从各个影响算法测距精度的方面讨论了计算误差，推导出测量信标坐标位置的计算公式，并对利用双摄影测量算法计算直升机着舰挂钩位置的正确性及准确性进行了模拟实验，得到的算法计算值和实验测量值之间的误差在±5cm以内。另外，本文还对直升机双摄影测量着舰过程进行了三维动画仿真演示。全文共分为五章：第一章绪论，概要介绍了国内外直升机着舰助降系统和助降装置的最新发展状况，并对新兴的光电助降技术进行了比较。第二章详细介绍了双摄影测量算法（DCP）的原理和实现，从理论和具体实现上分别对直接求解方程组法进行了讨论，并且就算法计算位置坐标的误差原因做了系统分析。第三章讲述了数字图像处理技术的应用过程和实现光电助降图像、算法处理的DSP软硬件系统设计，以及软硬件的调试工作。第四章描述了直升机着舰仿真动画演示系统的制作，有助于更加形象直观的了解DCP系统。第五章介绍了验证算法正确性的两个实验系统，第一个系统主要利用计算机软件工具对编制的算法DSP程序进行验证；第二个系统根据实验测量数据和误差结果对算法的计算精度进行验证，并提出下一步具体工作的展望。本文为直升机安全着舰提供了一种简单可行的实现方案，且算法精度高，为研制实际的助降系统提供了重要的参考价值。更多还原

【Abstract】 Based on the background of the "Ten-Five" Technology Project, this thesis introduced the design of the helicopter safely landing system design with Double CCD Photometry and technology of DSP digital image processing in detail.In this paper we made a systemic analysis and study of the accurate orientation technology in the process of helicopter landing-photogrammetry, made the model of using double CCD to measure the exact position of helicopter based Four Latent Points photogrammetry, educed formula about beaconing position, analyzed the computing error, and particularly computed the information of beaconing position of the helicopter’s landing by experiment emulation. In the result, the error between a computed value and a measurement value was less than 5 centimeters. Moreover, this text showed a 3D emulated animation for the whole process of helicopter’s landing with DCP. This paper is made up of 5 chapters, including as follows:The first chapter introduces the last development of helicopter’s landing systems and opt electronic guiding equipments, contrasts recent technologies of opt electronic landing.Chapter 2 detailed introduces the principle and execution of DCP, discusses whether the way to directly calculate the equations is right from both on theory and practice, and studies the cause to position calculation error.Chapter 3 narrates the applied process concerning the technique of digital image processing and software and hardware system of DSP for image collection and calculation, and we try to debug the software and hardware.Chapter 4 describes the manufacture method of emulated animation showing system of helicopter landing process, helped to understand DCP livelier. The last chapter shows two experiment systems to validate the double CCD photometry program, the first system primarily makes use of computer software tool to verify it, the second system proves the photometry’s accuracy according to experiment data and error result, and brings up a prospect for next work.This text provides a brief viable project for helicopters secure landing, and the accuracy of DCP is high, offers the important referenced value to develop the actual helicopter landing system.更多还原