国外电子测量技术
國外電子測量技術
국외전자측량기술
FOREIGN ELECTRONIC MEASUREMENT TECHNOLOGY
2015年
2期
82-86
,共5页
头盔瞄准具%自适应 Unscented Kalman 滤波%姿态%定位%固定超前预测
頭盔瞄準具%自適應 Unscented Kalman 濾波%姿態%定位%固定超前預測
두회묘준구%자괄응 Unscented Kalman 려파%자태%정위%고정초전예측
helmet-mounted sight%adaptive Unscented Kalman filtering%pose%positioning%fixed-time prediction
针对头盔瞄准具单目视觉定位系统中，由于面阵 CCD 相机帧频的限制而导致对其定位速度慢的问题，提出了一种基于自适应 Unscented Kalman 滤波的头盔运动姿态固定超前预测方法。首先，分析了飞行员头部的运动特点，利用匀变速运动来描述头盔的实际运动，并建立了头盔姿态固定超前预测的状态空间模型；然后，基于自适应 Unscented Kalman 滤波理论分别对头盔在相机连续2次采样中间的非采样时刻和采样时刻的姿态进行固定超前预测，并利用采样时刻头盔姿态的测量值对其固定超前预测值进行实时的修正，以在间接提高头盔定位速度的同时，保证其定位精度；最后，搭建了单目视觉姿态测量与预测实验系统，对该方法的有效性和准确性进行了验证。实验结果表明，该方法能够对头盔瞄准具在相机连续2次采样中间的非采样时刻的运动姿态进行有效而准确的固定超前预测，在保证了对头盔定位精度的前提下，可以有效地将其定位速度提高1倍。
針對頭盔瞄準具單目視覺定位繫統中，由于麵陣 CCD 相機幀頻的限製而導緻對其定位速度慢的問題，提齣瞭一種基于自適應 Unscented Kalman 濾波的頭盔運動姿態固定超前預測方法。首先，分析瞭飛行員頭部的運動特點，利用勻變速運動來描述頭盔的實際運動，併建立瞭頭盔姿態固定超前預測的狀態空間模型；然後，基于自適應 Unscented Kalman 濾波理論分彆對頭盔在相機連續2次採樣中間的非採樣時刻和採樣時刻的姿態進行固定超前預測，併利用採樣時刻頭盔姿態的測量值對其固定超前預測值進行實時的脩正，以在間接提高頭盔定位速度的同時，保證其定位精度；最後，搭建瞭單目視覺姿態測量與預測實驗繫統，對該方法的有效性和準確性進行瞭驗證。實驗結果錶明，該方法能夠對頭盔瞄準具在相機連續2次採樣中間的非採樣時刻的運動姿態進行有效而準確的固定超前預測，在保證瞭對頭盔定位精度的前提下，可以有效地將其定位速度提高1倍。
침대두회묘준구단목시각정위계통중，유우면진 CCD 상궤정빈적한제이도치대기정위속도만적문제，제출료일충기우자괄응 Unscented Kalman 려파적두회운동자태고정초전예측방법。수선，분석료비행원두부적운동특점，이용균변속운동래묘술두회적실제운동，병건립료두회자태고정초전예측적상태공간모형；연후，기우자괄응 Unscented Kalman 려파이론분별대두회재상궤련속2차채양중간적비채양시각화채양시각적자태진행고정초전예측，병이용채양시각두회자태적측량치대기고정초전예측치진행실시적수정，이재간접제고두회정위속도적동시，보증기정위정도；최후，탑건료단목시각자태측량여예측실험계통，대해방법적유효성화준학성진행료험증。실험결과표명，해방법능구대두회묘준구재상궤련속2차채양중간적비채양시각적운동자태진행유효이준학적고정초전예측，재보증료대두회정위정도적전제하，가이유효지장기정위속도제고1배。
Aiming at the problem of slow speed of Helmet-Mounted Sight’s positioning,which is restricted by the area CCD camera’s frame rate in monocular vision positioning system,a fixed-time prediction method for moving helmet pose based on adaptive Unscented Kalman filtering is proposed in this paper.Firstly,the moving characteristics of the pilot’s head is analysed,and the helmet’s actual movement is described by the uniformly variable motion,then the state-space model is established to describe the fixed-time prediction process for moving helmet pose;Secondly,the helmet poses are fixed-time predicted based on adaptive Unscented Kalman filtering,on both the camera’s sampling time and the non-sam-pling time that is between two continuous sampling times,and then the predicted value on the sampling time is modified by the measuring one,so that the helmet’s positioning speed can be improved indirectly,at the same time,its positioning accuracy would not decline;Finally,to verify the validity and veracity of the proposed method,the experimental monocu-lar vision pose measurement and prediction system is built.The experimental results show that the pose of Helmet-Mounted Sight on CCD camera’s non-sampling time can be predicted exactly by the proposed method,so the positioning speed of helmet can be effectively doubled,on the premise of ensuring its positioning accuracy.
