中文摘要：

基于新型双轴摇摆直线升降运动校准装置，提出了一种喷管运动视觉测量系统的校准方法。首先，将校准装置提供的摆心、摆角的标准值与视觉测量系统的测量值在空间上对应起来，通过校准装置提供给喷管模型2次不同轴的摆动，推导出视觉运动测量系统的世界坐标系与喷管摆角坐标系之间的位姿关系。然后求解出二者位姿矩阵和平移向量，在视觉运动测量系统中建立喷管的摆角坐标系；通过时间同步系统向校准装置和视觉运动测量系统发送同步时间基准信号和同步触发信号，同步二者的采样时间，实现标准值与测量值在时间上的对应关系，完成摆动动态数据的直接比较。最后对喷管运动视觉测量系统进行了校准实验，分析了喷管在±12°的摆动空间内不同位置的摆心、摆角的测量误差。实验结果表明，在运动范围内摆角的最大测量误差为0．093°，摆心的最大测量误差为o．832mm。

英文摘要：

On the basis of the novel dual axes rotating and single axis translating calibration equipment, a cali- bration method for vision measurement of the motion of a rocket nozzle was proposed. Firstly, the motion metric from the calibration equipment and the measured values from vision system were mapped in the space, then the position and pose relations between the world coordinate system of stereo vision and the coordinate system of nozzle were deduced. After solving the pose matrix and translation vector, the vector angle coordinate system of the nozzle was established in vision measurement system. Subsequently,by sending a trigger signal and a synchronized time signal from the calibration equipment to cameras, the sampling time was synchronized, and the dynamic data were directly compared. Finally, the experiment for calibrating the vision measurement system was completed. The measurement errors of rotation center and vector angle in nozzle motion space ±12°were analyzed. The experiment results indicate that the max error of vector angle is 0. 093° and the max error of rotation center position is 0. 832 mm.