中文摘要：

针对现有舵偏角同步动态测量中存在的局限性,设计一套四通道舵偏角同步动态测量系统。在系统标定中,通过计算光条直线的Plcker矩阵求解光平面方程,完成视觉传感器的局部标定。以2个连接在一起的平面靶标为中介,通过两两校准方式实现多视觉传感器的全局校准。在实际测量中,基准视觉传感器拍摄基准装置,建立基准坐标系,其余4个视觉传感器分别测量对应舵面在基准坐标系下的法向矢量,通过连续测量实现四通道舵偏角的同步动态测量。经试验证明,在测量角度±30°范围内,该系统角度测量RMS误差可达±0.05°。

英文摘要：

A four-channel synchronous dynamic rudder angle measurement system is realized to solve the limitations of existing dynamic rudder angle measurement methods.In system calibration process,the local calibration of structured-light vision sensor is realized through calculating the Plücker matrices of the light stripes to solve the equation of light plane.Using two planar targets as media,the global calibration of all vision sensors is realized using pair-wise calibration.In the measuring process,the base vision sensor captures images of the base set,based on which the base coordinate frame is established.Each of the rest four vision sensors is used to measure the normal vector of corresponding rudder plane in the base coordinate frame.By measuring the rotating rudders continuously,the dynamic measurement of rudder plane angles in all channels can be realized.Experiment results show that the RMS error of the measured angle is ±0.05° within the measurement range of ±30°.