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摘要:三维姿态角的精确测量在航空、航天、国防等领域应用广泛，为方便准确地实现三维姿态角的测量，本文设计了一种基于透镜阵列的测量系统，并建立了微小三维姿态角测量分析模型。系统中，准直平行光束通过4个排列成金字塔形的阵列透镜，在CCD上形成规则分布的阵列光斑。通过分析CCD成像光斑间的距离、透镜阵列上相邻孔径之间的距离以及透镜阵列与CCD之间的倾斜角，可以得到光束相对于接收系统俯仰角和偏摆角，利用阵列光斑连线相对水平或垂直面的夹角，可同时得到绕 Z轴的滚转角。通过与高精度自准直仪测量结果进行比较，证明所提方法的测量精度可以达到 RMS≤0.1″，表明该方法能够实现三维姿态角的测量。Abstract:Accurate measurement of three-dimensional attitude angle is widely used in aviation, aerospace, national defense and other fields. In order to realize convenient and accurate measurement of three-dimensional attitude angle, an optical system based on a lens array is designed and an analysis model of micro-three-dimensional attitude angle measurement is established in this paper. In the system, the collimated parallel beam passes through four array lenses arranged in a pyramid shape to form regular array spots on a CCD. By analyzing the distance between the spots on the CCD image, the distance between the adjacent aperture on the lens array and the inclination angle between the lens array and CCD, the beam pitch angle and azimuth angle relative to the receiving system can be obtained. By using the angle of the lines of the array spots relative to the horizontal or vertical plane, the roll angle about the Zaxis can also be obtained. Compared with the measurement results of the high-precision autocollimator, the measurement accuracy of the proposed method is verified to be RMS≤0.1″. The results show that the proposed method can realize the measurement of three-dimensional attitude angle.
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Key words:
- laser/
- lens arrays/
- angle measurement/
- image edge detection
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图 1系统结构示意图。(a)应用系统结构示意图；(b)系统原理结构示意图
Figure 1.Schematic diagram of the proposed system. (a)Structure diagram of application system; (b)structure diagram of system principle
图 2入射光的示意图。(a)向上的入射光线，(b)向下的入射光线
Figure 2.Schematic diagram of the incident light. (a) Upward incident light; (b) downward incident light
图 3扭转角示意图。(a)扭转角为0时的斑点示意图；(b)扭转角为
$ \gamma $ 时的斑点示意图Figure 3.Schematic diagram for the torsion angle. (a) The spots′ schematic diagram when the torsion angle is 0; (b) the spots′ schematic diagram when the torsion angle is
$\gamma $ 
图 4透镜阵列的实物图和模拟图。(a)透镜阵列实物图；(b)透镜阵列尺寸图；(c)透镜阵列俯视图；(d)透镜阵列侧视图
Figure 4.Physical picture and simulation charts of the lens array. (a) Physical picture of the lens array; (b) size of the lens array; (c) top view of the lens array; (d) side view of the lens array
图 8不同βy值时的光斑阵列图像。(a)βy= 250″；(b)βy= 500″
Figure 8.Spot array images with differentβywhenβx= 0; (a)βy= 250″；(b)βy= 500″
图 9Y方向的测量结果。(a) 质心间距随βy变化的曲线；(b) 与自准直仪相比的误差曲线
Figure 9.Measurement results in theYdirection. (a) Centroid spacing changing withβy; (b) error curves in comparison with autocollimators
图 10βx值不同时的光斑阵列图像。(a)βx= 250″；(b)βx= 500″
Figure 10.Spot array image with differentβx. whenβy= 0. (a)βx= 250″; (b)βx= 500″
图 11X方向的测量结果。(a) 中心点间距随βx变化的曲线；(b) 与自准直仪相比较的误差曲线
Figure 11.Measurement results in theXdirection. (a) Centroid spacing changing withβx; (b) error curves in comparison with autocollimators
图 12中心点随Z方向倾角变化曲线
Figure 12.Curve of centroid varying with inclination angle in theZdirection
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