双高速摄像机交汇的高旋弹丸位姿估计算法及误差分析

为了测量高旋弹丸在炮口处的各种信息，基于双高速摄像机交汇的测量方法，提出了一种新的弹丸位姿估计方法。对总攻角函数进行了误差建模与分析，结果表明两台高速摄像机的光轴应相互垂直，且应选择光轴远离攻角平面的高速摄像机所对应的测量函数计算总攻角，此时测量误差最小。以靶场实验的方式对攻角函数的误差分析结论和位姿估计算法进行验证。实验结果表明，误差分析结论正确；所提出的位姿估计算法没有基于任何假设，精度高于POSIT算法；初始速度测量误差不超过0.6 m/s,弹丸质心位置测量误差不超过0.3 m。这种测量方法属于非接触式测量，简单易行，测量信息全面，可为靶场实验、验收等工作提供参考依据。

Position and attitude estimation algorithm and error analysis of high-spin projectile based on dual high-speed cameras intersected

In order to measure the various information of the high-rotation projectile at the muzzle, a new method for estimating the position and attitude of projectiles based on the intersection of dual high-speed cameras was proposed. The error modeling and analysis of the total angle of attack function were carried out. Results show that the optical axes of the two cameras should be perpendicular to each other, and the measurement function of the camera with the optical axis far from the plane of attack should be selected to calculate the total angle of attack. Under this circumstance, the measurement error is the smallest. The conclusion of error analysis and the position and attitude estimation algorithm was verified by the shooting range experiments. Experimental results show that the conclusions of error analysis are correct, and the proposed position and attitude estimation algorithm is not based on any assumptions and its accuracy is higher than that of the POSIT(pose from orthography and scaling with iteration) algorithm. The initial velocity measurement error does not exceed 0.6 m/s, and the projectile centroid position measurement error does not exceed 0.3 m. The measurement method is a non-contact measurement and easy to implement. More importantly, the measurement information is comprehensive. So it can provide a reference basis for shooting range experiments, acceptance and other works.