基于6自由度机械臂的景像匹配半实物仿真

为克服传统景像匹配半实物仿真系统的不足,提出了一种机载景像匹配半实物仿真系统实现方案.该方案采用6自由度机械臂的运动和屏幕投影运动模拟飞行器的运动状态,利用摄像机采集大屏幕模拟实时图获取过程,通过多线程控制和网络控制实现多个子系统的信息同步,利用高精度摄像机标定场实现系统的相对和绝对定位.该系统具有良好的扩展性,可缩短景像匹配系统的研发周期,降低研发成本.系统应用后,已节约试飞实验经费超过1 000万元人民币.

Scene matching semi-physical simulation system based on 6 degree of freedom manipulator

In order to overcome the limitations of traditional scene matching semi-physical simulation system, a new scheme of the semi-physical simulation system was proposed for airborne scene matching. The aircraft motion state has been simulated by using motion of 6 degree of freedom manipulator and large screen projection system, the process of real-time image obtained was simulated by captured real-time image for large-screen simulation. Information synchronization of the multiple subsystems was realized by using multi-threaded control and network control. The relative and absolute positioning was completed by using high-precision calibration field. The system has good scalability which can shorten development cycles, reduce development cost for scene matching system. More than 10 million RMB is saved after the system was applied.