待发段火箭倾倒实时监测技术研究与实现

倾倒故障作为火箭待发段的一种故障形式，严重地威胁着航天员的安全。待发段倾倒应急救生的关键在于及时获取准确可靠的箭体姿态与倾倒信息，为指挥员实时提供可靠的逃逸判决依据。本文从应用角度，综合光学与计算机图像处理技术，提出了一种简单而实用的火箭倾倒监测技术，并简要介绍了应用此技术实现的系统主要功能结构与性能特点。本文介绍的技术也可应用于其他需要定位与姿态监视测量的领域。

Study on the real-time monitoring and measuring of launch vehicle attitude in waiting-for-lift-off phase

As one of the malfunction forms of launch vehicle in the waiting-for-lift-off phase,the launch vehicle inclined to a certain angle endangered the safety of spacemen in the spacecraft badly.The key to judge whether the launch vehicle was inclining to a dangerous angle or not and to make decision whether the spacemen were necessary to escape from the spacecraft was to obtain accurate and credible information of its attitude in real time.Hence,a simple attitude angle measuring system for the launch vehicle was developed to monitor and measure the spacecraft obliquity in the lunch-tower by means of the optics and image recognizing technologies.The architecture,function,main software and performance specifications of this system are introduced in the paper,and it may also be used to other fields that accurate position and attitude data are needed.