v. a. grishin federal state unitary enterprise scientific industrial center of automation and...

V. A. GRISHIN

Federal State Unitary Enterprise Scientific Industrial Center of Automation and Instrument Engineering

Space Research Institute - Russian Academy of Sciences

MONOCULAR DISTANCE AND SURFACE ORIENTATION

MEASURING INSTRUMENT

• Lightning unit forms the system of narrow laser beams of special structure.

• Processor functions:

1. Detection and recognition of light spots on a sequence of cadres from TV camera.

Technology Description Structure and operation of the system, which realizes the

measurement of distance from surfaces of surrounding objects and orientation of these surfaces

Technology Description

• Processor functions:

2. Determination of correspondence between each light spots and lasers, which produce these spots.

3. Calculation of distance and surface orientation.

• Examples of light spots shift conditioned by surface motion

Simulation Results

The simplest light beam structure presented on figure.

Two configuration have been considered:

• Lightning unit includes 12 laser diodes (black line squares)

• Lightning unit includes 24 laser diodes (black and blue line squares)

• Upper and middle plots show angular measurement errors.

• Lower plots show distance (altitude) measurement error.

• Curves 1 correspond to the case of 12 laser diodes.

• Curves 2 correspond to the case of 24 laser diodes.

Simulation Results

• For estimation of time interval that is required by measurement process the sequence of frames was synthesized.

• This sequence includes 25 frames. The sequence is processed during 2.1 seconds by 486DX4-100 processor.

• So the modern processors can handle much more frames per second particularly in case of utilization of algorithms optimization technologies.

• These 25 frames are presented at the following slides. At left upper corner of each frame are presented the number of frame, angular errors (in angular degree), altitude error (in meters) and the number of estimation algorithm iteration.

Simulation Results

• The triangulation technologies and structure lightning methods are characterized with hardware simplicity, low cost, significant flexibility and capability to satisfy very different requirements of huge number application areas.

• The possibilities of such methods will grow with continuous increasing of digital processor power.

• By varying of laser beams structure (quantity, position of laser diodes and beam’s orientation) the required precision characteristics can be obtained.

• As a light source can be used not only the laser diode but also the any source of light which can form bright narrow beam of light either in visible light or infra red light.

Conclusion