LAUSR

In this paper, we propose a measurement method of the dynamic angle in large space based on the machine vision and servo control. The azimuth and pitch angles are obtained in real time by identifying and tracking the cooperative target in the high-precision servo system with a camera. Furthermore, the distance between the target and the camera is calculated by means of the monocular measurement. Based on the measured angles and distance, the dynamic angle of the rotating object in test is derived according to the transformational relations. In order to decrease the measuring errors, the error correction model is established by the connection between the measuring distance and observation errors caused by the camera, dynamic tracking and pose changing of the target plate. A manual displacement platform with high precision in two-dimension is conducted to validate the effectiveness of the proposed approach. The experimental results show that, compared with the existing measurement methods, the proposed method enlarges the measurement range of large space angle to 18.788m, and the measurement errors of azimuth channel and pitch channel are 0.018° and 0.019° respectively, which achieve a high measurement accuracy and verify the validity of the method.