Exterior attitude measurement system for spatial object based on linear CCD

To overcome the conflict between the speed and the accuracy when area image sensors are used for attitude measurement, an exterior attitude measurement system with nine linear CCD cameras for spatial object is designed. The system can realize the real time measurement for the exterior attitude of measured object by separate real time reconstruction for the 3D coordinates of point cooperation targets placed on the measured object under world coordinate system and spatial solution. Based on the research of the relative positions of cooperation target and the camera optical system, the interference problem in the one corresponding relationship between the point cooperation targets and the camera optical subsystems is solved. A new construction of optical system is designed to improve the measurement accuracy and save space. The local and global calibrations for the multi camera measurement system are realized. The attitude measurement precision can reach 1′ when the image sampling frequency is 1316 frame/s. The test results show that the attitude measurement system can obtain the high accurate and realtime measurement and has advantages of simple cooperation targets, low cost and so on.