Measurement of spatial object's exterior attitude based on linear CCD

It is difficult to realize real-time measurement of exterior attitude by the traditional systems based on the area image sensor which have conflict between speed and accuracy. The subsystem for three-dimensional (3D) coordinate reconstruction of point target (S3DCRPT) which is composed of three one-dimensional (ID) cameras based on linear charge-coupled device (CCD) can determine the distant light spots' spatial position. The attitude angle of the measured object is determined by the spatial solution while the coordinate reconstruction is separately carried on by the S3DCRPT with some point cooperation targets (PCTs) on the measured object. A new optical system is designed to solve the interference problem with one-to-one relationship between the PCTs and the S3DCRPT optical subsystems, which improves the measurement accuracy and saves space. The mathematical model of the attitude measurement is established, and partial and global calibrations are realized for the multi-camera attitude measurement system. The test results show the feasibility of the exterior attitude measurement based on linear CCD.