Current Optics and Photonics

Optical Society of Korea (한국광학회)
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Nozzle Swing Angle Measurement Involving Weighted Uncertainty of Feature Points Based on Rotation Parameters

  • Liang Wei (School of Electrical Engineering and Automation, Harbin Institute of Technology) ;
  • Ju Huo (School of Electrical Engineering and Automation, Harbin Institute of Technology) ;
  • Chen Cai (Signal and Communication Research Institute, China Academy of Railway Sciences)
  • Received : 2024.03.11
  • Accepted : 2024.05.13
  • Published : 2024.06.25
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Abstract

To solve the nozzle swing angle non-contact measurement problem, we present a nozzle pose estimation algorithm involving weighted measurement uncertainty based on rotation parameters. Firstly, the instantaneous axis of the rocket nozzle is constructed and used to model the pivot point and the nozzle coordinate system. Then, the rotation matrix and translation vector are parameterized by Cayley-Gibbs-Rodriguez parameters, and the novel object space collinearity error equation involving weighted measurement uncertainty of feature points is constructed. The nozzle pose is obtained at this step by the Gröbner basis method. Finally, the swing angle is calculated based on the conversion relationship between the nozzle static coordinate system and the nozzle dynamic coordinate system. Experimental results prove the high accuracy and robustness of the proposed method. In the space of 1.5 m × 1.5 m × 1.5 m, the maximum angle error of nozzle swing is 0.103°.

Keywords

Acknowledgement

The scientific research project of the China Academy of Railway Sciences Group Co., Ltd. (Grant no. 2022YJ135).

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