Research on the position and attitude measurement method of the spatially moving target in monocular vision

To provide high-precision data standards for the positioning accuracy and anti-interference ability of indoor positioning technology, a position and attitude measurement method of the spatially moving target in monocular vision is proposed. The machine vision projection matrix solution and photogrammetry resection technology are combined to achieve the solution of camera exterior parameters through a target in any position and attitude. First, the real camera station is calculated through the ground control field target world coordinates and image coordinates. Then, the virtual camera station is solved based on the target initial world coordinates and real-time image coordinates. Finally, according to the virtual and real camera station exterior parameters, the initial world coordinates of the target are transformed into the real-time world coordinates of the target. The experimental results show that, in the measurement space of 10 m×4. 5 m×3. 8 m, the root mean squared error (RMSE) of target displacement distance measurement is 0. 358 3 mm in X direction, 0. 350 9 mm in Y direction, and 1. 475 2 mm in Z direction. The attitude angle measurement RMSE is 0. 094 0° in φ, 0. 089 3° in ω, and 0. 025 4° in κ. This method can meet the needs of high-precision real-time positioning and attitude determination of moving targets in a large range. © 2023 Science Press. All rights reserved.