Dynamic altitude angle measurement system based on dot-structure light

Based on dot-structure light measuring principle of machine vision and region of interests (ROI) function of CMOS(Complementary Metal Oxide Semiconductor) image sensor, a dynamic attitude angle measurement system was designed. The basic principle, structure, software and hardware implementations of this measurement system were mainly introduced. The hardware of system included the light source of dot-structure light and attitude sensor. The ROI function of CMOS image sensor was implemented on hardware to reduce image data amount greatly and increase frame frequency. Meanwhile the parallel pipelining image pre-processing, which was real-time centroiding of spot based on sequential four-connected algorithm and first-order moment, was implemented with FPGA (Field Programmable Gate Array) which reduced alternant data amount greatly between software and hardware, so the system measurement speed was increased. The software of system realized calibration and test. The results show that the measurement system has large FOV and high speed, and realizes untouchable dynamic measurement.