Four-channel synchronous dynamic measurement system for rudder angles based on line structured light

A four-channel synchronous dynamic rudder angle measurement system is realized to solve the limitations of existing dynamic rudder angle measurement methods. In system calibration process, the local calibration of structured-light vision sensor is realized through calculating the Plücker matrices of the light stripes to solve the equation of light plane. Using two planar targets as media, the global calibration of all vision sensors is realized using pair-wise calibration. In the measuring process, the base vision sensor captures images of the base set, based on which the base coordinate frame is established. Each of the rest four vision sensors is used to measure the normal vector of corresponding rudder plane in the base coordinate frame. By measuring the rotating rudders continuously, the dynamic measurement of rudder plane angles in all channels can be realized. Experiment results show that the RMS error of the measured angle is ±0.05° within the measurement range of ±30°.