V' A' GRISHIN

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V. A. GRISHIN
MONOCULAR DISTANCE AND SURFACE ORIENTATION
MEASURING INSTRUMENT
Federal State Unitary Enterprise Scientific
Industrial Center of Automation and Instrument
Engineering Space Research Institute - Russian
Academy of Sciences
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Technology Description
Structure and operation of the system, which
realizes the measurement of distance from
surfaces of surrounding objects and orientation
of these surfaces

• Lightning unit forms the system of narrow laser
  beams of special structure.
• Processor functions
• 1. Detection and recognition of light spots on a
  sequence of cadres from TV camera.

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Technology Description

• Processor functions
• 2. Determination of correspondence between each
  light spots and lasers, which produce these
  spots.
• 3. Calculation of distance and surface
  orientation.
• Examples of light spots shift conditioned by
  surface motion

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Simulation Results

• The simplest light beam structure presented
  on figure.
• Two configuration have been considered
• Lightning unit includes 12 laser diodes (black
  line squares)
• Lightning unit includes 24 laser diodes (black
  and blue line squares)

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Simulation Results

• Upper and middle plots show angular measurement
  errors.
• Lower plots show distance (altitude) measurement
  error.
• Curves 1 correspond to the case of 12 laser
  diodes.
• Curves 2 correspond to the case of 24 laser
  diodes.

 
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Simulation Results

• For estimation of time interval that is required
  by measurement process the sequence of frames was
  synthesized.
• This sequence includes 25 frames. The sequence is
  processed during 2.1 seconds by 486DX4-100
  processor.
• So the modern processors can handle much more
  frames per second particularly in case of
  utilization of algorithms optimization
  technologies.
• These 25 frames are presented at the following
  slides. At left upper corner of each frame are
  presented the number of frame, angular errors (in
  angular degree), altitude error (in meters) and
  the number of estimation algorithm iteration.

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Conclusion

• The triangulation technologies and structure
  lightning methods are characterized with hardware
  simplicity, low cost, significant flexibility and
  capability to satisfy very different requirements
  of huge number application areas.
• The possibilities of such methods will grow with
  continuous increasing of digital processor
  power.
• By varying of laser beams structure (quantity,
  position of laser diodes and beams orientation)
  the required precision characteristics can be
  obtained.
• As a light source can be used not only the laser
  diode but also the any source of light which can
  form bright narrow beam of light either in
  visible light or infra red light.