A Novel Method for Measuring the Attitude Angles of the Artillery Barrel Based on Monocular Vision

Aiming at the problems of low accuracy, low efficiency and weak versatility in artillery barrel attitude measurement, a specialized marker and a new measurement algorithm based on this marker were designed within a monocular vision measurement system. In this method, we find an auxiliary line that can present azimuthal angle information in real time, and propose a pitch angle calculation formula through the mapping relationship. In addition, We fuse the required information into the marker, and capture the marker image by the camera, so that the attitude angle of the artillery barrel can be calculated by a single image (No need for reference images). The experimental results show that within a wide range of artillery barrel attitude angles, spanning azimuth angles of ±40° and pitch angles of 0-35°, the azimuth angle error is less than 0.1°, and the pitch angle error is less than 0.24°,and the measurement accuracy of the method can meet the needs of engineering practice.