The Theory of an Attitude and Position Measuring Technique Using Two Cameras Incorporating Linear Charge Coupled Imaging Arrays.
ROYAL AIRCRAFT ESTABLISHMENT FARNBOROUGH (ENGLAND)
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The theory is presented of a technique for measuring the attitude and position of cylindrical objects which is of interest in studying the behaviour of stores ejected from aircraft wing pylons. The sight-line angles of the tangents to the top and bottom edges of the store are measured in two vertical planes using linear CCD array cameras, and equations relating these angles to the required attitude and position are derived in this Report. The measurement of bank angle from the observation of marks painted on the side of the store, is also considered. The errors in position and attitude determination, which arise from uncertainties in the angle measurements and camera geometry, are discussed and simple first order approximations are derived for these. Author