A Photogrammetry-Based Hybrid System for Dynamic Tracking and Measurement

Noncontact measurements of lightweight flexible aerospace structures present several challenges. Objects are usually mounted on a test stand because current noncontact measurement techniques require that the net motion of the object be zero. However, it is often desirable to take measurements of the object under operational conditions, and in the case of miniature aerial vehicles (MAVs) and deploying space structures, the test article will undergo significant translational motion. This thesis describes a hybrid noncontact measurement system which will enable measurement of structural kinematics of an object freely moving about a volume. By using a real-time videogrammetry system, a set of pan-tilt-zoom (PTZ) cameras is coordinated to track large-scale net motion and produce high speed, high quality images for photogrammetric surface reconstruction. The design of the system is presented in detail. A method of generating the calibration parameters for the PTZ cameras is presented and evaluated and is shown to produce good results. The results of camera synchronization tests and tracking accuracy evaluation are presented as well. Finally, a demonstration of the hybrid system is presented in which all four PTZ cameras track an MAV in flight.