Coaxial rotor multi-coordinate system calibration method using monocular vision

The invention belongs to the technical field of helicopter detection, and relates to a coaxial rotor multi-coordinate system calibration method utilizing monocular vision, which is used for calibrating a coaxial rotor by adopting monocular vision to measure the position relation of coordinate systems so as to monitor the movement law of a paddle in a high-speed movement process and provide a safer operation environment for the coaxial rotor. The method comprises the following steps: determining an ideal coordinate system position relation; the calibration method comprises the following steps: step 1, completing intrinsic parameter calibration of a single-target fixed camera; secondly, the tripod is placed at a proper position; thirdly, firstly, determining the relation between the calibration square block and the object coordinate system needing to be calibrated; the method is mainly applied to helicopter detection occasions. 本发明属直升机检测技术领域，为采用单目视觉标定共轴旋翼测量各坐标系统的位置关系，以便监测桨叶在高速运动过程中的运动规律，为共轴旋翼提供更加安全的运行环境，本发明，利用单