Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex attitude adjustment processes, this study presents a collimator-based calibration method and system. Based on the optical characteristics of the collimator, a single-image camera calibration algorithm is introduced. In addition, integrated with the precision adjustment mechanism of the calibration frame, a rotation transfer model between coordinate systems enables efficient attitude calibration. Experimental results demonstrate that the proposed method achieves accuracy and stability comparable to traditional multi-image calibration techniques. Specifically, the re-projection errors are less than 0.1463 pixels, and average attitude angle errors are less than 0.0586 degrees with a standard deviation less than 0.0257 degrees, demonstrating high precision and robustness.

翻译：视觉导航设备需要精确标定以实现高精度定位与导航，这包括相机标定与姿态标定。为解决传统相机标定耗时较长及姿态调整流程复杂的问题，本研究提出一种基于准直仪的标定方法与系统。基于准直仪的光学特性，本文引入了单图像相机标定算法。此外，结合标定架的精密调整机构，通过坐标系间的旋转传递模型实现了高效的姿态标定。实验结果表明，所提方法在精度与稳定性上均达到与传统多图像标定技术相当的水平。具体而言，重投影误差小于0.1463像素，平均姿态角误差小于0.0586度且标准差小于0.0257度，展现了高精度与鲁棒性。