CN110220491A - A kind of optics gondola fix error angle evaluation method of unmanned plane - Google Patents
A kind of optics gondola fix error angle evaluation method of unmanned plane Download PDFInfo
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- CN110220491A CN110220491A CN201910470194.4A CN201910470194A CN110220491A CN 110220491 A CN110220491 A CN 110220491A CN 201910470194 A CN201910470194 A CN 201910470194A CN 110220491 A CN110220491 A CN 110220491A
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Abstract
The present invention relates to a kind of optics gondola fix error angle evaluation methods of unmanned plane, the following steps are included: unmanned plane is in flight course, the fixation target of known accurate coordinates is locked using optics gondola, it establishes and angle and laser ranging value is directed toward as the optics gondola fix error angle of known parameters resolving mathematical model using unmanned plane coordinate, UAV Attitude angle, optics gondola, the fix error angle of optics gondola is estimated by polynary Newton method, and carries out target positioning by known parameters of the fix error angle of optics gondola.The present invention can accurately estimate the fix error angle of optics gondola, improve the target location accuracy of unmanned plane optics gondola, it can be in the same Sortie, the process alignment error calibration and target for realizing optics gondola are accurately positioned, the installation procedure for simplifying unmanned plane optics gondola improves the capability of fast response of unmanned plane.
Description
Technical field
The present invention relates to a kind of optics gondola fix error angle evaluation method of unmanned plane, it is suitable for that there is laser ranging function
The unmanned plane optics gondola of energy, belongs to optoelectronic device technical field of target location in unmanned air vehicle technique.
Background technique
The optics gondola of the outer unmanned plane of Current Domestic, is capable of providing targeting capability.The base positioned according to target
Present principles are different, are divided into the passive location based on image and the active location based on laser ranging；The delay positioned according to target
Difference is divided into positioning and non real-time positioning in real time.In most of unmanned plane optics gondola object localization method, optics gondola
Installation error has a great impact to positioning accuracy.Particularly with real-time target localization method, the mathematics computing model of this method
In parameter include the position coordinates of optics gondola, attitude angle, the installation error for being directed toward angle and range information and optics gondola
Angle, the position coordinates and attitude angle of usual optics gondola are provided by used group of part of unmanned plane aviation attitude system, at this time optics gondola
Fix error angle refers to the angular deviation between the mounting plane of optics gondola and unmanned plane aviation attitude system.It is installed and is missed by optics gondola
Optics gondola error in pointing caused by difference directly affects the precision of target positioning, and with the increase of orientation distance, optics gondola
The influence of fix error angle will linearly increase.Therefore, in order to make the target positioning function precision with higher of optics gondola, again
Target locating speed is improved as far as possible, needs to carry out unmanned plane optics gondola accurate installation error correction, or being capable of essence
Really measure the fix error angle of optics gondola.
For unmanned plane, for the usual carry of optics gondola below fuselage, used group of aviation attitude system is partly installed in machine
Inside body.It is limited by the technological level of unmanned plane production, optics gondola and the used group of unmanned plane after mounting, exist different degrees of
Installation error.However, in optics gondola and used group installation, if axially correction is consistent by their zero-bit direction and body,
Difficulty is big, and time-consuming.Therefore, in the case where combining unmanned plane actual demand, optics gondola can be accurately measured by needing to study one kind
The method of fix error angle makes it not only be able to satisfy the required precision of unmanned plane optics gondola target positioning and rate request, but also can
Simplify the installation procedure of optics gondola.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of sides for estimating optics gondola fix error angle
Method simplifies the installation procedure of optics gondola to improve the precision of optics gondola target positioning.This method is installed in unmanned plane
After optics gondola, it in the same Sortie, can realize that the process alignment error calibration of optics gondola and target are accurately positioned, simplify
The installation procedure of unmanned plane optics gondola, improves the capability of fast response of unmanned plane.
The object of the invention is achieved by following technical solution:
A kind of optics gondola fix error angle evaluation method of unmanned plane is provided, comprising the following steps:
(1) selection one optics gondola can during unmanned plane during flying steady lock target point T, and in advance acquisition should
Coordinate (the J of target pointt',Wt',Ht')；
(2) during unmanned plane during flying, after optics gondola steady lock target point T, laser ranging is carried out；
(3) azimuth of recording laser ranging moment optics gondola, pitch angle and laser ranging value, when recording laser ranging
Carve the coordinate and attitude angle of unmanned plane；
(4) unmanned plane target positioning mathematical model is established；
(5) optics gondola fix error angle is established based on unmanned plane target positioning mathematical model and resolves mathematical model；
(6) it is iteratively solved according to polynary Newton method and obtains fix error angle.
Preferably, in the step (1), target sizes are 5m*5m~8m*8m, the coordinate (J of target pointt',Wt',Ht')
Acquisition precision is in 10 meters.
Preferably, in step (2) flying height and oblique distance of unmanned plane meet optics gondola can steady lock target when,
Optics gondola starts to carry out laser ranging.
Preferably, the step (4) establishes target positioning mathematical model, specifically:
Wherein, rnFor coordinate representation of the target point T under unmanned plane geographic coordinate system；rpIt is straight in optics gondola for target point T
Coordinate representation under angular coordinate system；For unmanned aerial vehicle platform rectangular coordinate system to the conversion of optics gondola platform rectangular coordinate system
Matrix, by the orientation fix error angle ε of optics gondolaα, pitching fix error angle εβWith rolling fix error angle εγIt indicates；For
Unmanned plane geographic coordinate system to unmanned aerial vehicle platform rectangular coordinate system transition matrix, by the yaw angle Ψ of unmanned plane, pitching angle theta and
Roll angle γ is indicated；R is earth radius；The azimuth of optics gondola is A, and pitch angle E, laser ranging value is S, unmanned plane
Yaw angle is Ψ, pitch angle θ, roll angle γ, and the coordinate under the earth spheric coordinate system that unmanned plane exports in real time is (Jp,
Wp,Hp), JpFor unmanned plane longitude, WpFor unmanned plane latitude, HpFor unmanned plane height.
Preferably,Specifically:
Preferably,Specifically:
Preferably, the step (5) is based on unmanned plane target positioning mathematical model and establishes optics gondola fix error angle solution
Mathematical model is calculated, specifically:
It enablesTarget positioning mathematical model is rewritten as
Enable x=(εα,εβ,εγ), F (x)=F (εα,εβ,εγ)=(f1,f2,f3), wherein f1,f2,f3It is non-thread for above-mentioned ternary
Property equation group in three expression formulas, then optics gondola fix error angle resolve mathematical model formula are as follows:
WhereinS is DF (xk) s=-F (xk) solution.
Preferably, the step (6) iteratively solves according to polynary Newton method and obtains fix error angle step are as follows:
(1) N group data are provided after unmanned plane lock onto target；Azimuth, pitch angle and laser ranging including optics gondola
Value, the coordinate and attitude angle of unmanned plane；With x0Initial vector of=(0,0,0) as first group of iterative calculation, uses target point T
Accurate coordinates (Jt',Wt',Ht') it is used as coordinates of targets (Jt,Wt,Ht), enable n=1；
(2) n-th group of data is obtained, mathematical model is resolved according to optics gondola fix error angle and iterates to calculate k times, tied
Fruit xnk；
(3) calculating for judging whether to complete all groups of data exports result x if completingNkIt is installed as optics gondola
Error angle；By x if not completingnkAs the initial vector of the (n+1)th wheel iterative calculation, by return step after n+1 (2).
It preferably, further include that step (6) are calculated the fix error angle x obtained by step (7)Nk, replace the target positioning
The orientation fix error angle ε of optics gondola in mathematical modelα, pitching fix error angle εβWith rolling fix error angle εγ, it is somebody's turn to do
Transition matrix of the optics gondola unmanned aerial vehicle platform rectangular coordinate system to optics gondola platform rectangular coordinate systemOptics gondola base
Coordinates of targets resolving is carried out in target positioning mathematical model.
It preferably, further include that step (6) are calculated the fix error angle x obtained by step (7)Nk, the side including optics gondola
Position fix error angle εα, pitching fix error angle εβWith rolling fix error angle εγ, it is loaded onto optics gondola realistic objective positioning number
It learns and carries out coordinates of targets resolving in model.
The invention has the following advantages over the prior art:
(1) present invention can accurately estimate the fix error angle of unmanned plane optics gondola, with the substitution of this fix error angle
Optics gondola target positions in mathematical model, calculates coordinates of targets, is greatly improved unmanned plane optics gondola target location accuracy.
(2) present invention can estimate the fix error angle of optics gondola in flight, without in aircraft manufacturing, set
It is measured in advance in standby installation process, reduces the technique requirement to aircaft configuration manufacture and equipment installation.
(3) it in the same Sortie, can realize that the process alignment error calibration of optics gondola and target are accurately positioned, simplify
The installation procedure of unmanned plane optics gondola, improves the capability of fast response of unmanned plane.
(4) present invention can be positioned the fix error angle estimated with parametric form direct-on-line to optics gondola target
Mathematical model is modified, and the optics gondola after correcting can directly carry out target positioning, improves the task response of unmanned plane
Ability.
(5) present invention obtains the accurate fix error angle of optics gondola, base by iterative calculation by polynary Newton method
It is modified in accurate fix error angle, the influence of fix error angle bring can be rejected in target position fixing process, improves mesh
Demarcate position precision magnitude.
Detailed description of the invention
Fig. 1 is the schematic diagram of the expression of target of the invention under unmanned plane geographic coordinate system；
Fig. 2 is the schematic diagram of the expression of target of the invention under optics gondola platform rectangular coordinate system；
Fig. 3 is that unmanned plane geographic coordinate system of the invention is converted to the schematic diagram of optics gondola platform rectangular coordinate system.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
The present invention provides a kind of optics gondola fix error angle evaluation method of unmanned plane, unmanned plane in flight course,
The fixation target that known accurate coordinates are locked using optics gondola is established optics gondola fix error angle and resolves mathematical model, root
It is directed toward angle and laser ranging value according to the unmanned plane coordinate at optics gondola laser ranging moment, UAV Attitude angle, optics gondola, is led to
The fix error angle of polynary Newton method estimation optics gondola is crossed, and is carried out by known parameters of the fix error angle of optics gondola
Target positioning, specifically includes the following steps:
Step 1: target selection, selects the apparent target point T of a feature, and acquire the accurate coordinates of the target point in advance
(Jt',Wt',Ht')；
The apparent target of feature refers to the target for being easy to the locking of optics gondola, in one embodiment, target sizes 5m*
5m.Selected target point should be convenient for coordinate acquisition (Jt’,Wt’,Ht’)Jt’For the target point longitude of precise measurement, Wt’Accurately to survey
The target point latitude of amount, Ht’For the target point height of precise measurement, and coordinate value should be accurate enough, in one embodiment, mesh
In 10 meters of precision of the coordinate of punctuate.
Step 2: unmanned plane flies in 2km relative altitude, this is highly susceptible to optics gondola lock onto target, is hung using optics
Cabin lock onto target point T, when oblique distance is 6km or so, optics gondola can steady lock target, carry out laser ranging；
Step 3: the azimuth of recording laser ranging moment optics gondola, pitch angle and laser ranging value, recording laser is surveyed
Coordinate and attitude angle away from moment unmanned plane；
The azimuth of optics gondola is A, and pitch angle E, laser ranging value is S, and the attitude angle of unmanned plane includes yaw angle
For Ψ, pitch angle θ, roll angle γ, the coordinate under the earth spheric coordinate system that unmanned plane exports in real time is (Jp,Wp,Hp),
JpFor unmanned plane longitude, WpFor unmanned plane latitude, HpFor unmanned plane height.
Step 4: establishing target positioning mathematical model；It is converted according to coordinate system, by the coordinate under unmanned plane geographic coordinate system
Conversion is indicated to the coordinate representation under optics gondola rectangular coordinate system, the formula for establishing target positioning mathematical model is as follows:
Wherein, JtFor target point longitude, WtFor target point latitude, HtFor target point height, be target point T in unmanned plane
The coordinate representation under coordinate system is managed, as shown in Figure 1；rpFor coordinate representation of the target point T under optics gondola rectangular coordinate system, such as
Shown in Fig. 2；It is unmanned aerial vehicle platform rectangular coordinate system to the transition matrix of optics gondola platform rectangular coordinate system, is hung by optics
The orientation fix error angle ε in cabinα, pitching fix error angle εβWith rolling fix error angle εγIt indicates, as shown in Figure 3；For nothing
Man-machine geographic coordinate system to unmanned aerial vehicle platform rectangular coordinate system transition matrix, by yaw angle Ψ, pitching angle theta and the rolling of unmanned plane
Corner γ expression, as shown in Figure 2；R is earth radius.
Step 5: establishing optics gondola fix error angle according to polynary Newton method and resolving mathematical model；
According to polynary Newton method, establishes optics gondola fix error angle and resolve mathematical model step are as follows: enableTarget positioning mathematical model is rewritten asThis formula is that ternary is non-thread
Property equation group.X=(ε is enabled againα,εβ,εγ), F (x)=F (εα,εβ,εγ)=(f1,f2,f3), wherein f1,f2,f3For above-mentioned ternary
Three expression formulas in Nonlinear System of Equations, then optics gondola fix error angle resolves the formula of mathematical model are as follows:
S is DF (xk) s=-F (xk) solution, in the optics gondola installation error evaluation method of the unmanned plane.
Fix error angle is obtained Step 6: iteratively solving according to polynary Newton method, by xnkInstallation as optics gondola
Error angle；
In the step 6, the step of the fix error angle of iterative estimation optics gondola are as follows: mentioned after unmanned plane lock onto target
It altogether include the iterative calculation of N group for N group data, in each group of iterative calculation, with the data of more new record every time (including optics
Azimuth, pitch angle and the laser ranging value of gondola, the coordinate and attitude angle of unmanned plane and the coordinate of target point T) as
Know that parameter, above one group of iterative calculation result resolve mathematical model according to optics gondola fix error angle as initial vector
Iterative calculation k times obtains the calculated result currently organized, and the estimation knot of fix error angle is obtained eventually by N*k iterative calculation
Fruit.Specific step is as follows:
(1) according to the record data of first group of iterative calculation initial time (azimuth, pitch angle including optics gondola and
Laser ranging value, the coordinate and attitude angle of unmanned plane and the coordinate of target point T), with x0=(0,0,0) changes as first group
The initial vector that generation calculates, uses the accurate coordinates (J of target point Tt’,Wt’,Ht’) it is used as coordinates of targets (Jt,Wt,Ht), according to light
It learns gondola fix error angle and resolves mathematical model iterative calculation k times, obtain result xk。
(2) according to the record data of second group of iterative calculation initial time (azimuth, pitch angle including optics gondola and
Laser ranging value, the coordinate and attitude angle of unmanned plane and the coordinate of target point T), with xkAs second group of iterative calculation just
Beginning vector resolves mathematical model according to optics gondola fix error angle and iterates to calculate k times, obtains result x2k。
(3) above step is repeated, the record data (side including optics gondola of initial time is iterated to calculate according to n-th group
Parallactic angle, pitch angle and laser ranging value, the coordinate and attitude angle of unmanned plane and the coordinate of target point T), with x(n-1)kAs
The initial vector of n group iterative calculation resolves mathematical model according to optics gondola fix error angle and iterates to calculate k times, obtains result
xnk。。
Step 7: the fix error angle of the optics gondola of step 6 estimation is carried out target positioning as known parameters.
Using the fix error angle of the optics gondola of step 6 estimation as known parameters, the orientation installation of optics gondola is replaced
Error angle εα, pitching fix error angle εβWith rolling fix error angle εγ, substitute into target positioning mathematical model, obtain the optics
Transition matrix of the gondola unmanned aerial vehicle platform rectangular coordinate system to optics gondola platform rectangular coordinate systemMake optics gondola output essence
True coordinates of targets (Jt,Wt,Ht)。
It is flat to optics gondola by fixed optics gondola unmanned aerial vehicle platform rectangular coordinate system during unmanned plane during flying
The transition matrix of platform rectangular coordinate systemCoordinate (the J exported according to unmanned planep,Wp,Hp), the azimuth A of optics gondola output,
Pitch angle E, laser ranging value S, the yaw angle Ψ of unmanned plane, pitching angle theta, roll angle γ pass throughIt calculates in real time
Coordinates of targets (Jt,Wt,Ht)。
The target positioning mathematical model of optics gondola actual use can be mathematical model described in step 4, be also possible to
Other object localization method mathematical models will calculate the fix error angle x obtainedNk, the orientation including optics gondola, which is installed, to be missed
Declinate εα, pitching fix error angle εβWith rolling fix error angle εγ, it is loaded onto optics gondola realistic objective positioning mathematical model
Carry out coordinates of targets resolving.
The present invention is suitable for the unmanned plane optics gondola with laser ranging function.Different from conventional method, the present invention is not
It needs in advance to measure fix error angle when optics gondola is installed, but by flight, directly estimate optics
Angular deviation between gondola mounting plane and unmanned plane body coordinate system, and target is carried out with the fix error angle estimated and is determined
Position calculates.The target location accuracy of unmanned plane optics gondola can be improved in this method, simplifies the erector of unmanned plane optics gondola
Sequence improves the capability of fast response of unmanned plane.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of optics gondola fix error angle evaluation method of unmanned plane, which comprises the following steps:
(1) one optics gondola of selection can during unmanned plane during flying steady lock target point T, and acquire the target in advance
Coordinate (the J of pointt′, Wt′, Ht′)；
(2) during unmanned plane during flying, after optics gondola steady lock target point T, laser ranging is carried out；
(3) azimuth of recording laser ranging moment optics gondola, pitch angle and laser ranging value, the recording laser ranging moment without
Man-machine coordinate and attitude angle；
(4) unmanned plane target positioning mathematical model is established；
(5) optics gondola fix error angle is established based on unmanned plane target positioning mathematical model and resolves mathematical model；
(6) it is iteratively solved according to polynary Newton method and obtains fix error angle.
2. the optics gondola fix error angle evaluation method of unmanned plane as described in claim 1, it is characterised in that: the step
(1) in, target sizes are 5m*5m~8m*8m, the coordinate (J of target pointt′, Wt′, Ht′) acquisition precision in 10 meters.
3. the optics gondola fix error angle evaluation method of unmanned plane as described in claim 1, it is characterised in that: step (2)
The flying height and oblique distance of middle unmanned plane meet optics gondola can steady lock target when, optics gondola start carry out Laser Measuring
Away from.
4. the optics gondola fix error angle evaluation method of unmanned plane as described in claim 1, it is characterised in that: the step
(4) target positioning mathematical model is established, specifically:
Wherein, rnFor coordinate representation of the target point T under unmanned plane geographic coordinate system；rpIt is sat for target point T at optics gondola right angle
Coordinate representation under mark system；For unmanned aerial vehicle platform rectangular coordinate system to the transition matrix of optics gondola platform rectangular coordinate system,
By the orientation fix error angle ε of optics gondolaα, pitching fix error angle εβWith rolling fix error angle εγIt indicates；For nobody
Machine geographic coordinate system to unmanned aerial vehicle platform rectangular coordinate system transition matrix, by yaw angle Ψ, pitching angle theta and the rolling of unmanned plane
Angle γ is indicated；R is earth radius；The azimuth of optics gondola is A, and pitch angle E, laser ranging value is S, the yaw of unmanned plane
Angle is Ψ, pitch angle θ, roll angle γ, and the coordinate under the earth spheric coordinate system that unmanned plane exports in real time is (Jp, Wp,
Hp), JpFor unmanned plane longitude, WpFor unmanned plane latitude, HpFor unmanned plane height.
5. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 4, it is characterised in that:Specifically
Are as follows:
6. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 5, it is characterised in that:Specifically
Are as follows:
7. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 6, it is characterised in that: the step
(5) optics gondola fix error angle is established based on unmanned plane target positioning mathematical model and resolves mathematical model, specifically:
It enablesTarget positioning mathematical model is rewritten as
Enable x=(εα, εβ, εγ), F (x)=F (εα, εβ, εγ)=(f1, f2, f3), wherein f1, f2, f3For the non-linear side of above-mentioned ternary
Three expression formulas of Cheng Zuzhong, then optics gondola fix error angle resolves the formula of mathematical model are as follows:
WhereinS is DF (xk) s=-F (xk) solution.
8. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 7, it is characterised in that: the step
(6) it is iteratively solved according to polynary Newton method and obtains fix error angle step are as follows:
(1) N group data are provided after unmanned plane lock onto target；Azimuth, pitch angle and laser ranging value including optics gondola, nothing
Man-machine coordinate and attitude angle；With x0Initial vector of=(0,0,0) as first group of iterative calculation, uses the essence of target point T
True coordinate (Jt′, Wt′, Ht′) it is used as coordinates of targets (Jt, Wt, Ht), enable n=1；
(2) n-th group of data is obtained, mathematical model is resolved according to optics gondola fix error angle and iterates to calculate k times, obtain result
xnk；
(3) calculating for judging whether to complete all groups of data exports result x if completingNkAs optics gondola installation error
Angle；By x if not completingnkAs the initial vector of the (n+1)th wheel iterative calculation, by return step after n+1 (2).
9. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 8, it is characterised in that: further include step
Suddenly step (6) are calculated the fix error angle x obtained by (7)Nk, replace the orientation of optics gondola in the target positioning mathematical model
Fix error angle εα, pitching fix error angle εβWith rolling fix error angle εγ, obtain optics gondola unmanned aerial vehicle platform right angle seat
Mark system arrives the transition matrix of optics gondola platform rectangular coordinate systemOptics gondola is based on target positioning mathematical model and carries out
Coordinates of targets resolves.
10. the optics gondola fix error angle evaluation method of unmanned plane as claimed in claim 8, it is characterised in that: further include
Step (6) are calculated the fix error angle x obtained by step (7)Nk, the orientation fix error angle ε including optics gondolaα, pitching peace
Fill error angle εβWith rolling fix error angle εγ, it is loaded onto optics gondola realistic objective positioning mathematical model and carries out coordinates of targets
It resolves.
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| CN114973037B (en) * | 2022-06-15 | 2024-05-07 | 中国人民解放军军事科学院国防科技创新研究院 | Method for intelligently detecting and synchronously positioning multiple targets by unmanned aerial vehicle |
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