CN101339410A

CN101339410A - Photoelectric guide emulation system for ship

Info

Publication number: CN101339410A
Application number: CNA2008101181225A
Authority: CN
Inventors: 仇海涛; 王丹; 徐烨烽; 刘伟
Original assignee: 北京航空航天大学
Priority date: 2008-08-12
Filing date: 2008-08-12
Publication date: 2009-01-07
Also published as: CN101339410B

Abstract

The present invention discloses a photoelectric guidance simulation system, for the landing on a warship, consisting of a control computer, an inertial navigation system, an infrared detection gyro stabilizing system, infrared cooperation targets, a linear motion unit, an electric motor, a motion controller and a ground control station. The infrared detection gyro stabilizing system realizes stabilization of an optical axis; five cooperation targets are provided on a sliding block of the linear motion unit, and the motion controller controls the motion of the linear motion unit to bring the cooperation targets to move upward and downward and to simulate the motion of the runway decks in a vertical direction under the function of ocean waves. An infrared camera in the infrared detection gyro stabilizing system obtains images of the simulated runway decks generated by the infrared cooperation targets; operators at the ground control station identify and lock the simulated runway decks according to the image when the simulated runway decks are detected by the infrared detection gyro stabilizing system. The infrared detection gyro stabilizing system processes the five images of the simulated runway decks and sends necessary image information to the control computer which calculates a motion characteristic of the warship and a landing point position by using a photoelectric guidance algorithm. The photoelectric guidance simulation system with high precision and low cost has an important value for the development and manufacture of the photoelectric guidance landing systems.

Description

A kind of photoelectric guide emulation system for ship

Technical field

The present invention relates to a kind of photoelectric guide emulation system for ship, be applicable to the Project Realization of simulated aircraft in the ship deck runway landing.

Background technology

Aircraft fall ratio on the naval vessel lands on ground its specific technical difficulty is arranged, and aircraft in the warship process and must keep desirable gliding angle about 4 °, and must stop falling in the appointed area, deck.Tradition Fresnel lamp box guide mode is the visible light guiding, complex structure, and the cost height, and accurate warship information can't be provided.When being in the higher level sea condition, the pilot can't observe the Fresnel lamp box information of guiding, does not possess round-the-clock guidance capability.In addition, the pitching of warship body and the sink-float variation of vertical height more than 1.25 meters can cause corresponding moving forward and backward of warship point to surpass 18 meters, and this can cause landing to fail to cause going around even lead to a disaster.Traditional guide mode can't provide the naval vessel vertical direction to change accurately, can not to the motion on naval vessel and the variation of warship point make a prediction.

Summary of the invention

Technology of the present invention is dealt with problems and is: when overcoming the conventional lead mode and being in the higher level sea condition, the pilot can't see steering signal clearly, when the pitching of warship body and sink-float are bigger, can't stop in the appointed area, deck, causing the landing failure to cause goes around even leads to a disaster, a kind of precision height, round-the-clock, photoelectric guide emulation system for ship that cost is low are provided, are used to predict that the Ship Motion rule is reaching warship point position, realize autonomous warship.

Technical solution of the present invention is: a kind of photoelectric guide emulation system for ship, form by control computer, inertial navigation system, the infrared acquisition gyratory stabilizing system that has thermal camera, infrared cooperative target, rectilinear motion unit, motor, motion controller, ground control station.5 infrared cooperative targets place on the rectilinear motion unit slide block, thereby motion controller control rectilinear motion unit motion drives infrared cooperative target and moves up and down, simulation ship deck runway is because of wave effect motion in vertical direction, and promptly 5 infrared cooperative targets generate a simulation deck runway; The infrared acquisition gyratory stabilizing system realizes surveying and the optical axis stable function, after the infrared acquisition gyratory stabilizing system detects simulation deck runway image on the one hand, deliver to ground control station, control personnel in ground station control station are according to image recognition, locking simulation deck runway image, after on the other hand 5 simulation deck runway images being handled, the image information of needs is sent to control computer, and control computer estimates the characteristics of motion and warship point position on naval vessel according to the photoelectric guide algorithm.

Principle of the present invention is: the carrier-borne aircraft when simulating warship with ground car and infrared acquisition gyratory stabilizing system, the deck runway when simulating warship with five infrared cooperative targets.Utilize the photoelectric guide algorithm in the control computer, the image information of 5 formed simulation runways of infrared cooperative target that provide according to the infrared acquisition gyratory stabilizing system, estimate the naval vessel the characteristics of motion, parameter such as warship point, be used for autonomous the warship of carrier-borne aircraft.

The present invention's advantage compared with prior art is: overcome traditional conventional lead mode and weather conditions have been relied on big, the shortcoming that precision is low has made up a kind of precision height, round-the-clock, photoelectric guide emulation system for ship that cost is low, and it has following advantage:

(1) the present invention adopts 5 infrared cooperative targets and rectilinear motion unit, motor, speed reduction unit simulation naval vessel runway, and structure is simplified greatly, and cost reduces greatly;

(2) the present invention adopts Infra-Red Imaging System and infrared cooperative target, not influenced by various bad weather conditions, and IR imaging target is clear, and all-weather capability is strong;

(3) the present invention is by being equipped with the ground car simulated aircraft of infrared acquisition gyratory stabilizing system, and the emulated versions of 5 cooperative target simulation ship deck runways does not need the flight test mode by reality, and expense, difficulty reduce greatly;

(4) the present invention adopts the photoelectric guide algorithm, can dope accurately the naval vessel the characteristics of motion, parameters such as warship point, autonomous warship that can the auxiliary ship carrier aircraft, simulation accuracy height, and alleviated pilot's operation easier greatly.

Description of drawings

Fig. 1 is structural framing figure of the present invention;

Fig. 2 is the structural representation of infrared acquisition gyratory stabilizing system of the present invention;

Fig. 3 is a photoelectric guide algorithm flow chart of the present invention;

Fig. 4 is the composition frame chart of ground control station of the present invention.

Embodiment

As shown in Figure 1, the embodiment of the invention comprises 5 infrared cooperative targets 1, rectilinear motion unit 2, motor and reduction gear 3, control computer 4, ground control station 7, infrared acquisition gyratory stabilizing system 8, motion controller 9.5 infrared cooperative targets 1 are installed on the slide block of rectilinear motion unit 2 (being generally guide rail), by the slide block movement on the motion drive rectilinear motion unit 2 of controlling motor and reduction gear 3 according to the motion requirement of prior setting, simulate the ship deck runway because of wave effect motion in vertical direction by motion controller 9 thereby drive 5 infrared cooperative targets 1.5 infrared cooperative target simulation ship deck runways, 4 of 4 representative runways end points wherein, 1 is positioned at the center, infrared cooperative target 1 formed plane becomes 3.5-4.5 ° (is optimum with 4 °) with the ground angle, the gliding angle of aircraft and runway when the angle on infrared acquisition gyratory stabilizing system 8 and infrared cooperative target plane is being equal to warship at this moment, both carrier-borne aircrafts when being equivalent to warship of infrared acquisition gyratory stabilizing system 8 and ground control station 7, thus make 5 infrared cooperative targets 1 generate a simulation deck runway.Infrared acquisition gyratory stabilizing system 8 detects infrared cooperative target 1 formed simulation deck runway image, deliver to ground control station 7, control personal identification by ground control station 7, lock infrared cooperative target 1 simulation deck runway image, the control personnel of ground control station 7 can be according to image information, the motion of the thermal camera in the control infrared acquisition gyratory stabilizing system 8, infrared acquisition gyratory stabilizing system 8 obtains simulating deck runway image information and sends control computer 4 to after treatment and with useful data simultaneously, the built-in photoelectric guide algorithm 5 of control computer 4 is according to system model, estimate the characteristics of motion and warship point position on naval vessel, comprise the running orbit of the relative runway of ground car, the attitude of ground car, the characteristics of motion of runway and warship point position.

Infrared cooperative target 1 be can steady operation in the needed temperature of infrared eye, send the infrared ray target of the wavelength that suitable infrared eye surveys.

The structure of infrared acquisition gyratory stabilizing system 8 form with connected mode as shown in Figure 2, the infrared acquisition gyratory stabilizing system comprises pitching motor, azimuth-drive motor, pitch gyro, traverse gyro, thermal camera, main frame, data acquisition board, orientation and pitch gyro motor driver; The picture signal that thermal camera collects is delivered to data acquisition board and is handled, data acquisition board is delivered to display to the picture signal that does not have to handle on the one hand and is shown, send into main frame on the other hand, by main frame image is handled the image information that draws infrared cooperative target and send into tracking after ground control station 7 is used to calculate and lock, thereby realize the infrared acquisition function; Pitching motor, azimuth-drive motor are controlled on the direction of course and two degree of freedom of pitching and scan, by two rate gyros, be to deliver to main frame after converting digital quantity to through interface board after responsive orientation of traverse gyro, pitch gyro and the luffing, main frame calculates the speed instruction of thermal camera optical axis according to pitching, traverse gyro, after power amplification, add to two torque motors again, be pitching motor, azimuth-drive motor, control two motors according to this command rate motion, thereby realize optical axis stable.

Rotary transformer is a kind of shaft angle degree measurement mechanism, pitching rotary transformer, orientation rotary transformer are used for measuring the absolute angle that pitching motor, azimuth-drive motor rotate through, this angle signal is a kind of analog quantity, after the interface board conversion, become digital quantity, deliver to main frame, with the anglec of rotation of control pitching motor, azimuth-drive motor.

In addition, after main frame can also receive the operation information of control lever, according to operation information control pitching, azimuth-drive motor motion or lock onto target.

The infrared acquisition gyratory stabilizing system is the in-built CCD camera machine also, can be used for observing the visible light target.

Control be revised and be compensated to the infrared acquisition gyratory stabilizing system can also to its pitching, orientation, temperature drift linearity curve according to two gyros carries out function of temperature compensation control, and automatically sampling, monitoring system signal, realize dynamically being presented on the display of system's major parameter, infrared image.

As shown in Figure 3, the performing step of the photoelectric guide algorithm 5 in the control computer 4 of the present invention is:

(1) at first determine system model:

If the infrared photography machine model is the perspective projection model, so be imaged as:

$[\begin{matrix} u \\ v \\ 1 \end{matrix}] = [\begin{matrix} f_{u} & 0 & c_{u} \\ 0 & f_{v} & c_{v} \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} \frac{x_{c}}{y_{c}} \\ \frac{z_{c}}{y_{c}} \\ 1 \end{matrix}] - - - (1)$

Then the runway coordinate rigid body that is tied to the thermal camera coordinate system is converted to:

$[\begin{matrix} x_{c} \\ y_{c} \\ z_{c} \end{matrix}] = [\begin{matrix} R_{11} & R_{12} & R_{13} \\ R_{21} & R_{22} & R_{23} \\ R_{31} & R_{32} & R_{33} \end{matrix}] (\begin{matrix} [\begin{matrix} 1 & 2 & - γ_{s} \\ 0 & 1 & θ_{s} \\ γ_{s} & - θ_{s} & 1 \end{matrix}] [\begin{matrix} x_{r} \\ y_{r} \\ z_{r} \end{matrix}] + [\begin{matrix} 0 \\ 0 \\ h_{s} \end{matrix}] - [\begin{matrix} x_{c}^{r} \\ y_{c}^{r} \\ z_{c}^{r} \end{matrix}] \end{matrix}) - - - (2)$

Wherein, f _u, f _v, c _u, c _vBeing the thermal camera parameter, is known number through off-line calibration; U, v are the image coordinate of infrared cooperative target.If γ _s, θ _s, h _sBe respectively roll angle, pitch angle, the sink-float height of Ship Motion, the quadrature rotation matrix R of unit is the attitude matrix that the runway coordinate is tied to the thermal camera coordinate system.R _Ij(i, j=1,2,3) are each element of the quadrature rotation matrix R of unit, are attitude angle position angle, the angle of pitch, roll angle (φ, θ, trigonometric function combination γ), x _c, y _c, z _cBe the coordinate in the thermal camera coordinate system, x _r, y _r, z _rIt is the coordinate of runway coordinate system.(x _c ^r, y _c ^r, z _c ^r) ^TBe the coordinate of thermal camera coordinate origin, be amount to be asked at the runway coordinate system.

(2) utilize the image of thermal camera gained then, extract 5 infrared cooperative target image informations, and, estimate that according to the following steps the ground car simulates the characteristics of motion of the pose and the simulation ship deck runway of ship deck runway relatively in conjunction with the angle of pitch that inertial navigation is provided, course angle position relation as the known quantity in the system model and known 5 infrared cooperative targets:

A, the lateral coordinates u correlativity of the course angle of the relative runway of ground car and infrared cooperative target unique point is bigger as can be known by analysis, utilizes the lateral coordinates u of this unique point _i(i=1 2...5) and the spatial relation of infrared cooperative target, can get following formula by system model formula (1):

A·sinφ＝B·cosφ(3)

Wherein A, B are and the angle of pitch, roll angle and infrared cooperative target unique point (u _i, v _i) (i=1,2..5) relevant amount can be tried to achieve virtual course angle φ by following formula;

B, can push away to such an extent that infrared cooperative target at the two-dimensional coordinate of thermal camera coordinate system is by system model formula (1)

$\{\begin{matrix} x_{ic} = \frac{u_{i}}{f_{u}} y_{ic} \\ z_{ic} = \frac{v_{i}}{f_{v}} y_{ic} \end{matrix} - - - (4)$

With formula (2) substitution, can get through arrangement

$\{\begin{matrix} γ_{s} \cdot a_{i 1} + θ_{s} \cdot a_{i 2} + x_{c}^{r} \cdot a_{i 3} + y_{c}^{r} \cdot a_{i 4} + (z_{c}^{r} - h_{s}) \cdot a_{i 5} = a_{i 0} \\ γ_{s} \cdot b_{i 1} + θ_{s} \cdot b_{i 2} + x_{c}^{r} \cdot b_{i 3} + y_{c}^{r} \cdot b_{i 4} + (z_{c}^{r} - h_{s}) \cdot b_{i 5} = b_{i 0} \end{matrix} (i, 1,2 . . . 5) - - - (5)$

a _i1＝f _u(R ₁₃x _ir-R ₁₁z _ir)-u _i(R ₂₃x _ir-R ₂₁z _ir)

a _i2＝f _u(-R ₁₃y _ir+R ₁₂z _ir)-u _i(-R ₂₃y _ir+R ₂₂z _ir)

a _i3＝-f _uR ₁₁+u _iR ₂₁

a _i4＝-f _uR ₁₂+u _iR ₂₂

a _i5＝-f _uR ₁₃+u _iR ₂₃

a _i0＝-f _u(R ₁₁+R ₁₂+R ₁₃)+u _i(R ₂₁+R ₂₂+R ₂₃)

b _i1＝f _v(R ₃₃x _ir-R ₃₁z _ir)-v _i(R ₂₃x _ir-R ₂₁z _ir)

b _i2＝f _v(-R ₃₃y _ir+R ₃₂z _ir)-v _i(-R ₂₃y _ir+R ₂₂z _ir)

b _i3＝-f _vR ₃₁+v _iR ₂₁

b _i4＝-f _vR ₃₂+v _iR ₂₂

b _i5＝-f _vR ₃₃+v _iR ₂₃

b _i0＝-f _v(R ₃₁+R ₃₂+R ₃₃)+v _i(R ₂₁+R ₂₂+R ₂₃)

C, the real-time relative height (z that obtains by step B _c ^r-h _s) can try to achieve relative height changes delta (z _c ^r-h _s), aircraft altitude changes the Δ h that can get in the cancellation airborne ins information _s, carry out curve fitting with sinusoidal rule according to following formula and to obtain the γ on naval vessel _sRule, pitch angle θ _sRule and sink-float height h _sRule:

$x_{ic} = (m_{11} + m_{13} (γ_{s} \cos φ - θ_{s} \sin φ)) x_{ir} + (m_{12} + m_{13} (- γ_{s} \sin φ - θ_{s} \cos φ)) y_{ir}$

$+ (m_{11} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{12} (γ_{s} \sin φ + θ_{s} \cos φ) + m_{13}) z_{ir}$

$+ (m_{13} γ_{s}) x_{r 0}^{s} + (- m_{13} θ_{s}) y_{r 0}^{s} + (m_{11} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{12} (γ_{s} \sin φ + θ_{s} \cos φ)) z_{r 0}^{s}$

$- m_{11} X - m_{12} Y - m_{13} (z - h_{s}) + x_{p 0}^{c}$

$y_{ic} = (m_{21} + m_{23} (γ_{s} \cos φ - θ_{s} \sin φ)) x_{ir} + (m_{22} + m_{23} (- γ_{s} \sin φ - θ_{s} \cos φ)) y_{ir}$

$+ (m_{21} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{22} (γ_{s} \sin φ + θ_{s} \cos φ) + m_{23}) z_{ir}$

$+ (m_{23} γ_{s}) x_{r 0}^{s} + (- m_{23} θ_{s}) y_{r 0}^{s} + (m_{21} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{22} (γ_{s} \sin φ + θ_{s} \cos φ)) z_{r 0}^{s}$

$- m_{21} X - m_{22} Y - m_{23} (Z - h_{s}) + y_{p 0}^{c}$

$z_{ic} = (m_{31} + m_{33} (γ_{s} \cos φ - θ_{s} \sin φ)) x_{ir} + (m_{32} + m_{33} (- γ_{s} \sin φ - θ_{s} \cos φ)) y_{ir}$

$+ (m_{31} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{32} (γ_{s} \sin φ + θ_{s} \cos φ) + m_{33}) z_{ir}$

$(m_{33} γ_{s}) x_{r 0}^{s} + (- m_{33} θ_{s}) y_{r 0}^{s} + (m_{31} (- γ_{s} \cos φ + θ_{s} \sin φ) + m_{32} (γ_{s} \sin φ + θ_{s} \cos φ)) z_{r 0}^{s}$

$- m_{31} X - m_{32} Y - m_{33} (Z - h_{s}) + z_{p 0}^{c}$

Wherein:

m ₁₃＝-sinγ _pcosθ _p

m ₂₃＝cosθsinθ _p-sinθcosγ _p?cosθ _p

m ₃₃＝sinθsinθ _p+cosθcosγ _pcosθ _p

D, the Ship Motion rule that estimates with respect to the position step and the step C of simulation ship deck runway by the ground car of real-time calculating gained, the pitching angle theta of the relative runway reference frame of the aircraft that utilizes inertial navigation system to provide _p, roll angle γ _p, and the unique point (u of infrared cooperative target _i, v _i) estimate the course angle of the relative runway reference frame of aircraft With the position be $T_{p}^{r} = [\begin{matrix} X \\ Y \\ Z \end{matrix}],$ And the naval vessel is with respect to the roll angle γ of naval vessel reference frame _sRule, pitch angle θ _sRule and sink-float height

h _sRule can get:

$γ_{s} (m_{33} \cos φ x_{ir} - m_{33} \sin φ y_{ir} + (- m_{31} \cos φ + m_{32} \sin φ)) z_{ir}$

$+ m_{33} x_{r 0}^{s} + (- m_{31} \cos φ + m_{32} \sin φ) z_{r 0}^{s}$

$- v_{i}^{'} (m_{23} \cos φ x_{ir} - m_{23} \sin φ y_{ir} + (- m_{21} \cos φ + m_{22} \sin φ)) z_{ir}$

$+ m_{23} x_{r 0}^{s} + (- m_{21} \cos φ + m_{22} \sin φ) z_{r 0}^{s}))$

$+ θ_{s} (- m_{33} \sin φ x_{ir} - m_{33} \cos φ y_{ir} + (m_{31} \sin φ + m_{32} \cos φ)) z_{ir}$

$- m_{33} y_{r 0}^{s} + (m_{31} \sin φ + m_{32} \cos φ) z_{r 0}^{s}$

$- v_{i}^{'} (- m_{23} \sin φ x_{ir} - m_{23} \cos φ y_{ir} + (m_{21} \sin φ + m_{22} \cos φ)) z_{ir}$

$- m_{23} y_{r 0}^{s} + (m_{21} \sin φ + m_{22} \cos φ) z_{r 0}^{s}))$

$+ X (m_{21} - m_{31}) + Y (m_{22} - m_{32}) + (Z - h_{s}) (m_{23} - m_{33})$

$= (m_{21} - m_{31}) x_{ir} + (m_{22} - m_{32}) y_{ir} + (m_{23} - m_{33}) z_{ir} + y_{p 0}^{c} - z_{p 0}^{c}$

Tried to achieve more than utilizing m ₁₁, m ₁₂, m ₁₃, m ₂₁, m ₂₂, m ₂₃, m ₃₁, m ₃₂, m ₃₃And 5 infrared cooperative target simulation runway coordinate (x _Ir, y _Ir, z _Ir) and corresponding infrared cooperative target unique point (u _i, v _i) (i=1 2...5) can solve warship point position.

As shown in Figure 4, ground control station 7 is made up of image display, operating rod, the image that infrared acquisition gyratory stabilizing system 8 detects is presented on the display device, being convenient to the ground controller observes, image is handled by infrared acquisition gyratory stabilizing system 8 on the other hand, after calculating needs simulation deck runway image information, deliver to control computer 4, control computer 4 has photoelectric guide algorithm 5, the built-in photoelectric guide algorithm of control computer is according to system model, estimate the naval vessel the characteristics of motion, warship point position.The control personnel can also carry out control corresponding to infrared acquisition gyratory stabilizing system 8 by the image information and the mission requirements that show.

The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.

Claims

1, a kind of photoelectric guide emulation system for ship is characterized in that: comprise 5 infrared cooperative targets (1), rectilinear motion unit (2), motor and reduction gear (3), control computer (4), ground control station (7), the infrared acquisition gyratory stabilizing system (8) that has thermal camera and motion controller (9); Described 5 infrared cooperative targets (1) place on the rectilinear motion unit (2), motion controller (9) is controlled rectilinear motion unit motion (2) thereby is driven 5 infrared cooperative targets (1) motion, and 5 infrared cooperative targets generate the motion of a simulation deck runway simulation ship deck runway because of the wave effect; Infrared acquisition gyratory stabilizing system (8) realizes infrared acquisition and optical axis stable effect, after infrared acquisition gyratory stabilizing system (8) detects the simulation deck runway image of infrared cooperative target (1) generation on the one hand, deliver to ground control station (7), the control personnel at ground station control station (7) are according to image recognition, locking simulation deck runway image, after infrared acquisition gyratory stabilizing system (8) is handled 5 simulation deck runway images on the other hand, the image information of needs is sent to control computer (4), and control computer (4) estimates the characteristics of motion and warship point position on naval vessel according to photoelectric guide algorithm (5).

2, photoelectric guide emulation system for ship according to claim 1 and 2 is characterized in that: the performing step of described photoelectric guide algorithm (5) is:

(1) determine system model, establishing the infrared photography machine model is the perspective projection model, and its expression formula is:

[\begin{matrix} u \\ v \\ 1 \end{matrix}] = [\begin{matrix} f_{u} & 0 & c_{u} \\ 0 & f_{v} & c_{v} \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} \frac{x_{c}}{y_{c}} \\ \frac{z_{c}}{y_{c}} \\ 1 \end{matrix}] - - - (1)

The rigid body that the runway coordinate is tied to the thermal camera coordinate system is converted to:

[\begin{matrix} x_{c} \\ y_{c} \\ z_{c} \end{matrix}] = [\begin{matrix} R_{11} & R_{12} & R_{13} \\ R_{21} & R_{22} & R_{23} \\ R_{31} & R_{32} & R_{32} \end{matrix}] (\begin{matrix} [\begin{matrix} 1 & 0 & - γ_{s} \\ 0 & 1 & θ_{s} \\ γ_{s} & - θ_{s} & 1 \end{matrix}] [\begin{matrix} x_{r} \\ y_{r} \\ z_{r} \end{matrix}] + [\begin{matrix} 0 \\ 0 \\ h_{s} \end{matrix}] - [\begin{matrix} x_{c}^{r} \\ y_{c}^{r} \\ z_{c}^{r} \end{matrix}] \end{matrix}) - - - (2)

Wherein, f _u, f _v, c _u, c _vBeing the thermal camera parameter, is known number through off-line calibration, and u, v are the image coordinate of infrared cooperative target, γ _s, θ _s, h _sBe respectively roll angle, pitch angle, the sink-float height of Ship Motion; The quadrature rotation matrix R of unit is the attitude matrix that the runway coordinate is tied to the thermal camera coordinate system, R _Ij(i, j=1,2,3) are each element of the quadrature rotation matrix R of unit, are attitude angle position angle, the angle of pitch, roll angle (φ, θ, trigonometric function combination γ), x _c, y _c, z _cBe the coordinate in the camera coordinate system, x _r, y _r, z _rBe the coordinate of runway coordinate system, (x _c ^r, y _c ^r, z _c ^r) ^TBe the coordinate of thermal camera coordinate origin, be amount to be asked at the runway coordinate system;

(2) utilize the image of thermal camera gained, extract 5 infrared cooperative target image informations, and in conjunction with the angle of pitch that inertial navigation system is provided, course angle as system model in the step (1), be the position relation of known quantity in the formula (1) and known 5 infrared cooperative targets, estimate according to the following steps the naval vessel the characteristics of motion and warship point position:

A, utilize 5 infrared cooperative target unique point lateral coordinates u _i(i=1,2...5) and the spatial relation of infrared cooperative target, by system model formula (1) following formula:

A·sinφ＝B·cosφ (3)

B, by system model formula (1) infrared cooperative target at the two-dimensional coordinate of thermal camera coordinate system be:

\{\begin{matrix} x_{ic} = \frac{u_{i}}{f_{u}} y_{ic} \\ z_{ic} = \frac{v_{i}}{f_{v}} y_{ic} \end{matrix} - - - (4)

Formula (2) substitution is got:

\{\begin{matrix} γ_{s} \cdot a_{i 1} + θ_{s} \cdot a_{i 2} + x_{c}^{r} \cdot a_{i 3} + y_{c}^{r} \cdot a_{i 4} + (z_{c}^{r} - h_{s}) \cdot a_{i 5} = a_{i 0} \\ γ_{s} \cdot b_{i 1} + θ_{s} \cdot b_{i 2} + x_{c}^{r} \cdot b_{i 3} + y_{c}^{r} \cdot b_{i 4} + (z_{c}^{r} - h_{s}) \cdot b_{i 5} = b_{i 0} \end{matrix} (i = 1,2, . . 5) - - - (5)

(a wherein _Ij, b _Ij) (i=1,2...5, j=0,1...5) be attitude angle (φ, θ, γ), infrared cooperative target unique point (u _i, v _i) (i=1 is 2..5) with infrared cooperative target runway coordinate (x _Ir, y _Ir, z _Ir) (i=1,2..5) relevant amount, the angle of pitch, roll angle, the course angle φ of steps A gained, infrared cooperative target unique point (u that airborne inertial navigation system is provided _i, v _i) (i=1,2...5) and infrared cooperative target simulation runway coordinate (x _Ir, y _Ir, z _Ir) (i=1,2..5) substitution formula (5);

C, utilize the γ of airborne inertial navigation information to being tried to achieve _s, θ _s, and relative height change and to carry out parameter estimation, draw the characteristics of motion on naval vessel;

D, the Ship Motion rule that estimates with respect to the position and the step (C) of simulation ship deck runway by the ground car of real-time calculating gained, aircraft concerned and time of arrival the position of warship point vis-a-vis when the prediction guiding finished, and was droping to warship according to this information adjustment aircraft flight.

3, photoelectric guide emulation system for ship according to claim 1 is characterized in that: described infrared cooperative target (1) formed plane becomes 3.5-4.5 ° of angle with ground.

4, photoelectric guide emulation system for ship according to claim 1 is characterized in that: described infrared acquisition gyratory stabilizing system (8) comprises pitching motor, azimuth-drive motor, pitch gyro, traverse gyro, thermal camera, main frame, data acquisition board, orientation and pitch gyro motor driver; The picture signal that thermal camera collects is delivered to data acquisition board and is handled, data acquisition board is delivered to display to the picture signal that does not have to handle on the one hand and is shown, send into main frame on the other hand, by main frame image is handled the image information that draws infrared cooperative target and send into tracking after ground control station (7) is used to calculate and lock, thereby realize the infrared acquisition function; Pitching motor, azimuth-drive motor are controlled on the direction of course and two degree of freedom of pitching and scan, by two rate gyros, be to deliver to main frame after converting digital quantity to through interface board after responsive orientation of traverse gyro, pitch gyro and the luffing, main frame calculates the speed instruction of thermal camera optical axis according to pitching, traverse gyro, after power amplification, add to two torque motors again, be pitching motor, azimuth-drive motor, control two motors according to this command rate motion, thereby realize optical axis stable.

5, photoelectric guide emulation system for ship according to claim 4 is characterized in that: described infrared acquisition gyratory stabilizing system (8) is gone back the in-built CCD camera machine, is used for observing the visible light target.

6, photoelectric guide emulation system for ship according to claim 1, it is characterized in that: described ground control station (7) is by image display, operating rod is formed, infrared acquisition gyratory stabilizing system (5) obtains the image of infrared cooperative target, on the one hand image is presented on the display device, being convenient to the ground controller observes, on the other hand image is handled, obtain the view data of infrared cooperative target and view data is delivered to the control computer processing, the control personnel can also carry out control corresponding to the infrared acquisition gyratory stabilizing system by the image and the mission requirements that show.