CN101339410B - Photoelectric guide emulation system for ship - Google Patents

Photoelectric guide emulation system for ship Download PDF

Info

Publication number
CN101339410B
CN101339410B CN2008101181225A CN200810118122A CN101339410B CN 101339410 B CN101339410 B CN 101339410B CN 2008101181225 A CN2008101181225 A CN 2008101181225A CN 200810118122 A CN200810118122 A CN 200810118122A CN 101339410 B CN101339410 B CN 101339410B
Authority
CN
China
Prior art keywords
infrared
motion
coordinate
image
runway
Prior art date
Application number
CN2008101181225A
Other languages
Chinese (zh)
Other versions
CN101339410A (en
Inventor
仇海涛
王丹
徐烨烽
刘伟
Original Assignee
北京航空航天大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京航空航天大学 filed Critical 北京航空航天大学
Priority to CN2008101181225A priority Critical patent/CN101339410B/en
Publication of CN101339410A publication Critical patent/CN101339410A/en
Application granted granted Critical
Publication of CN101339410B publication Critical patent/CN101339410B/en

Links

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:

u v 1 = f u 0 c u 0 f v c v 0 0 1 x c y c z c y c 1 - - - ( 1 )

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

x c y c z c = R 11 R 12 R 13 R 21 R 22 R 23 R 31 R 32 R 33 ( 1 0 - γ s 0 1 θ s γ s - θ s 1 x r y r z r + 0 0 h s - x c r y c r z c r ) - - - ( 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)

x ic = u i f u y ic z ic = v i f v y ic - - - ( 4 )

With formula (2) substitution, can get through arrangement

γ s · a i 1 + θ s · a i 2 + x c r · a i 3 + y c r · a i 4 + ( z c r - h s ) · a i 5 = a i 0 γ s · b i 1 + θ s · b i 2 + x c r · b i 3 + y c r · b i 4 + ( z c r - h s ) · b i 5 = b i 0 , ( i = 1,2 . . . 5 ) - - - ( 5 )

Wherein:

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 p?cosθ p

m 23=cosθsinθ p-sinθcosγ p?cosθ p

m 33=sinθsinθ p+cosθcosγ p?cosθ 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 = X Y Z , 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 (4)

1. a 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) thus control rectilinear motion unit motion drives 5 infrared cooperative targets (1) motion, 5 infrared cooperative targets (1) generate a simulation ship deck runway, when 5 infrared cooperative targets (1) during by predetermined regular movement, the motion of the runway on the true naval vessel under the motion of described simulation ship deck runway and the wave effect is identical; 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 of ground 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);
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:
The rigid body that the runway coordinate is tied to the thermal camera coordinate system is converted to:
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 Mn, m, n=1,2,3 is each element of the quadrature rotation matrix R of unit, is position angle φ, the pitching angle theta of attitude, the trigonometric function combination of roll angle 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, Be 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 pitching angle theta that inertial navigation system is provided, position angle φ 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, the spatial relation of 2...5 and infrared cooperative target gets following formula by system model formula (1):
A·sinφ=B·cosφ (3)
Wherein A, B are and pitching angle theta, roll angle γ and infrared cooperative target unique point (u i, v i), i=1, the amount that 2..5 is relevant can be tried to achieve relative bearing φ by following formula;
B, by system model formula (1) infrared cooperative target at the two-dimensional coordinate of thermal camera coordinate system be:
Formula (2) substitution is got:
(a wherein Ij, b Ij), i=1,2...5, j=0,1...5 are position angle φ, pitching angle theta, the roll angles of attitude, infrared cooperative target unique point (u i, v i), i=1,2..5 and infrared cooperative target runway coordinate (x Ir, y Ir, z Ir), i=1, the amount that 2..5 is relevant, pitching angle theta, roll angle γ, the position 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 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;
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 traverse gyro, pitch gyro responsive orientation and luffing respectively, then through interface board sensitivity to movement conversion become digital quantity to deliver to main frame, main frame calculates according to above-mentioned digital quantity stablizes the needed speed instruction of thermal camera optical axis, instruction is through being added to after the power amplification on pitching motor, the azimuth-drive motor, make it according to this speed instruction motion, thereby realize optical axis stable.
2. 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.
3. photoelectric guide emulation system for ship according to claim 1 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.
4. 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 (8) 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.
CN2008101181225A 2008-08-12 2008-08-12 Photoelectric guide emulation system for ship CN101339410B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2008101181225A CN101339410B (en) 2008-08-12 2008-08-12 Photoelectric guide emulation system for ship

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2008101181225A CN101339410B (en) 2008-08-12 2008-08-12 Photoelectric guide emulation system for ship

Publications (2)

Publication Number Publication Date
CN101339410A CN101339410A (en) 2009-01-07
CN101339410B true CN101339410B (en) 2011-01-26

Family

ID=40213496

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008101181225A CN101339410B (en) 2008-08-12 2008-08-12 Photoelectric guide emulation system for ship

Country Status (1)

Country Link
CN (1) CN101339410B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101927834B (en) * 2010-08-19 2012-09-05 中国航空工业第六一八研究所 Automatic landing guide signal management method for airplane with three redundancies
CN102645897B (en) * 2011-02-22 2014-03-12 中国航空工业集团公司西安飞机设计研究所 Simulation system of cabin control mechanism and simulation method thereof
CN102354120B (en) * 2011-05-27 2013-04-24 东南大学 Simulation experimental apparatus for intelligent arm support system of concrete pump truck and method thereof
CN102393630B (en) * 2011-09-26 2014-04-23 南京航空航天大学 Carrier aircraft landing guide and control system for inhibiting airflow disturbance of stern and control method for system
CN102393641B (en) * 2011-10-21 2013-08-21 南京航空航天大学 Automatic landing guide control method for carrier aircraft based on deck motion compensation
CN102736522B (en) * 2012-06-25 2014-08-13 杭州电子科技大学 Intelligent simulated instrument
CN102854885B (en) * 2012-08-24 2014-10-15 南京航空航天大学 Longitudinal deck motion compensation method for shipboard aircraft landing
CN102837824B (en) * 2012-09-21 2015-05-06 中国航空无线电电子研究所 Dampening control device of overwater flight aircraft and method of dampening control device
CN103776318A (en) * 2014-01-03 2014-05-07 中国人民解放军陆军军官学院 Photoelectric detection environment simulating system
CN103984231B (en) * 2014-04-17 2017-05-17 中国航空工业集团公司沈阳飞机设计研究所 Longitudinal guidance law design method based on vertical speed rate
CN108897337A (en) * 2018-06-19 2018-11-27 西安电子科技大学 Under a kind of non-visual environment the virtual deck of carrier-borne aircraft warship method

Also Published As

Publication number Publication date
CN101339410A (en) 2009-01-07

Similar Documents

Publication Publication Date Title
US10060746B2 (en) Methods and systems for determining a state of an unmanned aerial vehicle
US10168601B2 (en) Flying camera with string assembly for localization and interaction
US9513635B1 (en) Unmanned aerial vehicle inspection system
US9709993B2 (en) Wide area sensing system, in-flight detection method, and non-transitory computer readable medium storing program of wide area sensing system
EP2895819B1 (en) Sensor fusion
CN104215239B (en) Guidance method using vision-based autonomous unmanned plane landing guidance device
EP2702382B1 (en) Method and system for inspecting a surface area for material defects
Carrillo et al. Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback
EP3158412B1 (en) Sensor fusion using inertial and image sensors
Vallet et al. Photogrammetric performance of an ultra light weight swinglet UAV
US10191486B2 (en) Unmanned surveyor
Meier et al. Pixhawk: A system for autonomous flight using onboard computer vision
Heng et al. Autonomous obstacle avoidance and maneuvering on a vision-guided mav using on-board processing
Bourquardez et al. Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
EP2513602B1 (en) Position and orientation determination using movement data
ES2286431T3 (en) Air recognition system.
EP2366131B1 (en) Method and system for facilitating autonomous landing of aerial vehicles on a surface
US7373242B2 (en) Navigation apparatus and navigation method with image recognition
Barber et al. Vision-based target geo-location using a fixed-wing miniature air vehicle
CA1338747C (en) Automatic landing and navigation system
KR101492271B1 (en) Method and system to control operation of a device using an integrated simulation with a time shift option
ES2397546T3 (en) Precision Approach Control
CN104006787B (en) Spacecraft Attitude motion simulation platform high-precision attitude defining method
Liu et al. Photogrammetric techniques for aerospace applications
WO2017116841A1 (en) Unmanned aerial vehicle inspection system

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110126

Termination date: 20170812

CF01 Termination of patent right due to non-payment of annual fee