CN102520430B - Object locating device of small size airborne photoelectric tracking equipment - Google Patents
Object locating device of small size airborne photoelectric tracking equipment Download PDFInfo
- Publication number
- CN102520430B CN102520430B CN 201110451314 CN201110451314A CN102520430B CN 102520430 B CN102520430 B CN 102520430B CN 201110451314 CN201110451314 CN 201110451314 CN 201110451314 A CN201110451314 A CN 201110451314A CN 102520430 B CN102520430 B CN 102520430B
- Authority
- CN
- China
- Prior art keywords
- gps
- electro
- tracking device
- gps antenna
- optical tracking
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to an object locating system of small size airborne photoelectric tracking equipment, which belongs to the technical field of object location by airborne photoelectric tracking equipment and relates to the object locating system. The invention aims to solve the technical problems and provides the object locating system of the small size airborne photoelectric tracking equipment with the technical scheme that: the object locating system comprises a dual-GPS (Global Position System) antenna, an antenna substrate, a GPS locating and direction-finding resolving unit, an IMU (Inertial Measurement Unit), photoelectric tracking equipment, an aircraft platform and the like. The dual-GPS antenna is fixed on the aircraft platform through the substrate, and the photoelectric tracking equipment is arranged on the aircraft platform, so that a central baseline of the dual-GPS antenna is ensured to be strictly parallel to baselines of azimuth angles of 0 degrees and 180 degrees of the photoelectric tracking equipment. The outputs of the locating and direction-finding resolving unit and the IMU are connected into the photoelectric tracking equipment, and the photoelectric tracking equipment is used for collecting data output by the locating and direction-finding resolving unit and the IMU so as to locate the object. The object locating system is easy for external-field adjustment and maintenance, and is adapted to batch production.
Description
Technical field:
The invention belongs to airborne photoelectric tracking equipment target localization technical field, particularly relate to a kind of object locating system of minitype airborne electro-optical tracking device.
Background technology:
Generally speaking, airborne photoelectric tracking equipment target positions system will install IMU at the airborne photoelectric tracking equipment, and this IMU can measure course angle, the angle of pitch and the roll angle of optoelectronic device.But for the minitype airborne optoelectronic device, there are two problems, the first, the space is limited, can only load small-sized IMU; The second, price request is cheap, does not allow to install the high IMU of price.Based on above-mentioned two aspect factors, the precision of selected IMU is lower, especially course angle, much lower than the angle of pitch and roll angle, and the course angle error is the factor that influences the target location accuracy maximum, the precision of cheap IMU course angle to (dynamic accuracy) more than 2 °, does not satisfy the system index requirement.The present invention is by the measurement with two electro-optical tracking device course angles of GPS, and traditional relatively IMU measuring method has improved the measuring accuracy of course angle, has solved the low-cost IMU of conventional small and has measured the low problem of course angle precision.
Summary of the invention:
In order to overcome the defective that prior art exists, the objective of the invention is to set up a kind of system that can accurately measure course angle, realize the target localization of minitype airborne electro-optical tracking device.
The technical problem to be solved in the present invention is: the object locating system that a kind of minitype airborne optoelectronic device is provided.The technical scheme of technical solution problem as shown in Figure 1, comprise first gps antenna 1, second gps antenna 2, gps antenna substrate 3, gps antenna substrate and aircraft platform first stiff end 4, gps antenna substrate and aircraft platform second stiff end 5, GPS resolves unit 6, IMU7 with direction finding in the location, electro-optical tracking device 8, electro-optical tracking device and aircraft platform first stiff end 9, electro-optical tracking device and aircraft platform second stiff end 10, electro-optical tracking device and aircraft platform the 3rd stiff end 11, electro-optical tracking device and aircraft platform the 4th stiff end 12, aircraft platform 13 passes 0 ° at electro-optical tracking device position angle and the 180 ° of baselines 14 in position angle, passes two GPS centers baseline 15.
Electro-optical tracking device 8 is fixed on the aircraft platform 13 by electro-optical tracking device and aircraft platform first stiff end 9, second stiff end 10, the 3rd stiff end 11, the 4th stiff end 12, makes that to pass 0 ° at electro-optical tracking device position angle consistent with the vector direction with the 180 ° of baselines 14 in position angle; Be installed on the gps antenna substrate 3 with certain spacing distance between first gps antenna 1 and second gps antenna 2, the position near two ends at gps antenna substrate 3, by gps antenna substrate and aircraft platform first stiff end 4 and second stiff end 5 gps antenna substrate 3 is fixed on the aircraft platform 13, makes 0 ° at the two GPS center baseline 15 that passes first gps antenna 1 and second gps antenna 2 and the position angle of passing electro-optical tracking device 8 strict parallel with 180 ° of baselines in position angle 14; GPS resolves unit 6 with direction finding in the location and IMU7 is fixed on the electro-optical tracking device 8, first gps antenna 1 resolves unit 6 with the GPS location with direction finding with the output lead of second gps antenna 2 and is connected, and the GPS location is connected with the receiving end of electro-optical tracking device 8 with the output lead that unit 6 and IMU7 are resolved in direction finding.
Principle of work explanation: the airborne photoelectric tracking equipment needs following key element to the location of target, and namely GPS position, course angle, the angle of pitch, roll angle, the optical axis of electro-optical tracking device depart from the position angle of self zero-bit and the angle of pitch, range-to-go.With two gps antennas (1m～2m) be fixed on the base board at a certain distance, two gps antenna orientations consistent with the course angle of aircraft (demarcating orientation zero-bit and the vector baseline of optoelectronic device consistent in advance), by certain algorithm the course angle that two GPS measure is resolved out, in conjunction with the electro-optical tracking device angle of pitch and the roll angle that IMU measures, realize the location to target.The output lead of 00 pair of gps antenna is connected to the GPS location and resolves unit 6 with direction finding, GPS resolves unit 6 with direction finding in the location course angle of electro-optical tracking device 8 is resolved out, the GPS location is connected with the receiving end of electro-optical tracking device 8 with the output lead that unit 6 and IMU7 are resolved in direction finding, electro-optical tracking device 8 is gathered GPS and is located the output of resolving unit 6 and IMU7 with direction finding, has realized the location of system to target.
Good effect of the present invention: the method that the present invention adopts two GPS to combine with IMU, with the course angle that two GPS measure electro-optical tracking device, measure the angle of pitch and roll angle with IMU.Adopt two GPS methods to measure course angle, precision can be accomplished 0.1 °～0.5 °, compare for 2 ° with the course angle measuring accuracy of small low-cost IMU and to have improved 4～20 times, satisfied the requirement that the minitype airborne electro-optical tracking device positions target like this, and be easy to flight-line service and adjustment, adapt to and produce in batches.
Description of drawings
Fig. 1 is system of the present invention distributed architecture synoptic diagram.
Embodiment
The present invention implements by system's distributed architecture synoptic diagram shown in Figure 1, wherein,
It is the antenna part of the double antenna GPS location direction-finding equipment of SDI-COMPASS that first gps antenna 1 and second gps antenna 2 adopt model;
Substrate and aircraft first stiff end 4 and second stiff end 5 adopt the socket head cap screw of M5 * 8mm;
GPS location and direction finding resolve unit 6 adopt models be SDI-COMPASS double antenna GPS location direction-finding equipment resolve integrated circuit board;
It is the attitude orientation frame of reference of INNALABSAHRS that IMU7 adopts model;
It is the airborne photoelectric tracking equipment of SJY-PT that electro-optical tracking device 8 adopts model;
Electro-optical tracking device and aircraft platform first, second, third, fourth stiff end adopt the socket head cap screw of M5 * 12mm;
When wanting special remarks to be intended on aircraft platform 13 electro-optical tracking device 8 and gps antenna substrate 3 are installed, two GPS center baseline 15 that must guarantee to pass first gps antenna 1 and second gps antenna 2 is parallel with 14 strictnesses of the 180 ° of baselines in position angle with 0 ° at the position angle of passing electro-optical tracking device 8.
Claims (1)
1. the device of the target localization of a minitype airborne electro-optical tracking device, it is characterized in that comprising first gps antenna (1), second gps antenna (2), gps antenna substrate (3), gps antenna substrate and aircraft platform first stiff end (4), gps antenna substrate and aircraft platform second stiff end (5), GPS resolves unit (6) with direction finding in the location, IMU(7), electro-optical tracking device (8), electro-optical tracking device and aircraft platform first stiff end (9), electro-optical tracking device and aircraft platform second stiff end (10), electro-optical tracking device and aircraft platform the 3rd stiff end (11), electro-optical tracking device and aircraft platform the 4th stiff end (12), aircraft platform (13) passes 0 ° at electro-optical tracking device position angle and the 180 ° of baselines in position angle (14), passes two GPS center baselines (15); Electro-optical tracking device (8) is fixed on the aircraft platform (13) by electro-optical tracking device and aircraft platform first stiff end (9), second stiff end (10), the 3rd stiff end (11), the 4th stiff end (12), makes that to pass 0 ° at electro-optical tracking device position angle consistent with the vector direction with the 180 ° of baselines in position angle (14); Be installed on the gps antenna substrate (3) with certain spacing distance between first gps antenna (1) and second gps antenna (2), the position near two ends at gps antenna substrate (3), by gps antenna substrate and aircraft platform first stiff end (4) and second stiff end (5) gps antenna substrate (3) is fixed on the aircraft platform (13), makes 0 ° at the two GPS center baseline (15) that passes first gps antenna (1) and second gps antenna (2) and the position angle of passing electro-optical tracking device (8) strict parallel with the 180 ° of baselines in position angle (14); GPS resolves unit (6) with direction finding in the location and IMU (7) is fixed on the electro-optical tracking device (8), first gps antenna (1) resolves unit (6) with the GPS location with direction finding with the output lead of second gps antenna (2) and is connected, and the GPS location is connected with the receiving end of electro-optical tracking device (8) with the output lead that unit (6) and IMU (7) are resolved in direction finding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110451314 CN102520430B (en) | 2011-12-29 | 2011-12-29 | Object locating device of small size airborne photoelectric tracking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110451314 CN102520430B (en) | 2011-12-29 | 2011-12-29 | Object locating device of small size airborne photoelectric tracking equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102520430A CN102520430A (en) | 2012-06-27 |
| CN102520430B true CN102520430B (en) | 2013-07-03 |
Family
ID=46291412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110451314 Expired - Fee Related CN102520430B (en) | 2011-12-29 | 2011-12-29 | Object locating device of small size airborne photoelectric tracking equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102520430B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106777489B (en) * | 2016-11-22 | 2021-04-06 | 中国人民解放军陆军军官学院 | Tracking state modeling simulation method for unmanned aerial vehicle-mounted photoelectric stable turntable |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101294823A (en) * | 2007-04-28 | 2008-10-29 | 长春奥普光电技术股份有限公司 | Method for multi-load photoelectric tracking equipment self-adjusting two light axes to be parallel |
| CN101813455A (en) * | 2010-04-13 | 2010-08-25 | 中国科学院长春光学精密机械与物理研究所 | Target source with adjustable contrast ratio |
-
2011
- 2011-12-29 CN CN 201110451314 patent/CN102520430B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101294823A (en) * | 2007-04-28 | 2008-10-29 | 长春奥普光电技术股份有限公司 | Method for multi-load photoelectric tracking equipment self-adjusting two light axes to be parallel |
| CN101813455A (en) * | 2010-04-13 | 2010-08-25 | 中国科学院长春光学精密机械与物理研究所 | Target source with adjustable contrast ratio |
Non-Patent Citations (6)
| Title |
|---|
| "Vehicle tethered aerostat optoelectronic monitoring platform system for Shanghai World EXPO";Weihu Zhou et al.;《Proc.of SPIE》;20101231;第7544卷;第75443R-1-75443R-8页 * |
| "机载光电跟踪测量设备的目标定位误差分析";王家骐 等;《光学精密工程》;20050430;第13卷(第2期);第105-116页 * |
| "航空光电成像平台的目标自主定位";刘晶红 等;《光学精密工程》;20070831;第15卷(第8期);第1305-1310页 * |
| Weihu Zhou et al.."Vehicle tethered aerostat optoelectronic monitoring platform system for Shanghai World EXPO".《Proc.of SPIE》.2010,第7544卷第75443R-1-75443R-8页. |
| 刘晶红 等."航空光电成像平台的目标自主定位".《光学精密工程》.2007,第15卷(第8期),第1305-1310页. |
| 王家骐 等."机载光电跟踪测量设备的目标定位误差分析".《光学精密工程》.2005,第13卷(第2期),第105-116页. |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102520430A (en) | 2012-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204007645U (en) | A kind of caliberating device of star sensor benchmark prism square alignment error | |
| CN101922923B (en) | Method for detecting perpendicularity and true position of normal axis | |
| CN102937738B (en) | System and method for achieving accurate positioning of off-axis aspheric surface reflector | |
| CN102023000A (en) | Method for measuring height by fusing unmanned helicopter barometric altimeter and GPS (global positioning system) | |
| CN202956391U (en) | Wind vane zeroing device of wind turbine generator | |
| CN105606129A (en) | Measurement and calibration method for assisting in mounting of airplane inertial navigation finished product assembly | |
| CN104776861A (en) | Flexible calibration device for calibrating wind tunnel vision measurement system | |
| CN104267739A (en) | Satellite signal tracking device and method | |
| CN101975569A (en) | Height measuring method of unmanned helicopter based on laser detection and image recognition | |
| CN113624197B (en) | Measurement and control antenna chassis non-levelness measurement method based on unmanned aerial vehicle platform | |
| CN201955097U (en) | Detection and calibration system of inertia directional equipment | |
| CN103018480A (en) | Self-calibration ultrasonic wind speed measurement method | |
| CN105717499A (en) | Deflection angle measuring and correcting system and method of laser range finder | |
| CN102520430B (en) | Object locating device of small size airborne photoelectric tracking equipment | |
| CN104617389A (en) | Rapid sighting device and method for waveguide antenna | |
| CN203949666U (en) | The mechanism that a kind of obliquity sensor detects | |
| CN105572637B (en) | A kind of far field sonic location system and method | |
| CN109470274A (en) | A kind of vehicular photoelectric theodolite carrier loader platform deformation measuring system and method | |
| CN103398678B (en) | For device and the measuring method of photoplane internal measurement GPS eccentricity component | |
| CN105628338A (en) | Full field of view visual line error calibration method for infrared seeker | |
| CN105548615A (en) | Wind vane calibration method for wind generating set | |
| CN102322840A (en) | Detector of optical radiation angle sensor | |
| CN109945824B (en) | Method and system for measuring and transmitting course reference of carrier | |
| CN203433113U (en) | A laser ranging night vision device | |
| CN202177375U (en) | Detector of optical radiation angle sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130703 Termination date: 20141229 |
|
| EXPY | Termination of patent right or utility model |