CN103134387A - Low altitude low speed small target detection and interception system calibration method - Google Patents
Low altitude low speed small target detection and interception system calibration method Download PDFInfo
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Abstract
A low altitude low speed small target detection and interception system calibration method uses knowledge of space geometry and error compensation to enable a detection device and an interception device to be converted into a uniform three-dimensional rectangular coordinate system. A space geometry coordinate of the interception device relative to the detection device is calculated by measuring position, pitching and distance of the interception device relative to the detection device, and a coordinate transformation module of a target from the detection device to the interception device is established. Uniform of the coordinates of the detection system and the interception system is achieved through transformation of the space coordinate and the rectangular coordinate, at the same time the model is modified through a multipoint averaging method and accuracy of the system is improved.
Description
Technical field
The present invention relates to a kind of low-altitude low-velocity small targets surveys and the intercepting system scaling method.
Background technology
Low-altitude low-velocity small targets is surveyed and intercepting system integrated use Infrared video image treatment technology, target data fusion, servo control technique, the communication technology during air defense control is controlled etc., suspicious low-altitude low-velocity small targets is searched for, follows the tracks of, identified and tackles, comprise command and control system, target detection system and target intercepting system.System adopts the distributed deployment scheme, because the relative distance of disposing is nearer, generally adopts the mode of the independent demarcation of system and error compensation to realize that the coordinate of system is unified.Although this scaling method is simple, is difficult to satisfy the high-precision requirement of system.
Summary of the invention
The object of the present invention is to provide a kind of low-altitude low-velocity small targets to survey and the intercepting system scaling method, utilize the relative position relation of equipment, by the conversion of space polar coordinate and rectangular co-ordinate, realize that the coordinate of detection and intercepting system is unified, improve the tracking accuracy of system.
Technical scheme of the present invention is as follows:
A kind of low-altitude low-velocity small targets is surveyed and the intercepting system scaling method, it is characterized in that comprising the steps:
(1) detecting devices and interception equipment pitching zeroing, detecting devices is at first with the zeroing of capstan head horizontal plane, then by proofreading and correct the pitching zero point of infrared equipment at four corners of the world orientation tree day-mark bar; Interception equipment is adjusted the plane of capstan head by level meter, namely tackle the pitching zero point of equipment;
(2) utilize laser range finder and total powerstation to measure respectively interception equipment with respect to the position relationship of detecting devices, will the interception device translates in the coordinate space of detecting devices, with X-axis for positive north;
(3) choose a typical target, measurement target is with respect to orientation, pitching and the oblique distance of detecting devices, and demarcates the orientation zero point of interception equipment, the preliminary demarcation of completion system with the value after model conversion;
(4) choose ten typical static objects, detecting devices and interception equipment is orientation, pitching and the oblique distance of measurement target respectively, the static error after the computation model conversion;
(5) rule of analytical error is revised the coordinate transition model;
(6) complete static demarcating after, carry out the real-time tracking of dynamic object, the dynamic tracking accuracy of verification system.
The present invention utilizes space geometry knowledge and error compensation relevant knowledge, and detecting devices and interception device translates are arrived unified three-dimensional cartesian coordinate system.By measuring the orientation of the relative detecting devices of interception equipment, pitching and distance are calculated interception equipment with respect to the space geometry coordinate of detecting devices, set up the Coordinate Transformation Models of target from detecting devices to interception equipment.By the conversion of space polar coordinate and rectangular co-ordinate, realize to survey and the coordinate of intercepting system unified, simultaneously, the method correction model that adopts multiple spot to average, the precision of raising system.
Description of drawings
Figure 1 shows that the schematic diagram of space coordinate conversion
The specific embodiment
The present invention arrives unified three-dimensional cartesian coordinate system with detecting devices and interception device translates, by measuring the orientation of the relative detecting devices of interception equipment, pitching and distance, calculate interception equipment relatively with the space geometry coordinate of detecting devices, set up the Coordinate Transformation Models of target from detecting devices to the equipment of interception.Simultaneously, the method correction model that adopts multiple spot to average improves the precision of system.Specifically comprise the following steps:
(1) detecting devices and interception equipment pitching zeroing, detecting devices is at first with the zeroing of capstan head horizontal plane, then by proofreading and correct the pitching zero point of infrared equipment at four corners of the world orientation tree day-mark bar; Interception equipment is adjusted the plane of capstan head by level meter, namely tackle the pitching zero point of equipment;
(2) utilize laser range finder and total powerstation to measure respectively interception equipment with respect to the position relationship of detecting devices, will the interception device translates in the coordinate space of detecting devices, with X-axis for positive north;
(3) choose a typical target, measurement target is with respect to orientation, pitching and the oblique distance of detecting devices, and demarcates the orientation zero point of interception equipment, the preliminary demarcation of completion system with the value after model conversion;
(4) choose ten typical static objects, detecting devices and interception equipment is orientation, pitching and the oblique distance of measurement target respectively, the static error after the computation model conversion;
(5) rule of analytical error is revised the coordinate transition model;
(6) complete static demarcating after, carry out the real-time tracking of dynamic object, the dynamic tracking accuracy of verification system.
Below take a cover detecting devices and a cover interception equipment as example, the principle of coordinate demarcation of the present invention be described.
Figure 1 shows that the schematic diagram of space coordinate conversion.
The position of interception equipment and detecting devices as shown in Figure 1, in Fig. 1, take detecting devices as the space coordinates initial point, X-axis represents direct north, can by digital compass decide north.Interception equipment is in the space coordinates of detecting devices.β represent interception equipment in the horizontal plane projection with respect to the X-axis orientation angles, α represents interception equipment relatively and the angle of pitch of detecting devices.According to the position relationship of actual deployment system, adopt optics to take aim at mutually mode and determine angular relationship, distance B is demarcated and is adopted laser range finder.α, β and D bring the correction model of system into as calibrating parameters, and gather 10 typical static object points, the error compensation value of computing system.Offset obtains by the mean value of coordinate model conversion value with interception equipment measured value.
Claims (1)
1. a low-altitude low-velocity small targets is surveyed and the intercepting system scaling method, it is characterized in that comprising the steps:
(1) detecting devices and interception equipment pitching zeroing, detecting devices is at first with the zeroing of capstan head horizontal plane, then by proofreading and correct the pitching zero point of infrared equipment at four corners of the world orientation tree day-mark bar; Interception equipment is adjusted the plane of capstan head by level meter, namely tackle the pitching zero point of equipment;
(2) utilize laser range finder and total powerstation to measure respectively interception equipment with respect to the position relationship of detecting devices, will the interception device translates in the coordinate space of detecting devices, with X-axis for positive north;
(3) choose a typical target, measurement target is with respect to orientation, pitching and the oblique distance of detecting devices, and demarcates the orientation zero point of interception equipment, the preliminary demarcation of completion system with the value after model conversion;
(4) choose ten typical static objects, detecting devices and interception equipment is orientation, pitching and the oblique distance of measurement target respectively, the static error after the computation model conversion;
(5) rule of analytical error is revised the coordinate transition model;
(6) complete static demarcating after, carry out the real-time tracking of dynamic object, the dynamic tracking accuracy of verification system.
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| CN201110385539.XA CN103134387B (en) | 2011-11-29 | 2011-11-29 | Low altitude low speed small target detection and interception system calibration method |
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| CN201110385539.XA CN103134387B (en) | 2011-11-29 | 2011-11-29 | Low altitude low speed small target detection and interception system calibration method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104880126A (en) * | 2015-05-19 | 2015-09-02 | 北京机械设备研究所 | LSS (Low, slow and small) target interception method based on flight path extrapolation |
| CN105116916A (en) * | 2015-09-25 | 2015-12-02 | 北京机械设备研究所 | Distributed photoelectric tracking system cooperative tracking method |
| CN105486175A (en) * | 2014-11-20 | 2016-04-13 | 中国久远高新技术装备公司 | Low-altitude security protection system and method based on large-power continuous laser |
| CN106199577A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object flight angle detection method based on radio detection and system |
| CN106199569A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object solid speed detection method and system based on radio detection |
| CN106199576A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of low slow Small object speed detection method and apparatus based on radio sensor |
| CN106199571A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets flight speed |
| CN106199575A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object three-dimensional viewpoin detection method based on radio detection and system |
| CN106199501A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets solid flight angle |
| CN109631675A (en) * | 2018-08-06 | 2019-04-16 | 北京蓝箭空间科技有限公司 | Missile intercept device |
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| EP0655599A1 (en) * | 1993-11-25 | 1995-05-31 | AEROSPATIALE Société Nationale Industrielle | Anti-aircraft defence system and defence missile for such a system |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105486175A (en) * | 2014-11-20 | 2016-04-13 | 中国久远高新技术装备公司 | Low-altitude security protection system and method based on large-power continuous laser |
| CN105486175B (en) * | 2014-11-20 | 2017-05-10 | 中国久远高新技术装备公司 | Low-altitude security protection system and method based on large-power continuous laser |
| CN104880126A (en) * | 2015-05-19 | 2015-09-02 | 北京机械设备研究所 | LSS (Low, slow and small) target interception method based on flight path extrapolation |
| CN104880126B (en) * | 2015-05-19 | 2017-01-18 | 北京机械设备研究所 | LSS (Low, slow and small) target interception method based on flight path extrapolation |
| CN105116916A (en) * | 2015-09-25 | 2015-12-02 | 北京机械设备研究所 | Distributed photoelectric tracking system cooperative tracking method |
| CN106199501A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets solid flight angle |
| CN106199569B (en) * | 2016-06-24 | 2018-09-21 | 北京环境特性研究所 | Low slow Small object solid speed detection method and system based on radio detection |
| CN106199575A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object three-dimensional viewpoin detection method based on radio detection and system |
| CN106199576A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of low slow Small object speed detection method and apparatus based on radio sensor |
| CN106199569A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object solid speed detection method and system based on radio detection |
| CN106199577A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | Low slow Small object flight angle detection method based on radio detection and system |
| CN106199576B (en) * | 2016-06-24 | 2018-09-21 | 北京环境特性研究所 | A kind of low slow Small object speed detection method and apparatus based on radio sensor |
| CN106199571A (en) * | 2016-06-24 | 2016-12-07 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets flight speed |
| CN106199501B (en) * | 2016-06-24 | 2018-09-21 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets solid flight angle |
| CN106199575B (en) * | 2016-06-24 | 2018-11-06 | 北京环境特性研究所 | Low slow Small object three-dimensional viewpoin detection method based on radio detection and system |
| CN106199577B (en) * | 2016-06-24 | 2018-11-06 | 北京环境特性研究所 | Low slow Small object flight angle detection method based on radio detection and system |
| CN106199571B (en) * | 2016-06-24 | 2018-11-06 | 北京环境特性研究所 | A kind of complex probe method and system of low-altitude low-velocity small targets flying speed |
| CN109631675A (en) * | 2018-08-06 | 2019-04-16 | 北京蓝箭空间科技有限公司 | Missile intercept device |
| CN109631675B (en) * | 2018-08-06 | 2024-03-26 | 蓝箭航天空间科技股份有限公司 | Missile interceptor |
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