CN104459646A - Moon tracking photoelectricity deviation detecting method - Google Patents

Moon tracking photoelectricity deviation detecting method Download PDF

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Publication number
CN104459646A
CN104459646A CN201410646658.XA CN201410646658A CN104459646A CN 104459646 A CN104459646 A CN 104459646A CN 201410646658 A CN201410646658 A CN 201410646658A CN 104459646 A CN104459646 A CN 104459646A
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lander
calibration
moon
sectional drawing
pixel coordinate
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CN104459646B (en
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顾新锋
毛亮
刘童岭
金洵
徐荣
陈小刚
黄坤
谢腾
杨甘霖
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63680 TROOPS PLA
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63680 TROOPS PLA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Abstract

The invention belongs to the technical field of spaceflight observation and control, and discloses a moon tracking photoelectricity deviation detecting method. The method comprises the steps that radar carries out stable tracking by receiving a downgoing signal of a third Chang'e lander on the moon, screen capturing is carried out on a calibration television, the accurate pixel point coordinates of the lander in the screenshot of the calibration television are calculated according to the relative position relation of the lander and a lunar surface characteristic point, the miss distance of the lander in the calibration television is worked out according to the relative position relation of the lander and the optical axis center pixel point coordinates of the calibration television and is corrected through the angle error voltage, the miss distance produced when the antenna electrical boresight is aligned with the lander is obtained, and finally, gravity droop correcting is carried out to obtain the photoelectricity error. The method can achieve dynamic photoelectricity error detection of the shipborne radar under the situation that there is no tower on the sea, the detection operation is simplified, and the detection cost is reduced.

Description

A kind of to moon tracking photoelectricity deviation detecting method
Technical field
The present invention relates to space telemetry and control technology field, particularly one follows the tracks of photoelectricity deviation detecting method to the moon.
Background technology
In the ideal case, the optical axis of shipborne radar system calibration TV, the electric axis of antenna and mechanical axis three axle overlap, and can realize high-acruracy survey.In fact, due to defects such as traditional handicrafts, optical axis, electric axis and mechanical axis can not overlap completely, and the optical axis of calibration TV is the benchmark that radar carries out measurement of angle, overlaps as much as possible with mechanical axis, replace mechanical axis and electric axis to carry out calibration.The deviation of optical axis and electric axis is called photoelectricity deviation, and after the photoelectricity deviation demarcation of system, by the impact of radar antenna motion, photoelectricity deviation may change, if revise not in time, will affect measuring accuracy.
Existing photoelectricity deviation detecting method mainly contains two kinds:
1) calibration tower method: place signal source, beacon antenna, power supply and cursor on calibration tower.Radar antenna, to tower, receives the downgoing signal that calibration tower sends, and makes track receiver azimuth angle error voltage and the output of angle of pitch error voltage be zero, locks, directly reads miss distance, carry out the calculating of photoelectricity deviation in calibration TV to cursor.
2) demarcation ball is put: be fixed on by beacon on balloon, balloon is allowed to fly aloft, antenna receives the downgoing signal of beacon and to go forward side by side line trace, spherical displacer is locked in calibration TV, MAC note dish, the miss distance of admission spherical displacer in calibration TV, recycling angle error voltage and oblique distance carry out the calculating of photoelectricity deviation after revising miss distance.
According to above-mentioned analysis, there is following shortcoming in above-mentioned prior art:
Calibration tower method must possess calibration tower and could implement, and for boat-carrying TT&C system, can use after ship goes to sea without calibration tower, cannot carry out photoelectricity calibration; And calibration tower method needs special establishment officer signal source to be carried on calibration tower, implement complicated;
Putting demarcation ball also needs special establishment officer to discharge beacon ball, and also needing pulsed radar to coordinate provides the oblique distance between radar and target to carry out miss distance correction, its complicated operation; Further, spherical displacer cannot reuse, and cost is higher.
Summary of the invention
The technical matters that the present invention need solve is to provide a kind of photoelectricity deviation detecting method, with at sea without in tower situation, realizes the dynamic photoelectric separate-blas estimation of shipborne radar, and simplifies detection operation, reduction testing cost.
In order to solve the problem, the invention provides a kind of to moon tracking photoelectricity deviation detecting method, its technical scheme adopted is as follows:
Lander on S1, the moon sends downgoing signal to radar receiver, and radar receiver is sent to track receiver after being amplified by the downgoing signal received;
S2, track receiver carry out output angle error voltage after demodulation to the downgoing signal after described amplification, follow the tracks of lander according to described angle error Control of Voltage radar antenna;
The imaging on calibration TV of S3, the moon, described calibration TV is carried on radar antenna; Screenshot capture is carried out to moon imaging, and records angle error voltage and the antenna the earth angle of pitch of the track receiver output of sectional drawing moment;
S4, the pixel coordinate of lander in calibration TV screen sectional drawing calculated on the moon;
S5, result of calculation according to step S4, calculate the miss distance of lander in calibration TV;
S6, utilize described angle error voltage to revise the miss distance of described lander in calibration TV, obtain the correction miss distance of lander;
S7, according to the correction miss distance of described lander and the described antenna the earth angle of pitch, calculate the photoelectricity deviation in current sectional drawing moment;
S8, repeat step S3 to step S7 many times, and using the photoelectricity deviation average that repeatedly obtains as the testing result of photoelectricity deviation, complete the Photoelectric Detection of shipborne radar.
Preferably, described step S4 comprises:
S41, mark have in the lunar surface picture of lander position find two unique points, described two unique points can identify in calibration TV;
S42, in lunar surface picture, determine the relative position relation of described two unique points and lander;
S43, determine the position of two unique points in calibration TV screen sectional drawing;
S44, according to the relative position relation of two unique points and lander and two positions of unique point in calibration TV screen sectional drawing, calculate the pixel coordinate of lander in calibration TV screen sectional drawing.
Preferably, in step S41, the pixel coordinate of lander is T (x t, y t), the pixel coordinate of two unique points is respectively A (x a, y a), B (x b, y b);
Then in step S42, the relative position relation K of two unique points and lander pfor:
K p = ( x T - x A ) 2 + ( y T - y A ) 2 ( x B - x A ) 2 + ( y B - y A ) 2
In step S43, the respective pixel point coordinate of two unique points in calibration TV screen sectional drawing is respectively A 1(x a1, y a1) and B 1(x b1, y b1), lander pixel coordinate in calibration TV screen sectional drawing is T 1(x t1, y t1);
Then in step S44, the pixel coordinate of lander in calibration TV screen sectional drawing is:
x T 1 = x A 1 + K p ( x B 1 - x A 1 ) y T 1 = y A 1 + K p ( y B 1 - y A 1 ) .
Preferably, described step S5 comprises:
S51, cross in calibration TV screen sectional drawing find respectively the pixel coordinate of optical axis center, horizontal positively biased 1mil and longitudinal negative bias 1mil;
S52, calculate horizontal positively biased unit picture element point and the longitudinal positively biased unit picture element point offset relative to optical axis center respectively;
S53, according to the pixel coordinate of lander in calibration TV screen sectional drawing, calculate the horizontal miss distance of lander in calibration TV and longitudinal miss distance respectively.
Preferably, in step S51, in cross, the pixel coordinate of optical axis center is O (x o, y o), the pixel coordinate that cross represents horizontal positively biased 1mil is Z a(x zA, y zA), the pixel coordinate that represents longitudinal negative bias 1mil is Z b(x zB, y zB);
Then in step S52, horizontal positively biased unit picture element point relative to the offset of optical axis center is:
K A = 0.06 × 3600 x ZA - x O
Longitudinal positively biased unit picture element point relative to the offset of optical axis center is:
K E = 0.06 × 3600 x ZB - y O
In step S53, the horizontal miss distance Δ A of lander in calibration TV wfor:
ΔA w＝K A(x T1-x O)
The longitudinal miss distance Δ A of lander in calibration TV efor:
ΔE w＝K E(y T1-y O)。
Preferably, in described step S3, angle error voltage comprises azimuth angle error voltage Δ V awith angle of pitch error voltage Δ V e, then in step S6:
The transverse direction correction miss distance Δ A of lander is:
ΔA = ΔA w - Δ V A K v × 0.06 × 3600
The longitudinal direction correction miss distance Δ E of lander is:
ΔE = ΔE w - Δ V E K v × 0.06 × 3600
Wherein, K vfor track receiver angle error voltage sensitivity.
Preferably, in described step S7, the horizontal photoelectricity deviation in current sectional drawing moment is:
C s(n)＝-ΔA
Longitudinal photoelectricity deviation in current sectional drawing moment is:
C e(n)＝-ΔE-ΔE gcosθ e
Wherein, Δ E gfor gravity sag correction, θ efor the antenna the earth angle of pitch.
The invention has the beneficial effects as follows: one provided by the invention follows the tracks of photoelectricity deviation detecting method to the moon, based on the downgoing signal that ready-made lander sends, radar antenna can normally receive and the feature of tenacious tracking, and in calibration TV, the moon also can blur-free imaging, makes can complete Photoelectric Detection while following the tracks of the moon; The present invention also can carry out photoelectricity separate-blas estimation without in tower situation at sea; And it is organized and implemented conveniently, do not need the upper tower of professional and put ball, not needing pulsed radar to coordinate yet and find range, relate to post personnel few, reduce testing cost; In addition, the lander on the moon is ready-made equipment, does not need to increase other equipment and just can repeatedly reuse, reduce further the testing cost of photoelectricity deviation.
Embodiment
Below in conjunction with embodiment, the specific embodiment of the present invention is described in further detail.
The invention provides a kind of to moon tracking photoelectricity deviation detecting method, comprise the following steps:
Lander on S1, the moon sends downgoing signal to radar receiver, and radar receiver is sent to track receiver after being amplified by the downgoing signal received;
The reception frequency arranging radar receiver is consistent with the transmitting frequency of lander, and track receiver loads phase place and the slope of corresponding frequency, realizes the communication between lander, radar receiver and track receiver.
Existing lander is the goddess in the moon's No. three landers, and because the distance of lander and radar receiver is far, the downgoing signal that radar receiver receives is more weak, and therefore need to amplify downgoing signal, existing radar receiver all has the function of amplifying signal.
S2, track receiver carry out output angle error voltage after demodulation to the downgoing signal after described amplification, follow the tracks of lander according to described angle error Control of Voltage radar antenna;
The imaging on calibration TV of S3, the moon, described calibration TV is carried on radar antenna; Screenshot capture is carried out to moon imaging, and records angle error voltage and the antenna the earth angle of pitch of the track receiver output of sectional drawing moment;
In this step, visual field size and the focal length of calibration TV should be adjusted, make the moon high-visible in calibration TV.The moon shows after imaging on calibration TV on an other computing machine, and completes screenshot capture on that computer.
S4, the pixel coordinate of lander in calibration TV screen sectional drawing calculated on the moon; Specifically comprise:
S41, mark have in the lunar surface picture of lander position find two unique points that can identify in calibration TV, the pixel coordinate of its correspondence is respectively A (x a, y a), B (x b, y b), the pixel coordinate of lander is T (x t, y t);
S42, in lunar surface picture, determine the relative position relation K of described two unique points and lander pfor:
K p = ( x T - x A ) 2 + ( y T - y A ) 2 ( x B - x A ) 2 + ( y B - y A ) 2
S43, determine that the pixel coordinate corresponding in calibration TV screen sectional drawing of two unique points is respectively A 1(x a1, y a1) and B 1(x b1, y b1), lander pixel coordinate in calibration TV screen sectional drawing is T 1(x t1, y t1);
S44, according to the relative position relation of two unique points and lander and two positions of unique point in calibration TV screen sectional drawing, calculating the pixel coordinate of lander in calibration TV screen sectional drawing is:
x T 1 = x A 1 + K p ( x B 1 - x A 1 ) y T 1 = y A 1 + K p ( y B 1 - y A 1 ) ;
S5, according to the pixel coordinate of lander in calibration TV screen sectional drawing, calculate the miss distance of lander in calibration TV; Specifically comprise:
S51, cross in calibration TV screen sectional drawing find respectively the pixel coordinate O (x of optical axis center o, y o), the pixel coordinate Z of horizontal positively biased 1mil a(x zA, y zA) and the pixel coordinate Z of longitudinal negative bias 1mil b(x zB, y zB);
S52, horizontal positively biased unit picture element point coordinate relative to the offset of optical axis center are:
K A = 0.06 × 3600 x ZA - x O
Longitudinal positively biased unit picture element point relative to the offset of optical axis center is:
K E = 0.06 × 3600 x ZB - y O
Wherein, K aand K eunit be rad.
S53, according to the pixel coordinate T of lander in calibration TV screen sectional drawing 1(x t1, y t1), calculate the horizontal miss distance Δ A of lander in calibration TV wfor:
ΔA w＝K A(x T1-x O)
The longitudinal miss distance Δ A of lander in calibration TV efor:
ΔE w＝K E(y T1-y O)；
S6, utilize described angle error voltage to revise the miss distance of described lander in calibration TV, obtain the correction miss distance of lander;
Described angle error voltage comprises azimuth angle error voltage Δ V awith angle of pitch error voltage Δ V e;
Then the transverse direction correction miss distance Δ A of lander is:
ΔA = ΔA w - Δ V A K v × 0.06 × 3600
The longitudinal direction correction miss distance Δ E of lander is:
ΔE = ΔE w - Δ V E K v × 0.06 × 3600
Wherein, K vfor track receiver angle error voltage sensitivity, when track receiver is determined, K vfor constant, unit is V/mil.
S7, according to the correction miss distance of described lander and the described antenna the earth angle of pitch, the horizontal photoelectricity deviation calculating the current sectional drawing moment is:
C s(n)＝-ΔA
Longitudinal photoelectricity deviation in current sectional drawing moment is:
C e(n)＝-ΔE-ΔE gcosθ e
Wherein, Δ E gfor gravity sag correction, θ efor the antenna the earth angle of pitch.
S8, repetition step S3 to step S7 many times, calculate the mean value C of the horizontal photoelectricity deviation repeatedly obtained respectively sand the mean value C of longitudinal photoelectricity deviation e:
C s = Σ n = 1 N C s ( n )
C e = Σ n = 1 N C e ( n )
By the mean value C of repeated detection result sand C eas the photoelectricity separate-blas estimation result of shipborne radar, to improve accuracy of detection.
The invention has the beneficial effects as follows: one provided by the invention follows the tracks of photoelectricity deviation detecting method to the moon, based on the downgoing signal that ready-made lander sends, radar antenna can normally receive and the feature of tenacious tracking, and in calibration TV, the moon also can blur-free imaging, makes can complete Photoelectric Detection while following the tracks of the moon; The present invention also can carry out photoelectricity separate-blas estimation without in tower situation at sea; And it is organized and implemented conveniently, do not need the upper tower of professional and put ball, not needing pulsed radar to coordinate yet and find range, relate to post personnel few, reduce testing cost; In addition, the lander on the moon is ready-made equipment, does not need to increase other equipment and just can repeatedly reuse, reduce further the testing cost of photoelectricity deviation.
Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.

Claims (7)

1. follow the tracks of a photoelectricity deviation detecting method to the moon, it is characterized in that, described method comprises:
Lander on S1, the moon sends downgoing signal to radar receiver, and radar receiver is sent to track receiver after being amplified by the downgoing signal received;
S2, track receiver carry out output angle error voltage after demodulation to the downgoing signal after described amplification, follow the tracks of lander according to described angle error Control of Voltage radar antenna;
The imaging on calibration TV of S3, the moon, described calibration TV is carried on radar antenna; Screenshot capture is carried out to moon imaging, and records angle error voltage and the antenna the earth angle of pitch of the track receiver output of sectional drawing moment;
S4, the pixel coordinate of lander in calibration TV screen sectional drawing calculated on the moon;
S5, result of calculation according to step S4, calculate the miss distance of lander in calibration TV;
S6, utilize described angle error voltage to revise the miss distance of described lander in calibration TV, obtain the correction miss distance of lander;
S7, according to the correction miss distance of described lander and the described antenna the earth angle of pitch, calculate the photoelectricity deviation in current sectional drawing moment;
S8, repeat step S3 to step S7 many times, and using the photoelectricity deviation average that repeatedly obtains as the testing result of photoelectricity deviation, complete the Photoelectric Detection of shipborne radar.
2. follow the tracks of photoelectricity deviation detecting method to the moon as claimed in claim 1, it is characterized in that, described step S4 comprises:
S41, mark have in the lunar surface picture of lander position find two unique points, described two unique points can identify in calibration TV;
S42, in lunar surface picture, determine the relative position relation of described two unique points and lander;
S43, determine the position of two unique points in calibration TV screen sectional drawing;
S44, according to the relative position relation of two unique points and lander and two positions of unique point in calibration TV screen sectional drawing, calculate the pixel coordinate of lander in calibration TV screen sectional drawing.
3. as claimed in claim 2 photoelectricity deviation detecting method is followed the tracks of to the moon, it is characterized in that,
In step S41, the pixel coordinate of lander is T (x t, y t), the pixel coordinate of two unique points is respectively A (x a, y a), B (x b, y b);
Then in step S42, the relative position relation K of two unique points and lander pfor:
K p = ( x T - x A ) 2 + ( y T - y A ) 2 ( x B - x A ) 2 + ( y B - y A ) 2
In step S43, the respective pixel point coordinate of two unique points in calibration TV screen sectional drawing is respectively A 1(x a1, y a1) and B 1(x b1, y b1), lander pixel coordinate in calibration TV screen sectional drawing is T 1(x t1, y t1);
Then in step S44, the pixel coordinate of lander in calibration TV screen sectional drawing is:
x T 1 = x A 1 + K p ( x B 1 - x A 1 ) y T 1 = y A 1 + K p ( y B 1 - y A 1 ) .
4. follow the tracks of photoelectricity deviation detecting method to the moon as claimed in claim 3, it is characterized in that, described step S5 comprises:
S51, cross in calibration TV screen sectional drawing find respectively the pixel coordinate of optical axis center, horizontal positively biased 1mil and longitudinal negative bias 1mil;
S52, calculate horizontal positively biased unit picture element point and the longitudinal positively biased unit picture element point offset relative to optical axis center respectively;
S53, according to the pixel coordinate of lander in calibration TV screen sectional drawing, calculate the horizontal miss distance of lander in calibration TV and longitudinal miss distance respectively.
5. as claimed in claim 4 photoelectricity deviation detecting method is followed the tracks of to the moon, it is characterized in that,
In step S51, in cross, the pixel coordinate of optical axis center is O (x o, y o), the pixel coordinate that cross represents horizontal positively biased 1mil is Z a(x zA, y zA), the pixel coordinate that represents longitudinal negative bias 1mil is Z b(x zB, y zB);
Then in step S52, horizontal positively biased unit picture element point relative to the offset of optical axis center is:
K A = 0.06 × 3600 x ZA - x O
Longitudinal positively biased unit picture element point relative to the offset of optical axis center is:
K E = 0.06 × 3600 y ZB - y O
In step S53, the horizontal miss distance Δ A of lander in calibration TV wfor:
ΔA w＝K A(x T1-x O)
The longitudinal miss distance Δ A of lander in calibration TV efor:
ΔE w＝K E(y T1-y O)。
6. follow the tracks of photoelectricity deviation detecting method to the moon as claimed in claim 5, it is characterized in that, in described step S3, angle error voltage comprises azimuth angle error voltage Δ V awith angle of pitch error voltage Δ V e, then in step S6:
The transverse direction correction miss distance Δ A of lander is:
ΔA = ΔA w - ΔV A K v × 0.06 × 3600
The longitudinal direction correction miss distance Δ E of lander is:
ΔE = ΔE w - ΔV E K v × 0.06 × 3600
Wherein, K vfor track receiver angle error voltage sensitivity.
7. as claimed in claim 6 photoelectricity deviation detecting method is followed the tracks of to the moon, it is characterized in that, in described step S7,
The horizontal photoelectricity deviation in current sectional drawing moment is:
C s(n)＝-ΔA
Longitudinal photoelectricity deviation in current sectional drawing moment is:
C e(n)＝-ΔE-ΔE gcosθ e
Wherein, Δ E gfor gravity sag correction, θ efor the antenna the earth angle of pitch.
CN201410646658.XA 2014-11-14 2014-11-14 Moon tracking photoelectricity deviation detecting method Expired - Fee Related CN104459646B (en)

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CN113608186A (en) * 2021-09-13 2021-11-05 中国工程物理研究院应用电子学研究所 Calibration method for radar system and photoelectric imaging system

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CN107479041A (en) * 2017-10-03 2017-12-15 中国人民解放军63686部队 One kind builds station radar electric axis Detection of Stability method jointly
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CN113048939A (en) * 2021-03-08 2021-06-29 中国人民解放军63691部队 Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment
CN113048939B (en) * 2021-03-08 2022-07-08 中国人民解放军63691部队 Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment
CN113608186A (en) * 2021-09-13 2021-11-05 中国工程物理研究院应用电子学研究所 Calibration method for radar system and photoelectric imaging system
CN113608186B (en) * 2021-09-13 2023-10-20 中国工程物理研究院应用电子学研究所 Calibration method of radar system and photoelectric imaging system

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