CN105547295A - Ground target passive speed measuring method for airborne photoelectric observing and aiming system on basis of gyroscope speed measurement - Google Patents

Abstract

The invention provides a ground target passive speed measuring method for an airborne photoelectric observing and aiming system on the basis of gyroscope speed measurement. The method comprises the step that on the basis of relevant parameters such as an aerial carrier three-axis attitude angle, an aerial carrier movement velocity vector, an aerial carrier altitude and a ground target altitude which are measured by an airborne inertial navigation system and an aiming line orientation or pitch angle and photoelectric turret orientation or pitch angle velocity data which are measured by the photoelectric observing and aiming system, an appropriate mathematical model is established to conducted precise estimation on the movement velocity size and the movement direction of a ground target aimed by the photoelectric observing and aiming system. When speed measurement is implemented, a ground operator only needs to manipulate a handle to press the target to enter an automatic tracking mode, and on the premise that lasers do not need to be emitted to conduct distance measurement on the ground target, a master computer of the photoelectric observing and aiming system can calculate out the velocity vector of the ground target in a geodetic coordinate system in real time and report the velocity vector to an upper computer to be displayed on a screen.

Description

The passive speed-measuring method of system terrain object is taken aim in the airborne photoelectric sight of testing the speed based on gyro

Technical field

The invention belongs to airborne photoelectric Intelligence Technology field, relate to a kind of airborne photoelectric tested the speed based on gyro and see system of taking aim at passive speed-measuring method on a surface target, the method can make photoelectric observing take aim at system when carrying out tenacious tracking to ground moving object, does not need laser ranging to operate and just can record the velocity of target under earth coordinates in real time.

Background technology

Under current IT-based warfare condition, the use that system (hereinafter referred to as electro-optical system) taken aim at by helicopter or unmanned plane photoelectric observing is had higher requirement.How electro-optical system can provide target information to be comprehensively and accurately the problem that first will solve before implementing precision strike to target in time.To in the use of electro-optical system, require when carrying out from motion tracking interesting target, geo-location can not only be carried out to it, can also calculate the size and Orientation (velocity) of the speed of target in real time, for commander, operating personnel, this will accurately judge that Research on Target situation provides important evidence.Unmanned plane domestic at present or helicopter photoelectric observing are taken aim in system has possessed target localization function; but direction finding of testing the speed (velocity) ability do not possessed mobile surface targets (as the panzer in movement, tank etc.), is not especially using the passive ability of testing the speed in laser ranging situation for self-protection object.

In addition in the use of unmanned plane or helicopter electrooptical device, conveniently operator observes in region on a surface target for a long time, have employed relevant speed backoff algorithm, make operator not need in manually aiming situation of carrying out, the boresight of electro-optical system can point to fixed ground target region automatically.But for the moving target on ground, because obtaining the velocity of target travel, the backoff algorithm adopted is not suitable for moving target.Therefore, utilizing the related measurement data of carrier aircraft inertial navigation system and electro-optical system, by resolving the translational speed and direction that obtain terrain object in real time, making the boresight of electro-optical system point to mobile surface targets in real time, realizing the compensation to moving target, is also the starting point of this programme.

Summary of the invention

For solving prior art Problems existing, the present invention proposes a kind of airborne photoelectric tested the speed based on gyro and see system of taking aim at passive speed-measuring method on a surface target, can realize not carrying out resolving estimation to target speed and direction under laser ranging operational circumstances on a surface target.

The present invention is based on the correlation parameter such as carrier aircraft three-axis attitude angle, aircraft motion velocity, carrier aircraft sea level elevation, terrain object sea level elevation of carrier aircraft inertial navigation system measurement and boresight orientation/luffing angle, the Electric-Optic Turret orientation/rate of pitch data of electro-optical system measurement, set up appropriate mathematical model, accurate estimation is made to the movement velocity size and Orientation of the terrain object that electro-optical system aims at.When enforcement is tested the speed, terrestrial operation person only needs control handle to push down target and enters automatic tracing mode, under not needing Emission Lasers to carry out range finding situation on a surface target, electro-optical system principal computer just real-time resolving can go out the velocity of terrain object at earth coordinates, reports host computer and shows on screen.

Technical scheme of the present invention is:

Described a kind of airborne photoelectric tested the speed based on gyro sees system of taking aim at passive speed-measuring method on a surface target, it is characterized in that: comprise the following steps:

Step 1: airborne photoelectric is seen and taken aim at system in tracking target process, Real-time Collection measurement data α _f, β _f, γ _f, h _u, θ _aZ, θ _eL, ω _aZ, ω _eL; Wherein α _f, β _f, γ _fbe followed successively by carrier aircraft current course angle, the angle of pitch and roll angle that carrier aircraft inertial navigation system is measured, h _ufor the sea level elevation of the carrier aircraft point that inertial navigation system is measured, θ _aZ, θ _eLbe followed successively by airborne photoelectric to see and take aim at the current of systematic survey and take aim at line position angle, the angle of pitch, ω _aZ, ω _eLbe followed successively by airborne photoelectric to see and take aim at system to capstan head Azimuth, Speed, Altitude, rate of pitch during target tenacious tracking;

Step 2: set up carrier aircraft point ' sky, northeast ' coordinate system O-XYZ and airborne photoelectric according to the measurement data of step 1 and see and take aim at system coordinate system O-X _ey _ez _ecoordinate transform formula:

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=A_1*A_2*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=A*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]$

Wherein, (x, y, z) is the coordinate of target under carrier aircraft point ' sky, northeast ' coordinate system, and (xe, ye, ze) is the coordinate of target under system coordinate system is taken aim in airborne photoelectric sight; Matrix A ₁for carrier aircraft point ' sky, northeast ' coordinate system O-XYZ is to body axis system O-X _uy _uz _utransition matrix, matrix A ₂for body axis system O-X _uy _uz _usee to airborne photoelectric and take aim at system coordinate system O-X _ey _ez _etransition matrix:

$A_1=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}_F\right)& \sin \left({\mathrm{\α}}_F\right)& 0\\ -\sin \left({\mathrm{\α}}_F\right)& \cos \left({\mathrm{\α}}_F\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\β}}_F\right)& -\sin \left({\mathrm{\β}}_F\right)\\ 0& \sin \left({\mathrm{\β}}_F\right)& \cos \left({\mathrm{\β}}_F\right)\end{array}\right]*\left[\begin{array}{ccc}\cos \left({\mathrm{\γ}}_F\right)& 0& \sin \left({\mathrm{\γ}}_F\right)\\ 0& 1& 0\\ -\sin \left({\mathrm{\γ}}_F\right)& 0& \cos \left({\mathrm{\γ}}_F\right)\end{array}\right]$

$A_2=\left[\begin{array}{ccc}\cos \left({\mathrm{\θ}}_{AZ}\right)& \sin \left({\mathrm{\θ}}_{AZ}\right)& 0\\ -\sin \left({\mathrm{\θ}}_{AZ}\right)& \cos \left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\θ}}_{EL}\right)& -\sin \left({\mathrm{\θ}}_{EL}\right)\\ 0& \sin \left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right];$

Step 3: the coordinate transform formula obtained by step 2, to time differentiate, obtains target and takes aim at system coordinate system medium velocity vector and the relation at carrier aircraft point ' sky, northeast ' coordinate system medium velocity vector in airborne photoelectric sight:

$\left\{\begin{array}{c}\frac{dx}{dt}=a_{11}*\frac{dxe}{dt}+a_{12}*\frac{dye}{dt}+a_{13}*\frac{dze}{dt}\\ \frac{dy}{dt}=a_{21}*\frac{dxe}{dt}+a_{22}*\frac{dye}{dt}+a_{23}*\frac{dze}{dt}\\ \frac{dz}{dt}=a_{31}*\frac{dxe}{dt}+a_{32}*\frac{dye}{dt}+a_{33}*\frac{dze}{dt}\end{array}\right.$

Wherein (dx/dt, dy/dt, dz/dt) is the velocity of target under carrier aircraft point ' sky, northeast ' coordinate system, and (dxe/dt, dye/dt, dze/dt) is the velocity of target under system coordinate system is taken aim in airborne photoelectric sight;

Step 4: according to following kinematic relation

$\frac{dx}{dt}=V_{TX}-V_{UX},\frac{dy}{dt}=V_{TY}-V_{UY},\frac{dz}{dt}=-V_{UZ},\frac{{\mathrm{dx}}_e}{dt}={\mathrm{\ω}}_{AZ}*L,\frac{{\mathrm{dz}}_e}{dt}={\mathrm{\ω}}_{EL}*L,$

L=(h _u-h _g)/(-a ₃₂) formula of process of solution 3, obtain

$\left\{\begin{array}{c}{V}_{TX}=V_{UX}+a_{11}*{\mathrm{\ω}}_{AZ}*L+a_{13}*{\mathrm{\ω}}_{EL}*L-(a_{12}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\\ V_{TY}=V_{UY}+a_{21}*{\mathrm{\ω}}_{AZ}*L+a_{23}*{\mathrm{\ω}}_{EL}*L-(a_{22}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\end{array}\right.$

Wherein (V _uX, V _uY, V _uZ) be the velocity of carrier aircraft under earth coordinates, (V _tX, V _tY, 0) and be the velocity of target under earth coordinates, h _gbe the on-site elevation of carrier aircraft, L is the oblique distance of carrier aircraft to target.

Beneficial effect

Beneficial effect of the present invention is embodied in the following aspects:

(1) the present invention is by setting up carrier aircraft point ' sky, northeast ' coordinate system, carrier aircraft body axis system and electro-optical system coordinate system, the metrical information such as boresight orientation angles, luffing angle, Azimuth, Speed, Altitude, rate of pitch that the flying field sea level elevation at input carrier aircraft three-axis attitude angle, aircraft motion velocity, carrier aircraft sea level elevation, carrier aircraft place and electro-optical system itself provide, calculates the vector velocity of terrain object under earth coordinates in real time.Operator only need aim at ground interesting target and perform and follow the tracks of operation, and electro-optical system principal computer just real-time resolving can go out movement velocity and the direction of target, result of calculation to be presented on screen and to report to host computer.This method belongs to the passive category that tests the speed, and does not need Emission Lasers to find range to target, thus improves the protection to self.

(2) the present invention real-time resolving can go out the velocity of institute's run-home, and the method has enriched the function that photoelectric observing takes aim at system, for commander, operating personnel accurately judge that Research on Target situation provides important evidence.The present invention does not need to increase any hardware resource on the basis of existing electro-optical system, and only needing increases the function upgrading that related software modules just can realize airborne lidar for fluorescence, and application mode is simple.

Accompanying drawing explanation

Fig. 1 the present invention is based on the airborne photoelectric that gyro tests the speed to see the workflow diagram taking aim at the passive speed-measuring method of system terrain object.

Fig. 2 is the schematic diagram of carrier aircraft point ' sky, northeast ' coordinate system, carrier aircraft body axis system and electro-optical system coordinate system.

Embodiment

Below in conjunction with specific embodiment, the present invention is described:

Method of the present invention is seen to take aim in system at airborne photoelectric and is realized by related software modules, and workflow diagram is shown in accompanying drawing 1.Electro-optical system is in tracking after target, and principal computer performs following steps:

Step 1: airborne photoelectric is seen and taken aim at system in tracking target process, Real-time Collection measurement data α _f, β _f, γ _f, h _u, θ _aZ, θ _eL, ω _aZ, ω _eL, the collection period of data is not more than 20ms.

α _f, β _f, γ _fbe followed successively by carrier aircraft current course angle, the angle of pitch and roll angle that carrier aircraft inertial navigation system is measured, α _fto be positive and negatively defined as: in accompanying drawing 2, OZ axle just clockwise turns to, and is rotated counterclockwise as negative; β _fto be positive and negatively defined as: in accompanying drawing 2, OX is just axially rotating to be, and is rotated down as negative; γ _fto be positive and negatively defined as: in accompanying drawing 2, OY axle just clockwise turns to, and is rotated counterclockwise as negative.

H _ufor the sea level elevation of the carrier aircraft point that inertial navigation system is measured.

θ _aZ, θ _eLbe followed successively by airborne photoelectric to see and take aim at the current of systematic survey and take aim at line position angle, the angle of pitch, θ _aZto be positive and negatively defined as: OZ in accompanying drawing 2 _uaxle just clockwise turns to, and is rotated counterclockwise as negative; θ _eLto be positive and negatively defined as: OX in accompanying drawing 2 _ujust axially rotate to be, be rotated down as negative.

ω _aZ, ω _eLbe followed successively by airborne photoelectric to see and take aim at system to capstan head Azimuth, Speed, Altitude, rate of pitch during target tenacious tracking; ω _aZto be positive and negatively defined as: Electric-Optic Turret is turned right as just, and it is negative for turning left; ω _eLto be positive and negatively defined as: Electric-Optic Turret transfers to just, under transfer to negative.

Step 2: set up carrier aircraft point ' sky, northeast ' coordinate system O-XYZ and airborne photoelectric according to the measurement data of step 1 and see and take aim at system coordinate system O-X _ey _ez _ecoordinate transform formula:

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=A_1*A_2*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=A*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]$

Wherein, (x, y, z) is the coordinate of target under carrier aircraft point ' sky, northeast ' coordinate system, and (xe, ye, ze) is the coordinate of target under system coordinate system is taken aim in airborne photoelectric sight; Matrix A ₁for carrier aircraft point ' sky, northeast ' coordinate system O-XYZ is to carrier aircraft body axis system O-X _uy _uz _utransition matrix, matrix A ₂for carrier aircraft body axis system O-X _uy _uz _usee to airborne photoelectric and take aim at system coordinate system O-X _ey _ez _etransition matrix:

$A_1=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}_F\right)& \sin \left({\mathrm{\α}}_F\right)& 0\\ -\sin \left({\mathrm{\α}}_F\right)& \cos \left({\mathrm{\α}}_F\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\β}}_F\right)& -\sin \left({\mathrm{\β}}_F\right)\\ 0& \sin \left({\mathrm{\β}}_F\right)& \cos \left({\mathrm{\β}}_F\right)\end{array}\right]*\left[\begin{array}{ccc}\cos \left({\mathrm{\γ}}_F\right)& 0& \sin \left({\mathrm{\γ}}_F\right)\\ 0& 1& 0\\ -\sin \left({\mathrm{\γ}}_F\right)& 0& \cos \left({\mathrm{\γ}}_F\right)\end{array}\right]$

$A_2=\left[\begin{array}{ccc}\cos \left({\mathrm{\θ}}_{AZ}\right)& \sin \left({\mathrm{\θ}}_{AZ}\right)& 0\\ -\sin \left({\mathrm{\θ}}_{AZ}\right)& \cos \left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\θ}}_{EL}\right)& -\sin \left({\mathrm{\θ}}_{EL}\right)\\ 0& \sin \left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right];$

Matrix element a wherein ₃₂be exactly that airborne photoelectric sees the Y taking aim at system coordinate system _ethe direction cosine of angle between the Z axis of axle and carrier aircraft point ' sky, northeast ' coordinate system.

Step 3: the coordinate transform formula obtained by step 2, to time differentiate, obtains target and takes aim at system coordinate system medium velocity vector and the relation at carrier aircraft point ' sky, northeast ' coordinate system medium velocity vector in airborne photoelectric sight:

$\left\{\begin{array}{c}\frac{dx}{dt}=a_{11}*\frac{dxe}{dt}+a_{12}*\frac{dye}{dt}+a_{13}*\frac{dze}{dt}\\ \frac{dy}{dt}=a_{21}*\frac{dxe}{dt}+a_{22}*\frac{dye}{dt}+a_{23}*\frac{dze}{dt}\\ \frac{dz}{dt}=a_{31}*\frac{dxe}{dt}+a_{32}*\frac{dye}{dt}+a_{33}*\frac{dze}{dt}\end{array}\right.$

Wherein (dx/dt, dy/dt, dz/dt) is the velocity of target under carrier aircraft point ' sky, northeast ' coordinate system, and (dxe/dt, dye/dt, dze/dt) is the velocity of target under system coordinate system is taken aim in airborne photoelectric sight.

According to relative motion principle, the numerical value of (dx/dt, dy/dt, dz/dt) is exactly that the speed of target under carrier aircraft point ' sky, northeast ' coordinate system deducts the speed of carrier aircraft under earth coordinates.

The velocity of carrier aircraft under earth coordinates is (V _uX, V _uY, V _uZ); Because of carrier aircraft to ground level much smaller than earth radius, can think that the earth is for plane, under the earth is the model of plane, the velocity of terrain object under earth coordinates can be set to (V _tX, V _tY, 0).Then under carrier aircraft point ' sky, northeast ' coordinate system, the velocity of the relative carrier aircraft of target is (V _tX-V _uX, V _tY-V _uY, 0-V _uZ), that is:

$\frac{dx}{dt}=V_{TX}-V_{UX},\frac{dy}{dt}=V_{TY}-V_{UY},\frac{dz}{dt}=-V_{UZ}$

Have in addition

${\mathrm{\ω}}_{AZ}=\left(\frac{{\mathrm{dx}}_e}{dt}\right)/L=>\frac{{\mathrm{dx}}_e}{dt}={\mathrm{\ω}}_{AZ}*L,{\mathrm{\ω}}_{EL}=\left(\frac{{\mathrm{dz}}_e}{dt}\right)/L=>\frac{{\mathrm{dz}}_e}{dt}={\mathrm{\ω}}_{EL}*L,$

L＝(Δh)/(-a ₃₂)＝(h _u-h _g)/(-a ₃₂)。

Step 4: according to following kinematic relation

$\frac{dx}{dt}=V_{TX}-V_{UX},\frac{dy}{dt}=V_{TY}-V_{UY},\frac{dz}{dt}=-V_{UZ},\frac{{\mathrm{dx}}_e}{dt}={\mathrm{\ω}}_{AZ}*L,\frac{{\mathrm{dz}}_e}{dt}={\mathrm{\ω}}_{EL}*L,$

L=(h _u-h _g)/(-a ₃₂) formula of process of solution 3, obtain

$\left\{\begin{array}{c}{V}_{TX}=V_{UX}+a_{11}*{\mathrm{\ω}}_{AZ}*L+a_{13}*{\mathrm{\ω}}_{EL}*L-(a_{12}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\\ V_{TY}=V_{UY}+a_{21}*{\mathrm{\ω}}_{AZ}*L+a_{23}*{\mathrm{\ω}}_{EL}*L-(a_{22}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\end{array}\right.$

Wherein (V _uX, V _uY, V _uZ) be the velocity of carrier aircraft under earth coordinates, (V _tX, V _tY, 0) and be the velocity of target under earth coordinates, h _gbe the on-site elevation of carrier aircraft, L is the oblique distance of carrier aircraft to target.

In the present embodiment, α _f=20 °, β _f=5 °, γ _f=2 °, h _u=3000m, θ _aZ=30 °, θ _eL=-25 °, ω _aZ=0.004rad/s, ω _eL=-0.001rad/s, h _g=500m, V _uX=20m/s, V _uY=20m/s, V _uZ=0.1m/s

Obtain:

$\begin{array}{c}{A}_1=\left[\begin{array}{ccc}\cos \left({\mathrm{\α}}_F\right)& \sin \left({\mathrm{\α}}_F\right)& 0\\ -\sin \left({\mathrm{\α}}_F\right)& \cos \left({\mathrm{\α}}_F\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\β}}_F\right)& -\sin \left({\mathrm{\β}}_F\right)\\ 0& \sin \left({\mathrm{\β}}_F\right)& \cos \left({\mathrm{\β}}_F\right)\end{array}\right]*\left[\begin{array}{ccc}\cos \left({\mathrm{\γ}}_F\right)& 0& \sin \left({\mathrm{\γ}}_F\right)\\ 0& 1& 0\\ -\sin \left({\mathrm{\γ}}_F\right)& 0& \cos \left({\mathrm{\γ}}_F\right)\end{array}\right]\\ =\left[\begin{array}{ccc}0.9402& 0.3407& 0.0030\\ -0.3390& 0.9361& -0.0938\\ -0.0348& 0.0872& 0.9956\end{array}\right];\end{array}$

$A_2=\left[\begin{array}{ccc}\cos \left({\mathrm{\θ}}_{AZ}\right)& \sin \left({\mathrm{\θ}}_{AZ}\right)& 0\\ -\sin \left({\mathrm{\θ}}_{AZ}\right)& \cos \left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\θ}}_{EL}\right)& -\sin \left({\mathrm{\θ}}_{EL}\right)\\ 0& \sin \left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right]$

$=\left[\begin{array}{ccc}0.8660& 0.4532& 0.2113\\ -0.5000& 0.7849& 0.3660\\ 0& -0.4226& 0.9063\end{array}\right];$

And then obtain:

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=\left[\begin{array}{ccc}0.6438& 0.6922& 0.3261\\ -0.7616& 0.6208& 0.1860\\ -0.0737& -0.3681& 0.9269\end{array}\right]*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right];$

So:

$\left\{\begin{array}{c}\frac{dx}{dt}=a_{11}*\frac{dxe}{dt}+a_{12}*\frac{dye}{dt}+a_{13}*\frac{dze}{dt}=0.6438*\frac{dxe}{dt}+0.6922*\frac{dye}{dt}+0.3261*\frac{dze}{dt}\\ \frac{dy}{dt}=a_{21}*\frac{dxe}{dt}+a_{22}*\frac{dye}{dt}+a_{23}*\frac{dze}{dt}=-0.7616*\frac{dxe}{dt}+0.6208*\frac{dye}{dt}+0.1860*\frac{dze}{dt}\\ \frac{dz}{dt}=a_{31}*\frac{dxe}{dt}+a_{32}*\frac{dye}{dt}+a_{33}*\frac{dze}{dt}=0.0737*\frac{dxe}{dt}-0.3681*\frac{dye}{dt}+0.9269*\frac{dze}{dt}\end{array}\right.;$

And L=(Δ h)/(-a ₃₂)=(h _u-h _g)/(-a ₃₂)=6791.6m, $\left(\frac{{\mathrm{dx}}_e}{\mathrm{dt}}\right)={\mathrm{\ω}}_{\mathrm{AZ}}*L=27.17m/s,$ $\left(\frac{{\mathrm{dz}}_e}{dt}\right)={\mathrm{\ω}}_{EL}*L=-6.79m/s;$ Obtain:

$\left\{\begin{array}{c}{V}_{TX}=19.87m/s\\ V_{TY}=-15.77m/s\end{array}\right..$

Claims (1)

1. the airborne photoelectric tested the speed based on gyro sees system of taking aim at a passive speed-measuring method on a surface target, and its feature exists

In: comprise the following steps:

Step 1: airborne photoelectric is seen and taken aim at system in tracking target process, Real-time Collection measurement data α _f, β _f, γ _f, h _u, θ _aZ, θ _eL, ω _aZ, ω _eL; Wherein α _f, β _f, γ _fbe followed successively by carrier aircraft current course angle, the angle of pitch and roll angle that carrier aircraft inertial navigation system is measured, h _ufor the sea level elevation of the carrier aircraft point that inertial navigation system is measured, θ _aZ, θ _eLbe followed successively by airborne photoelectric to see and take aim at the current of systematic survey and take aim at line position angle, the angle of pitch, ω _aZ, ω _eLbe followed successively by airborne photoelectric to see and take aim at system to capstan head Azimuth, Speed, Altitude, rate of pitch during target tenacious tracking;

Step 2: set up carrier aircraft point ' sky, northeast ' coordinate system O-XYZ and airborne photoelectric according to the measurement data of step 1 and see and take aim at system coordinate system O-X _ey _ez _ecoordinate transform formula:

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=A_1*A_2*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=A*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]*\left[\begin{array}{c}xe\\ ye\\ ze\end{array}\right]$

Wherein, (x, y, z) is the coordinate of target under carrier aircraft point ' sky, northeast ' coordinate system, and (xe, ye, ze) is the coordinate of target under system coordinate system is taken aim in airborne photoelectric sight; Matrix A ₁for carrier aircraft point ' sky, northeast ' coordinate system O-XYZ is to body axis system O-X _uy _uz _utransition matrix, matrix A ₂for body axis system O-X _uy _uz _usee to airborne photoelectric and take aim at system coordinate system O-X _ey _ez _etransition matrix:

$A_1=\left[\begin{array}{ccc}cos\left({\mathrm{\α}}_F\right)& sin\left({\mathrm{\α}}_F\right)& 0\\ -sin\left({\mathrm{\α}}_F\right)& cos\left({\mathrm{\α}}_F\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\left({\mathrm{\β}}_F\right)& -sin\left({\mathrm{\β}}_F\right)\\ 0& sin\left({\mathrm{\β}}_F\right)& \cos \left({\mathrm{\β}}_F\right)\end{array}\right]*\left[\begin{array}{ccc}cos\left({\mathrm{\γ}}_F\right)& 0& sin\left({\mathrm{\γ}}_F\right)\\ 0& 1& 0\\ -sin\left({\mathrm{\γ}}_F\right)& 0& cos\left({\mathrm{\γ}}_F\right)\end{array}\right]$

$A_2=\left[\begin{array}{ccc}\cos \left({\mathrm{\θ}}_{AZ}\right)& \sin \left({\mathrm{\θ}}_{AZ}\right)& 0\\ -\sin \left({\mathrm{\θ}}_{AZ}\right)& \cos \left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]*\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \left({\mathrm{\θ}}_{EL}\right)& -\sin \left({\mathrm{\θ}}_{EL}\right)\\ 0& \sin \left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right];$

Step 3: the coordinate transform formula obtained by step 2, to time differentiate, obtains target and takes aim at system coordinate system medium velocity vector and the relation at carrier aircraft point ' sky, northeast ' coordinate system medium velocity vector in airborne photoelectric sight:

$\left\{\begin{array}{c}\frac{dx}{dt}=a_{11}*\frac{dxe}{dt}+a_{12}*\frac{dye}{dt}+a_{13}*\frac{dze}{dt}\\ \frac{dy}{dt}=a_{21}*\frac{dxe}{dt}+a_{22}*\frac{dye}{dt}+a_{23}*\frac{dze}{dt}\\ \frac{dz}{dt}=a_{31}*\frac{dxe}{dt}+a_{32}*\frac{dye}{dt}+a_{33}*\frac{dze}{dt}\end{array}\right.$

Wherein (dx/dt, dy/dt, dz/dt) is the velocity of target under carrier aircraft point ' sky, northeast ' coordinate system, and (dxe/dt, dye/dt, dze/dt) is the velocity of target under system coordinate system is taken aim in airborne photoelectric sight;

Step 4: according to following kinematic relation

$\frac{dx}{dt}=V_{TX}-V_{UX},\frac{dy}{dt}=V_{TY}-V_{UY},\frac{dz}{dt}=-V_{UZ},\frac{{\mathrm{dx}}_e}{dt}={\mathrm{\ω}}_{AZ}*L,\frac{{\mathrm{dz}}_e}{dt}={\mathrm{\ω}}_{EL}*L,L=(h_u-h_g)/(-a_{32})$ The formula of process of solution 3, obtains

$\left\{\begin{array}{c}{V}_{TX}=V_{UX}+a_{11}*{\mathrm{\ω}}_{AZ}*L+a_{13}*{\mathrm{\ω}}_{EL}*L-(a_{12}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\\ V_{TY}=V_{UY}+a_{21}*{\mathrm{\ω}}_{AZ}*L+a_{23}*{\mathrm{\ω}}_{EL}*L-(a_{22}/a_{32})*(V_{UZ}+a_{31}*{\mathrm{\ω}}_{AZ}*L+a_{33}*{\mathrm{\ω}}_{EL}*L)\end{array}\right.$

Wherein (V _uX, V _uY, V _uZ) be the velocity of carrier aircraft under earth coordinates, (V _tX, V _tY, 0) and be the velocity of target under earth coordinates, h _gbe the on-site elevation of carrier aircraft, L is the oblique distance of carrier aircraft to target.