CN106441356B - A kind of device and method for correcting airborne platform and carrier aircraft relative angular displacement - Google Patents
A kind of device and method for correcting airborne platform and carrier aircraft relative angular displacement Download PDFInfo
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- CN106441356B CN106441356B CN201610805858.4A CN201610805858A CN106441356B CN 106441356 B CN106441356 B CN 106441356B CN 201610805858 A CN201610805858 A CN 201610805858A CN 106441356 B CN106441356 B CN 106441356B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention discloses a kind of device and method for correcting airborne platform and carrier aircraft relative angular displacement, by measurement and real-time angular displacement is calculated, platform can be sent the result to, as error compensation item, it is superimposed with carrier aircraft current pose angle, more accurate optical axis angle value is obtained, is conducive to improve positioning accuracy.And demand of the system to space and hardware resource is all lower.Compact hardware, it is at low cost, can install in a variety of forms；Software calculation amount is small, real-time is high, amendment is effective, and in the alignment procedures of initial angle zero-bit early period, it does not need to increase alignment and calibration on the ground, it can be completed in a few minutes, by acquiring initial value, awing real-time measurement current value and analyze as a result, filtering out the displacement unrelated with positioning result.
Description
Technical field
The present invention relates to airborne platforms to technical field of target location, and in particular to a kind of amendment airborne platform
With the device and method of carrier aircraft relative angular displacement.
Background technique
In order to expand scope of reconnaissance, most of airborne platform all has shafting structure, such imaging system (video camera, photograph
Camera and thermal imaging system etc.) scope of reconnaissance can be expanded by rotation in carrier aircraft.So most of airborne platform can be divided into
Base part 20 and pivotable parts 21.Pedestal 20 is used to be fixed to carrier aircraft, and pivotable parts 21 are connected by shafting and pedestal
It connects, drives imaging system rotation to search for target.It is airborne flat in aerial reconnaissance for the requirement of versatility and maintainability
Platform generallys use strapdown mode, and in order to improve scouting image quality, the pedestal 20 of airborne platform passes through damper
It is fixed in carrier aircraft, so that isolated part vibrates, improves the stability of platform itself.But what most damper main bodies used
Damping structure belongs to flexible material, so during practical flight, by engine luggine, windage, carrier aircraft flight it is unstable,
The influence of the factors such as platform displacement, airborne platform can generate the displacement relative to carrier aircraft.These displacement include integral translation,
Angular displacement and mixing displacement.
In existing target positioning field, majority requires to use the deflection by spot with respect to carrier aircraft.This
Deflection refer to relative to horizontal direction, the reference direction sanctified by usage such as zenith or vertical direction, north orientation or east orientation
Angle.In flight course, the angle is if desired determined, on the one hand need to know the opposite by spot of airborne platform output
In the angle of airborne platform, on the other hand need to know angle of the airborne platform itself relative to reference deflection.It is airborne
Movement of the platform by isolation carrier aircraft, independent spot, by constantly rotating by target lock-on in visual field, so that it is determined that view
Direction of the axis relative to carrier aircraft.Inertial navigation unit (IMU) can determine itself attitude angle, but be limited to the volume of airborne platform, inertial navigation
Unit is not placed on airborne platform mostly, but in other cabins in carrier aircraft.Inertial navigation list is adjusted when by initially installing
Angle of the member in carrier aircraft, it is believed that the benchmark zero degree direction of platform and the zero degree direction of carrier aircraft are consistent.But position is generated in platform
In the case where shifting, the zero degree direction of carrier aircraft and the zero degree direction of platform are possible to glance off.The course of airborne platform at this time
Index line 11 will occur mobile and/or rotate, and in various rotations, the translation only along index line direction is only to positioning accurate
Degree influences negligible situation.The movement and rotation of remaining any direction, all can be to positioning including the rotation around itself
As a result it produces bigger effect.When rotating, resolved by the pitch angle of itself and azimuth of platform output
When, actually inaccurate.That is, there are errors relative to reference direction for the target obtained.
Summary of the invention
In view of this, the present invention provides device and the sides of a kind of amendment airborne platform and carrier aircraft relative angular displacement
Angular displacement decomposition is added in three attitude angles of carrier aircraft on the basis of airborne platform, it is converted can be reduced coordinate by method
Error in journey, to improve positioning accuracy.
A kind of device for correcting airborne platform and carrier aircraft relative angular displacement, including cross, probe, lighting system,
Imaging system, position control system and turn-key system；
The cross is fixed on the top of the pedestal of airborne platform；4 feeler arms of cross are in the same plane,
One radially movable probe is set on each feeler arm；The outboard end of each probe be provided with lighting system and at
As system；Lighting system is used to illuminate corresponding bulkhead region of popping one's head in；Imaging system be used for bulkhead region carry out at
Picture；
Position of the position control system according to the control instruction of turn-key system control probe in respective feeler arm, together
When, the location information of detection probe, and feed back to turn-key system；
The probe position information that the turn-key system is fed back according to position control system sends to position control system and controls
Instruction；Meanwhile the bulkhead image obtained according to imaging system, judge that cross is being rotated and/or translated with airborne platform
Afterwards, displacement of each probe relative to initial position is obtained, angular displacement size of the cross relative to carrier aircraft is thus obtained, adopts
It is added in the correspondence attitude angle of carrier aircraft with the angular displacement size, the deflection error of target is modified.
A kind of modification method of airborne platform and carrier aircraft relative angular displacement, includes the following steps:
Step 1: calibration probe initial position:
When the mounting plane of airborne platform is adjusted to consistent with the attitude angle of carrier aircraft itself, airborne platform is fixed
On to carrier aircraft and it is elevated to real work position, the center of cross is overlapped with the geometric center of pedestal；At this point, starting position
Each probe is adjusted to approach four sides bulkhead, and controls the bulkhead that four lighting systems illuminate face by control system, for four at
As the image texture of system acquisition bulkhead, turn-key system records the cabin of each probe face at this time according to the image texture of bulkhead
Wall position, as reference origin；
Step 2: acquisition is displaced and analyzes in real time；
In flight course, airborne platform and cross thereon are rotated with respect to carrier aircraft, are passed through each imaging and are
The bulkhead of system shooting face, turn-key system obtain each position popped one's head in and occurred relative to respective reference origin according to image texture
Shifting amount obtains angular displacement size of the cross relative to carrier aircraft, wherein the angular displacement is respectively pitching in conjunction with probe brachium
The angular displacement at angle, roll angle and course angle；
Step 3: error correction:
Cross that step 2 obtains is added to corresponding three attitude angles of carrier aircraft relative to the angular displacement size of carrier aircraft
On, the deflection error of target is modified.
Preferably, obtaining cross phase according to 4 displacements occurred relative to respective reference origin of popping one's head in step 2
For the angular displacement size of carrier aircraft method particularly includes:
It will be respectively defined as preceding probe and rear probe along former and later two probes in aircraft flight direction, the probe of left and right two is fixed
Justice is left probe and right probe；It is established in bulkhead plane using the reference origin on the corresponding bulkhead of each probe as origin two-dimentional straight
Angular coordinate system is defined as bulkhead coordinate system；
When probe has displacement, the displacement of each probe is decomposed into two in respectively corresponding bulkhead coordinate system
In reference axis, that is, it is expressed as (u1,v1)、(u2,v2)、(u3,v3) and (u4,v4)；
Defining the brachium between forward and backward probe is l12, brachium is l between left and right probe34, then pitch angleRoll angleCourse angle
The invention has the following beneficial effects:
The positive effect of the present invention is through measurement and real-time angular displacement is calculated, and can send the result to flat
Platform is superimposed as error compensation item with carrier aircraft current pose angle, obtains more accurate optical axis angle value, and it is fixed to be conducive to improve
Position precision.And demand of the system to space and hardware resource is all lower.Compact hardware, it is at low cost, can be with a variety of shapes
Formula installation；Software calculation amount is small, real-time is high, amendment is effective, and in the alignment procedures of initial angle zero-bit early period, does not need to increase
Add alignment and calibration on the ground, can be completed in a few minutes, by acquiring initial value, awing real-time measurement is current
It is worth and analyzes as a result, filtering out the displacement unrelated with positioning result.
Detailed description of the invention
Fig. 1 is displacement measurement system top view.
Fig. 2 is displacement measurement system installation site and working principle diagram.In order to read conveniently, front and back cabin is only gived in figure
The schematic diagram of wall, and it is not drawn into left and right bulkhead.
u1-v1It is the initial position popped one's head in the past is reference origin, the bulkhead coordinate system established on scuttle bulkhead, u1For water
Square to v1For vertical direction；u2-v2The initial position popped one's head in after being is reference origin, and the bulkhead established on aftbulkhead is sat
Mark system.Left and right bulkhead is not drawn into.
Wherein, at the top of 1-；2- cross；4,7,15,16- lighting systems；5,8,18,19- imaging system；It pops one's head in front of 3-,
It pops one's head in after 6-, the left probe of 14-, the right probe of 17-；9- position control system；10- turn-key system；11- bearing indication line, before 12-
Wall；13- rear wall；20- pedestal, 21- pivotable parts.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention is whole set of system, contains software and hardware two parts.
As shown in Fig. 2, airborne platform include pedestal 20 and pivotable parts 21 (with pedestal 20 by coupling of shaft system, can
To rotate around multiple axis, imaging system search target is scouted to drive), at the top 1 of the pedestal 20 of airborne platform, (platform is used
In the fixed pedestal part of strapdown to carrier aircraft) a measurement cross 2 is fixed, it include four in four measurement arms of the cross 2
A telescopic probe, preceding probe 3, afterwards probe 6, left probe 14, right probe 17, each probe are controlled by position control system 9, can
To pass through flexible four walls for approaching load cabin respectively, i.e. antetheca 12 and rear wall 13 (left wall and right wall are not drawn into).Outside preceding probe 3
There are LED illumination System 4 and imaging system 5 in end；There are LED illumination System 7 and imaging system 8 in the outer end of probe 6 afterwards；Left probe 14
There are LED illumination System 15 and imaging system 19 in outer end；There are LED illumination System 16 and imaging system 18 in the outer end of right probe 17.It visits
Head position control system 9, which contains, to be controlled there are four micro-machine and position sensor for receiving the information of turn-key system 10 with this
Position of four probes in cross 2, and the location information of probe is fed back into turn-key system 10.Four bulkheads to measurement
The center of cross 2 is not necessarily equidistant, i.e. four measurement arms of cross 2 are not necessarily isometric, need to pass through position control
The location information that system 9 is fed back determines.
Turn-key system 10 measures four probes relative to reference origin by the signal of reception imaging system 5,8,18,19
Displacement, in conjunction with measurement arm length, deflection of the cross 2 relative to carrier aircraft can be obtained by coordinate projection and trigonometric function
Angle, due to using rigid connection, three obtained deflection angle, Ke Yizhi between cross 2 and the pedestal 20 of airborne platform
In the attitude angle for connecing the carrier aircraft that is added to, and the main control part of airborne platform is sent result to, error is carried out in subsequent calculating
Compensation.Wherein, the angular displacement is respectively pitch angle, roll angle and course angle angular displacement；In three attitude angles of carrier aircraft,
Pitch angle refers to carrier aircraft head in the pitching of vertical direction；Roll angle be two wings using fuselage as axis vertical direction rolling
It is dynamic；Course angle refers to the angle for deviateing due north in the horizontal plane.
Wherein, the system mounting location is as shown in Fig. 2, can be using two ways in conjunction with airborne platform.
The first is that the system integrates alone, is fixed on the pedestal 20 of airborne platform by rigid connection, whole system
For a patty, be integrally attached to the top of pedestal 20, the degree more than needed selection of visual space be fixed on pedestal 20 inside or
Outside, and latex can be used and be wrapped to form flexible sealing, to reach waterproof requirement.
Second is measurement cross 2 and turn-key system 10 using split-type design.Measurement bay 2 needs to be rigidly connected to machine
20 part of pedestal of carrying platform, turn-key system 10 can be integrated into the suitable position inside airborne platform according to space requirement.Two
Part is communicated with transmission line interconnection.
Both mounting means require that measurement surrounding during real work of cross 2 still has bulkhead for acquisition
When image, i.e. platform are down to outside load cabin, probe is still needed to inside load cabin.
A method of angular displacement between amendment airborne platform and carrier aircraft, comprising the following steps:
Step 1: calibration probe initial position.When the mounting plane of airborne platform is adjusted to the attitude angle one with carrier aircraft itself
When cause, photoelectric platform is fixed in carrier aircraft and is elevated to real work position, by the center of cross 2 and pedestal 20
Geometric center is overlapped.At this point, starting position control system 9, is adjusted to flexible probe to approach four sides bulkhead, due to general in cabin
Darker, four LED illumination Systems pass through acquisition image texture and mould for four imaging systems by illuminating the bulkhead of face respectively
Formula records the bulkhead position of face at this time, and as the reference origin of four coordinate systems, storage is arrived in turn-key system 10.Subsequent
In the process, all as reference origin when calculating the relative displacement of the platform.
Step 2: acquisition is displaced and analyzes in real time.Due in flight course, when airborne platform is in operating position, by
In factors such as vibration, flow perturbations, the active force that airborne platform is subject to contains various modes, and resulting displacement is also a variety of
Multiplicity, it is biggish for positioning effects, it is the offset of the optical axis, i.e. the whole rotation generated on damper of platform.The present invention adopts
Four probe systems are exactly for the relative displacement that can determine platform and carrier aircraft by opposite side difference be integral translation or
Rotation.If translation, due to the displacement very little of damper, displacement of the platform with respect to carrier aircraft be can control in millimeter (mm) magnitude,
Influence to positioning is very little；If but containing rotation, it is assumed that since detection range is in km (km) magnitude, then small-sized
On platform (radius of turn is in 10cm), the rotation of 1mm just can make the position error of target at 1km reach 10m.
Probe 3 and rear probe 6 before being respectively defined as along former and later two probes in aircraft flight direction, the probe of left and right two
It is defined as left probe 14 and right probe 17；It is established in bulkhead plane using the reference origin on the corresponding bulkhead of each probe as origin
Two-dimensional Cartesian coordinate system is defined as bulkhead coordinate system；Each probe is obtained relative to respective reference origin according to image texture
The displacement of generation projects to the displacement of each probe in respective coordinate system according to level-vertical direction, forms tape symbol
Coordinate pair (uk,vk), k represents 1,2,3,4 four probes.In conjunction with probe brachium, angle of the cross 2 relative to carrier aircraft is obtained
Displacement obtains the vector pair of tape symbol, such as (u1,v1)=(3, -2).
Step 3: error correction.
The distance between front and back probe is l12, controlling distance between probe is l34, then pitch angle
Roll angleCourse angleThe angle obtained at this time is also tape symbol, can be direct
Coordinate in position fixing process is added in three attitude angles of carrier aircraft when conversion.If u1=u2≠ 0, illustrate airborne platform
Integral translation is carried out in vertical direction, the amount of movement is very little on positioning result influence generally in grade, can neglect
Slightly.u3=u4≠0、v1=v2≠ 0 the case where, is also such.
Embodiment inside the invention will now be described in detail with reference to the accompanying drawings.Four probes are same structures, now first with
Preceding probe 3 illustrates.The outer end of probe 3 before LED illumination lamp 4 is fixed on, operating room's light is irradiated on scuttle bulkhead 12, be for
Sufficient illumination, the picture arrived in order to cameras capture are provided to miniature high-speed cmos camera in the very dark platform cabin
There are enough identifications.The shooting of cmos camera face scuttle bulkhead, is sent to the DSP in turn-key system 10 by transmission line after imaging
Chip, by the variation of texture in dsp chip analysis picture, by calculating, movement of the probe 3 relative to scuttle bulkhead before obtaining
Amount.Meanwhile if probe positions can be issued not when DSP judges that the picture that cmos camera captures has illumination deficiency
Enough signals are sent to displacement control system 9 through transmission line.Probe 3 is stretched before displacement control system 9 is driven by micro-machine
It is long, so that scuttle bulkhead is approached, to obtain enough illumination, while by the position feedback of new preceding probe 3 to master control part, after being used for
It is continuous to calculate.
Equally, the course of work of excess-three probe is identical with this, and master control part is by calculating the phase between two pairs of probes
To position, the total length of displacement segments in both direction is obtained, then according to the displacement measured on bulkhead, uses trigonometric function
The deviation angle of platform base in two directions relative to carrier aircraft is calculated in method, this is between airborne platform and carrier aircraft
Angular displacement.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of device for correcting airborne platform and carrier aircraft relative angular displacement, which is characterized in that including cross, pop one's head in,
Lighting system, imaging system, position control system and turn-key system；
The cross is fixed on the top of the pedestal of airborne platform；4 feeler arms of cross are in the same plane, each
One radially movable probe is set on a feeler arm；The outboard end of each probe is provided with lighting system and imaging system
System；Lighting system is used to illuminate corresponding bulkhead region of popping one's head in；Imaging system is for being imaged bulkhead region；
Position of the position control system according to the control instruction of turn-key system control probe in respective feeler arm, meanwhile,
The location information of detection probe, and feed back to turn-key system；
The probe position information that the turn-key system is fed back according to position control system sends control to position control system and refers to
It enables；Meanwhile according to imaging system obtain bulkhead image, judge cross after rotating and/or translating with airborne platform,
Displacement of each probe relative to initial position is obtained, angular displacement size of the cross relative to carrier aircraft is thus obtained, uses
The angular displacement size is added in the correspondence attitude angle of carrier aircraft, is modified to the deflection error of target；
Wherein, the pitch angle in angular displacement isRoll angle isCourse angle is
Wherein, preceding probe and rear probe, the probe of left and right two will be respectively defined as along former and later two probes in aircraft flight direction
It is defined as left probe and right probe；Two dimension is established in bulkhead plane as origin using the reference origin on the corresponding bulkhead of each probe
Rectangular coordinate system is defined as bulkhead coordinate system；
(u1,v1)、(u2,v2)、(u3,v3) and (u4,v4) respectively indicate preceding probe, pop one's head in afterwards, the displacement of left probe and right probe
Component in two reference axis in respective corresponding bulkhead coordinate system；l12For the brachium between forward and backward probe, l34It is left and right
Brachium between probe.
2. a kind of modification method based on device described in claim 1, which comprises the steps of:
Step 1: calibration probe initial position:
When the mounting plane of airborne platform is adjusted to consistent with the attitude angle of carrier aircraft itself, airborne platform is fixed to and is carried
On machine and it is elevated to real work position, the center of cross is overlapped with the geometric center of pedestal；At this point, starting position control
Each probe is adjusted to approach four sides bulkhead, and controls the bulkhead that four lighting systems illuminate face by system, is for four imagings
The image texture of system acquisition bulkhead, turn-key system record the bulkhead position of each probe face at this time according to the image texture of bulkhead
It sets, as reference origin；
Step 2: acquisition is displaced and analyzes in real time；
In flight course, airborne platform and cross thereon are rotated with respect to carrier aircraft, are clapped by each imaging system
The bulkhead of face is taken the photograph, turn-key system obtains each displacement popped one's head in and occurred relative to respective reference origin according to image texture
Amount, in conjunction with probe brachium, obtain angular displacement size of the cross relative to carrier aircraft, wherein the angular displacement be respectively pitch angle,
The angular displacement of roll angle and course angle；
Step 3: error correction:
The cross that step 2 obtains is added in corresponding three attitude angles of carrier aircraft relative to the angular displacement size of carrier aircraft,
The deflection error of target is modified.
3. modification method as claimed in claim 2, which is characterized in that according to 4 probes relative to respective reference in step 2
The displacement that origin occurs obtains angular displacement size of the cross relative to carrier aircraft method particularly includes:
It will be respectively defined as preceding probe and rear probe along former and later two probes in aircraft flight direction, two probes in left and right are defined as
Left probe and right probe；Two-dimentional right angle is established in bulkhead plane as origin using the reference origin on the corresponding bulkhead of each probe to sit
Mark system, is defined as bulkhead coordinate system；
When probe has displacement, the displacement of each probe is decomposed into two coordinates in respectively corresponding bulkhead coordinate system
On axis, that is, it is expressed as (u1,v1)、(u2,v2)、(u3,v3) and (u4,v4)；
Defining the brachium between forward and backward probe is l12, brachium is l between left and right probe34, then pitch angleRoll angleCourse angle
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| CN107589431B (en) * | 2017-04-24 | 2020-08-18 | 西安应用光学研究所 | Target calibration method for improving target positioning accuracy of airborne photoelectric system |
| CN108981754B (en) * | 2018-09-28 | 2020-10-13 | 中国科学院长春光学精密机械与物理研究所 | Method for zero alignment of mounting angles of photoelectric platform and carrier |
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