CN107589431A - A kind of boresight method for improving airborne lidar for fluorescence target location accuracy - Google Patents
A kind of boresight method for improving airborne lidar for fluorescence target location accuracy Download PDFInfo
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- CN107589431A CN107589431A CN201710700247.8A CN201710700247A CN107589431A CN 107589431 A CN107589431 A CN 107589431A CN 201710700247 A CN201710700247 A CN 201710700247A CN 107589431 A CN107589431 A CN 107589431A
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Abstract
The present invention discloses a kind of boresight method for improving airborne lidar for fluorescence target location accuracy.Airborne lidar for fluorescence object localization method refers to the optoelectronic device being arranged in carrier aircraft, according to the attitude angle of the measured value of itself and carrier aircraft, geographical coordinate, height above sea level, a kind of algorithm for aerial/coordinate of the ground point target under earth coordinates that it is observed is calculated.And by marked where inertial navigation coordinate system and Electric-Optic Turret optical axis be between error be present, so as to cause positioning precision to touch the mark requirement, this patent provides a kind of boresight method that can significantly improve positioning precision, can effectively improve target location accuracy.This patent can utilize existing equipment, nominal light axial coordinate, and calculate the Eulerian angles between emergent shaft coordinate system and inertial navigation coordinate system, after this Eulerian angles transition matrix is substituted into target location algorithm, in the case of 5 kilometers of oblique distance positioning precision about in 10m between 20m.This patent can utilize existing equipment, go for the electro-optical system of different model, versatile.
Description
Technical field
The invention belongs to airborne photoelectric technical field, is a kind of method for improving airborne lidar for fluorescence target location accuracy.
Background technology
Autonomous positioning technology refers to that POS system (being made up of GPS and inertial navigation system) is installed on into airborne photoelectric detects
Examine at the top of equipment, target positioning function is independently realized by airborne photoelectric reconnaissance equipment.By this technology, photoelectronic reconnaissance equipment can
Carry out autonomous positioning on any platform of carry, versatility is good, eliminate ground crew aircraft is carried out attitude data communication, when
The work such as the synchronous docking of clock, installation Adjustment, shorten the joint debugging cycle, eliminate damper error, can be with cost-effective and subtract
Light aircraft platform load weight.
POS system needs to carry out boresight after being arranged in photoelectronic reconnaissance equipment, and traditional boresight method has problems with：
, it is necessary to which opposed flattened boresight place, every frame carrier aircraft are required for special boresight instrument, 1. aircraft needs site requirements
Frame is horizontal；
2. step is numerous and diverse, it is necessary to install target mirror, installation targets target, by steps such as winged rack level, observations, 5- is taken around
10 hours；
3. cost is higher, Instrument Design, producing cost, spend higher.Ground crew needs professional training, operates more multiple
It is miscellaneous.
Traditional boresight method does not all demarcate inertial navigation coordinate system and optical axis coordinate system simultaneously in addition, thus can cause larger
Boresight error, cause boresight precision not high.
The content of the invention
Technical problems to be solved
The technical problem to be solved in the present invention is：Currently employed boresight method alignment is numerous and diverse, alignment time length,
Alignment precision is poor, it is impossible to meets the required precision of target positioning in actual use.
In order to solve the above technical problems, the present invention proposes a kind of boresight side for improving airborne lidar for fluorescence target location accuracy
Method, this method principle are by zenith instrument, and calibration goes out coordinate system where electro-optical system optical axis, and calculate electro-optical system optical axis seat
Eulerian angles between mark system and inertial navigation coordinate system, boresight, the Euler's square that will be obtained after the completion of boresight are realized after forming Euler matrivx
Battle array introduces target location algorithm, can greatly improve target location accuracy.
The method of the present invention utilizes zenith instrument by the way that the electro-optical system being connected and inertial navigation are set up among zenith instrument
Horizontal plain tube group horizontal nature, the angle of pitch and roll angle of calibration electro-optical system optical axis, read inertial navigation and currently export
Roll angle and the angle of pitch, then utilize known to parallel light tube to geographical north to angle and inertial navigation output course angle, after subtracting each other
Calculate the course deviation Eulerian angles between two coordinate systems.
The technical scheme is that：
A kind of boresight method for improving airborne lidar for fluorescence target location accuracy, it is characterised in that：Including following step
Suddenly：
Step 1：Electro-optical system and inertial navigation are connected, are positioned on three pin turntables of zenith instrument center；
Step 2：Electric to electro-optical system and in the inertial navigation connected with it, after the completion for the treatment of inertial alignment, three pin of adjustment turn
Platform, electro-optical system capstan head is operated, make the cross searching of the center parallel light pipe of electro-optical system sight line alignment zenith instrument；
Step 3：90 ° of electro-optical system capstan head orientation rotation is operated, luffing angle is constant, electro-optical system sight line is pointed to day
Push up the cross searching of the parallel light tube of instrument vertical direction；If electro-optical system sight line fails to be directed at the flat of zenith instrument vertical direction
The cross searching of row light pipe, then return to step 2, readjust three pin turntables, operate electro-optical system capstan head, aim at electro-optical system
The cross searching of the center parallel light pipe of line alignment zenith instrument；
Step 4：Electro-optical system capstan head orientation rotation is operated, electro-optical system sight line is respectively directed into zenith instrument, and other are parallel
The cross searching of light pipe, if electro-optical system sight line can be directed at the cross searching of other parallel light tubes of zenith instrument, then it represents that light
Electric system sight line is horizontal with the earth, otherwise return to step 2, readjusts three pin turntables, operates electro-optical system capstan head, makes photoelectricity
The cross searching of the center parallel light pipe of system sight line alignment zenith instrument；
Step 5：Electro-optical system sight line is directed at the cross in zenith instrument center parallel light pipe, to electro-optical system capstan head side
Parallactic angle scale zero, and record pitching angle theta, roll angle φ and the course angle ψ of now inertial navigation outputb；According to zenith instrument center parallel
Light pipe and geographical north angle ψr, azimuth angle deviation ψ=ψ of calculating electro-optical system sight lineb-ψr；
Step 6：According to pitching angle theta, roll angle φ and azimuth angle deviation ψ, inertial navigation coordinate system is calculated to electro-optical system optical axis
The transition matrix of coordinate system
Further preferred scheme, a kind of boresight method for improving airborne lidar for fluorescence target location accuracy, it is special
Sign is：
Azimuth angle deviation obtains in the following manner in step 5：
Carry out selecting at 2 points in outdoor with differential satellite navigation systems and mark, it is desirable to：2 points in differential satellite navigation systems
Upper display longitude is identical, more than distance between two points 1km, and point-to-point transmission is unobstructed in sight；Select latitude it is big for D points, latitude it is small
For P points；
P points are placed on after electro-optical system and inertial navigation are connected, adjust mounting bracket, make the angle of pitch and roll that inertial navigation exports
Angle is equal to the pitching angle theta that inertial navigation exports in step 5, roll angle φ, and electro-optical system optical window center is in P points；Control Opto-electrical Section
System capstan head, makes electro-optical system sight line be directed at D, records the course angle ψ of now inertial navigation outputb' and capstan head azimuth be ψr', obtain
To azimuth angle deviation ψ=ψb′-ψr′。
Beneficial effect
Beneficial effects of the present invention are embodied in the following aspects：
(1) traditional visual boresight method is changed into electronics boresight method by the boresight method of present invention measuring and calculating Eulerian angles, and
By calculating the angle of deviation between two coordinate systems, traditional boresight method is changed into the alignment between two coordinate systems, precision
It is high.
(2) hardware resource that boresight method of the invention needs is less, existing equipment can be utilized to complete boresight, boresight
Time is short, and facilitation degree is high.
(3) process of measuring and calculating Eulerian angles of the invention is easy, has stronger versatility and engineering application value.
Brief description of the drawings
Fig. 1 is the workflow diagram of the inventive method.
Fig. 2 is the operation chart of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and preferred embodiment the present invention is described in further detail.
Optical sensor 2, differential GPS, inertial navigation 1, zenith instrument 4, three pin turn are included using the airborne lidar for fluorescence of the present invention
Platform 3, control handle 5 (Fig. 2).Optical sensor is arranged on the optical bench in electro-optical system, 7 light cylinders of zenith instrument horizontal group
Levelness may remain in 20 " within, center light cylinder measures its axis and geographical north angle ψ by inertial navigationr, its precision is 5 ',
Positioning accuracy of differential GPS is better than 1m.Inertial navigation since boresight before must be fixed on above electro-optical system top cover.Three pin capstan heads are placed
In in the ground grading at zenith instrument center, the amplitude of accommodation up and down of three adjustment pin is more than 3mm.
Should be without shaking phenomenon, according to shown in Fig. 1 when it being operated and is rotated when electro-optical system is placed on three pin capstan heads
Flow perform following operating procedure：
Step 1, electro-optical system and inertial navigation are connected, the depth of parallelism of the mounting flange between inertial navigation and electro-optical system exists
Within 0.1mm, the course arrow at top substantially aligns with electro-optical system zero-bit direction (front), is positioned over zenith instrument centre bit
On the three pin turntables put, three pin capstan heads should be positioned on smooth ground, and the amplitude of accommodation up and down of three adjustment pin should be greater than
3mm。
Step 2, to electricity in electro-optical system and its connected inertial navigation, after the completion for the treatment of inertial alignment, three pin of adjustment turn
Platform, electro-optical system is operated, visual TV is adjusted to minimum visual field so that cross hairs is full of the center of current field, then
Operation electro-optical system makes the sight line in image be overlapped with the cross searching in center parallel light pipe (A light cylinder), observes and records
The angle of pitch T of now electro-optical system output, the angle of pitch of output should be accurate to 10 " within (angle value of output should be accurate to small
The 3rd after several points).
Step 3, operation electro-optical system are rotated by 90 ° in orientation to the left, and adjustment luffing angle points to the parallel of vertical direction to T
The cross searching of light pipe (B light cylinder), operation electro-optical system reversely rotate the parallel light tube (C light cylinder) of 180 ° of alignment other directions,
If repeat step two can not be needed to criterion, three pin turntables are readjusted, electro-optical system capstan head is operated, makes electro-optical system sight line pair
The cross searching of the center parallel light pipe of quasi- zenith instrument.
Step 4, operation electro-optical system observe other four parallel light tubes, ensure sight line cross transverse direction and each light cylinder
For the horizontal line of interior cross hairs in sustained height, otherwise repeat step two, readjust three pin turntables, operate electro-optical system capstan head,
Make the cross searching of the center parallel light pipe of electro-optical system sight line alignment zenith instrument.
Step 5, electro-optical system is operated, the cross in sight line cross and A light cylinders is overlapped, worked as to carrying out electro-optical system
The orientation of preceding output, the angle of the angle of pitch enter rower zero and lock Electric-Optic Turret to current location.Record now inertial navigation output
Pitching angle theta and roll angle φ.θ is the pitch deviation angle in euler transformation matrix, and φ is that the roll of euler transformation matrix is inclined
Declinate, the angle value of output should be accurate to after decimal point the 3rd.
Calculate course angle (azimuth) deviation：Read the course angle ψ of now inertial navigation outputb, it is known that A light cylinder is with geographical north angle
ψr, then azimuth angle deviation ψ=ψ of optical axisb-ψr.So far it can obtain what is changed between optical axis coordinate system and inertial navigation institute coordinate system
Three Eulerian angles：Azimuth angle deviation ψ, pitching angle theta, roll angle φ.
Step 6, the coordinate INS where inertial navigation, by continuous rotational orientation angle ψ, pitching angle theta and roll angle φ,
It is transferred to optical axis coordinate system EO.
Inertial navigation coordinate system is calculated to the transition matrix of electro-optical system optical axis coordinate system
The transition matrix is for the transition matrix by inertial navigation coordinate system to electro-optical system optical axis coordinate system.
I.e. when the attitude matrix of inertial navigation output is [I], the attitude matrix [O] of optical axis coordinate system is：
In order to further lift azimuth accuracy, procedure below can also be used：
Electro-optical system is positioned over open area, the longitude and latitude (P points) of electro-optical system position is demarcated with differential GPS,
The higher another point D points of latitude are found, 2 points of longitudes shown on differential GPS are identical, more than distance between two points 1km；P, 2 points of D
Between unobstructed in sight (two point height differences are less than 1m)；By adjusting the mounting bracket of electro-optical system, make inertial navigation output and step
Identical pitching angle theta and roll angle φ in five, capstan head is controlled by ground control, display device, keeps optical axis keep level, will
The sight line alignment D points of visual TV；Record the course angle ψ of now inertial navigation outputb' and capstan head azimuth be ψr', then may be used
To calculate azimuth angle deviation by below equation：
ψ=ψb′-ψr′
This ψ is brought into step 6 and calculated, you can further lifting boresight precision.
Claims (2)
- A kind of 1. boresight method for improving airborne lidar for fluorescence target location accuracy, it is characterised in that：Comprise the following steps：Step 1：Electro-optical system and inertial navigation are connected, are positioned on three pin turntables of zenith instrument center；Step 2：It is electric to electro-optical system and in the inertial navigation connected with it, after the completion for the treatment of inertial alignment, adjust three pin turntables, behaviour Make electro-optical system capstan head, make the cross searching of the center parallel light pipe of electro-optical system sight line alignment zenith instrument；Step 3：90 ° of electro-optical system capstan head orientation rotation is operated, luffing angle is constant, electro-optical system sight line is pointed to zenith instrument The cross searching of the parallel light tube of vertical direction；If electro-optical system sight line fails to be directed at the directional light of zenith instrument vertical direction The cross searching of pipe, then return to step 2, readjust three pin turntables, operate electro-optical system capstan head, make electro-optical system sight line pair The cross searching of the center parallel light pipe of quasi- zenith instrument；Step 4：Electro-optical system capstan head orientation rotation is operated, electro-optical system sight line is respectively directed to zenith instrument other parallel light tubes Cross searching, if electro-optical system sight line can be directed at the cross searching of other parallel light tubes of zenith instrument, then it represents that Opto-electrical Section Sight line of uniting is horizontal with the earth, and otherwise return to step 2, readjust three pin turntables, operate electro-optical system capstan head, make electro-optical system The cross searching of the center parallel light pipe of sight line alignment zenith instrument；Step 5：Electro-optical system sight line is directed at the cross in zenith instrument center parallel light pipe, to electro-optical system capstan head azimuth Scale zero, and record pitching angle theta, roll angle φ and the course angle ψ of now inertial navigation outputb；According to zenith instrument center parallel light pipe With geographical north angle ψr, azimuth angle deviation ψ=ψ of calculating electro-optical system sight lineb-ψr；Step 6：According to pitching angle theta, roll angle φ and azimuth angle deviation ψ, inertial navigation coordinate system is calculated to electro-optical system optical axis coordinate The transition matrix of system<mrow> <msubsup> <mi>C</mi> <mi>b</mi> <mi>o</mi> </msubsup> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>cos</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&psi;</mi> <mo>+</mo> <mi>sin</mi> <mi>&phi;</mi> <mi>sin</mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>cos</mi> <mi>&phi;</mi> <mi>sin</mi> <mi>&psi;</mi> <mo>+</mo> <mi>sin</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mi>&psi;</mi> <mi>cos</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&theta;</mi> <mi>cos</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>sin</mi> <mi>&theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>sin</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&psi;</mi> <mo>-</mo> <mi>cos</mi> <mi>&phi;</mi> <mi>sin</mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mi>sin</mi> <mi>&phi;</mi> <mi>sin</mi> <mi>&psi;</mi> <mo>-</mo> <mi>cos</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&psi;</mi> <mi>sin</mi> <mi>&theta;</mi> </mrow> </mtd> <mtd> <mrow> <mi>cos</mi> <mi>&phi;</mi> <mi>cos</mi> <mi>&theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> <mo>.</mo> </mrow>
- A kind of 2. boresight method for improving airborne lidar for fluorescence target location accuracy according to claim 1, it is characterised in that：Azimuth angle deviation obtains in the following manner in step 5：Carry out selecting at 2 points in outdoor with differential satellite navigation systems and mark, it is desirable to：2 points show on differential satellite navigation systems Show that longitude is identical, more than distance between two points 1km, point-to-point transmission is unobstructed in sight；Select latitude it is big for D points, latitude it is small for P Point；P points are placed on after electro-optical system and inertial navigation are connected, adjust mounting bracket, make the angle of pitch and roll angle etc. that inertial navigation exports The pitching angle theta of inertial navigation output, roll angle φ in step 5, and electro-optical system optical window center is in P points；Electro-optical system is controlled to turn Tower, electro-optical system sight line is directed at D, record the course angle ψ of now inertial navigation outputb' and capstan head azimuth be ψr', the side of obtaining Azimuth deviation ψ=ψb′-ψr′。
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| CN111238439A (en) * | 2020-02-14 | 2020-06-05 | 天津时空经纬测控技术有限公司 | Angular deviation measuring system |
| CN111982467A (en) * | 2020-07-17 | 2020-11-24 | 中国科学院西安光学精密机械研究所 | Device and method for aligning optical axis of collimator and optical axis of optical-mechanical system in stray light test |
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| CN111982467A (en) * | 2020-07-17 | 2020-11-24 | 中国科学院西安光学精密机械研究所 | Device and method for aligning optical axis of collimator and optical axis of optical-mechanical system in stray light test |
| CN111982467B (en) * | 2020-07-17 | 2021-07-27 | 中国科学院西安光学精密机械研究所 | Device and method for aligning optical axis of collimator and optical axis of optical-mechanical system in stray light test |
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