CN107589431B - Target calibration method for improving target positioning accuracy of airborne photoelectric system - Google Patents
Target calibration method for improving target positioning accuracy of airborne photoelectric system Download PDFInfo
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Abstract
Description
Technical Field
The invention belongs to the technical field of airborne photoelectricity, and relates to a method for improving the target positioning accuracy of an airborne photoelectric system.
Background
The autonomous positioning technology is characterized in that a POS system (composed of a GPS receiver and an inertial navigation system) is installed on the top of airborne photoelectric reconnaissance equipment, and the airborne photoelectric reconnaissance equipment independently realizes a target positioning function. Through the technology, the photoelectric reconnaissance equipment can be mounted on any platform to be autonomously positioned, the universality is good, the work of attitude data communication, clock synchronous butt joint, installation, calibration and the like of ground personnel on the airplane is omitted, the joint debugging period is shortened, the error of the shock absorber is eliminated, the cost can be saved, and the load weight of the airplane platform can be reduced.
The POS system is required to be calibrated after being installed on photoelectric reconnaissance equipment, and the traditional calibration method has the following problems:
1. the method is characterized in that the site is required to be relatively flat, a target correcting instrument is required for each carrier, and the plane is required to be horizontal;
2. the steps are complicated, the steps of installing a target mirror, installing a target, leveling an airplane frame, observing and the like are needed, and about 5-10 hours are needed;
3. the cost is high, and the design, production cost and expense of the instrument are high. Ground staff needs professional training and is relatively complex to operate.
In addition, the conventional boresight method does not calibrate an inertial navigation coordinate system and an optical axis coordinate system at the same time, so that a large boresight error is caused, and the boresight precision is low.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: the currently adopted boresight method has complicated alignment mode, long alignment time and poor alignment precision, and cannot meet the precision requirement of target positioning in the actual use process.
In order to solve the technical problems, the invention provides a boresight method for improving the target positioning precision of an airborne photoelectric system.
The method comprises the steps of erecting a fixedly connected photoelectric system and an inertial navigation system in the middle of a zenith instrument, calibrating a pitch angle and a roll angle of an optical axis of the photoelectric system by utilizing the horizontal characteristic of a horizontal optical tube group of the zenith instrument, reading a roll angle and a pitch angle currently output by the inertial navigation system, subtracting a course angle output by the inertial navigation system from a true north included angle by utilizing a known collimator tube, and calculating a course deviation Euler angle between two coordinate systems.
The technical scheme of the invention is as follows:
the target calibration method for improving the target positioning accuracy of the airborne photoelectric system is characterized by comprising the following steps of: the method comprises the following steps:
step 1: fixedly connecting a photoelectric system with an inertial navigation system, and placing the photoelectric system on a three-leg turntable at the central position of a zenith instrument;
step 2: electrifying the photoelectric system and the inertial navigation system fixedly connected with the photoelectric system, adjusting the three-foot turntable after the initial alignment of the inertial navigation system is finished, and operating the turret of the photoelectric system to enable the aiming line of the photoelectric system to be aligned with the cross center of the central collimator of the zenith instrument;
and step 3: operating the turret of the photoelectric system to rotate 90 degrees in azimuth, keeping the pitching angle unchanged, and enabling the aiming line of the photoelectric system to point to the cross center of the collimator in the vertical direction of the zenith instrument; if the aiming line of the photoelectric system is not aligned with the cross center of the collimator in the vertical direction of the zenith instrument, returning to the step 2, readjusting the tripod turntable, and operating the turret of the photoelectric system to align the aiming line of the photoelectric system with the cross center of the collimator in the center of the zenith instrument;
and 4, step 4: operating the turret of the photoelectric system to rotate in the azimuth direction, respectively pointing the aiming lines of the photoelectric system to the cross centers of other parallel light tubes of the zenith instrument, if the aiming lines of the photoelectric system can be aligned to the cross centers of the other parallel light tubes of the zenith instrument, indicating that the aiming lines of the photoelectric system are horizontal to the ground, otherwise returning to the step 2, readjusting the three-legged rotary table, and operating the turret of the photoelectric system to align the aiming lines of the photoelectric system to the cross center of the central parallel light tube of the zenith instrument;
and 5: aligning the aiming line of the photoelectric system to the cross in the collimator tube at the center of the zenith instrument, marking the azimuth angle of the turret of the photoelectric system to zero, and recording the pitch angle theta, the roll angle phi and the course angle psi output by inertial navigation at the momentb(ii) a According to the included angle psi between the zenith instrument central collimator and true northrCalculating the azimuth angle deviation psi of the aiming line of the photoelectric systemb-ψr；
Step 6: calculating a conversion matrix from an inertial navigation coordinate system to a photoelectric system optical axis coordinate system according to the pitch angle theta, the roll angle phi and the azimuth angle deviation psi
In a further preferred embodiment, the method for calibrating targets to improve the target positioning accuracy of the airborne optoelectronic system is characterized in that:
the azimuth deviation in step 5 is obtained by:
selecting two points outdoors by using a differential satellite navigation system and marking the two points, wherein the requirements are as follows: the longitude of two points displayed on the differential satellite navigation system is the same, the distance between the two points is more than 1km, and the two points are not shielded on the sight; selecting a point D with a large latitude and a point P with a small latitude;
fixedly connecting the photoelectric system with the inertial navigation system and then placing the photoelectric system at a point P, and adjusting the mounting bracket to enable the pitch angle and the roll angle output by the inertial navigation system to be equal to the pitch angle theta and the roll angle phi output by the inertial navigation system in the step 5, wherein the center of an optical window of the photoelectric system is positioned at the point P; controlling the turret of the photoelectric system to align the aiming line of the photoelectric system with D, and recording the course angle psi output by inertial navigation at the momentb' and turret azimuth angle psir′，Obtaining the azimuth angle deviation psi ═ psib′-ψr′。
Advantageous effects
The beneficial effects of the invention are shown in the following aspects:
the target calibration method for measuring and calculating the Euler angle changes the traditional visual target calibration method into an electronic target calibration method, and changes the traditional target calibration method into the alignment between two coordinate systems by measuring and calculating the deviation angle between the two coordinate systems, so that the precision is high.
And secondly, the target calibration method needs less hardware resources, can finish target calibration by utilizing the existing equipment, and has short target calibration time and high convenience degree.
And thirdly, the process of measuring and calculating the Euler angle is simple and convenient, and the method has stronger universality and engineering application value.
Drawings
FIG. 1 is a work flow diagram of the method of the present invention.
Fig. 2 is an operational schematic of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
The airborne photoelectric system comprises an optical sensor 2, a differential GPS, an inertial navigation system 1, a zenith instrument 4, a tripod turntable 3 and an operation handle 5 (figure 2). The optical sensor is arranged on an optical bench in the photoelectric system, the levelness of 7 optical cylinders of the zenith instrument horizontal group can be kept within 20 ″, and the central optical cylinder is measured by inertial navigation to obtain an included angle psi between the axis of the central optical cylinder and the true northrThe precision is 5', and the differential GPS positioning precision is better than 1 m. Inertial navigation must be fixed above the top cover of the optoelectronic system before boresight begins. The tripod turret is placed on a flat ground at the center of the zenith instrument, and the vertical adjustment range of the three adjusting feet is more than 3 mm.
When the photoelectric system is arranged on the tripod turret, the photoelectric system is operated and does not shake when rotating, and the following operation steps are executed according to the flow shown in figure 1:
the method comprises the following steps that firstly, a photoelectric system is fixedly connected with an inertial navigation system, the parallelism of an installation flange between the inertial navigation system and the photoelectric system is within 0.1mm, a heading arrow at the top is approximately aligned with the zero position direction (right ahead) of the photoelectric system, the inertial navigation system is placed on a three-leg turntable at the center of a zenith instrument, a three-leg turret is placed on the flat ground, and the vertical adjustment amplitude of three adjustment legs is larger than 3 mm.
And secondly, electrifying the photoelectric system and the inertial navigation system fixedly connected with the photoelectric system, adjusting the three-foot turntable after the inertial navigation system is initially aligned, operating the photoelectric system to adjust the visible photoelectric vision to the minimum visual field so that the cross line is filled in the center of the current visual field, then operating the photoelectric system to enable the aiming line in the image to be superposed with the cross center in the central collimator tube (A optical tube), observing and recording the pitch angle T output by the photoelectric system at the moment, wherein the output pitch angle is accurate to within 10 ″ (the output angle value is accurate to the third position after a decimal point).
And step three, operating the photoelectric system to rotate 90 degrees towards the left direction, adjusting the pitching angle to T, pointing to the cross center of the collimator (B optical tube) in the vertical direction, operating the photoelectric system to rotate 180 degrees in the reverse direction to align to the collimator (C optical tube) in the other direction, if the criterion can not be aligned, repeating the step two, readjusting the three-foot turntable, and operating the rotary tower of the photoelectric system to enable the aiming line of the photoelectric system to align to the cross center of the collimator in the center of the zenith instrument.
And step four, operating the photoelectric system to observe other four collimator tubes to ensure that the cross of the aiming line is at the same height with the cross line of the cross line in each light cylinder, otherwise, repeating the step two, readjusting the three-legged rotary table, and operating the turret of the photoelectric system to ensure that the aiming line of the photoelectric system is aligned with the cross center of the central collimator tube of the zenith instrument.
And fifthly, operating the photoelectric system, overlapping the cross of the sight line and the cross in the optical cylinder A, marking the angles of the azimuth and the pitch angle output by the photoelectric system at present, and locking the photoelectric turret to the present position. And recording the pitch angle theta and the roll angle phi output by inertial navigation at the moment. Theta is the pitching deviation angle in the Euler transformation matrix, phi is the rolling deviation angle of the Euler transformation matrix, and the output angle value should be accurate to the third position after decimal point.
Calculating heading angle (azimuth) deviation: reading the course angle psi of the inertial navigation output at the momentbThe angle between the A optical tube and the true north is known as psirThen the azimuthal angle deviation ψ of the optical axis is ψb-ψr. Three Euler angles converted between the optical axis coordinate system and the inertial navigation coordinate system can be obtained: azimuth deviation psi, pitch angle theta, roll angle phi.
And step six, the coordinate INS where the inertial navigation is located can be transmitted to an optical axis coordinate system EO through continuous rotation of the azimuth angle psi, the pitch angle theta and the roll angle phi.
Conversion matrix for calculating inertial navigation coordinate system to photoelectric system optical axis coordinate system
The conversion matrix is a conversion matrix from an inertial navigation coordinate system to an optical axis coordinate system of the photoelectric system.
That is, when the attitude matrix of the inertial navigation output is [ I ], the attitude matrix [ O ] of the optical axis coordinate system is:
to further improve the azimuth accuracy, the following process can be adopted:
placing the photoelectric system in an open field, calibrating the longitude and latitude (P point) of the position where the photoelectric system is located by using a differential GPS, searching another D point with higher latitude, wherein the longitude displayed on the differential GPS by the two points is the same, and the distance between the two points is more than 1 km; p, D no obstruction exists between the two points on the sight line (the height difference between the two points is less than 1 m); adjusting an installation frame of the photoelectric system to enable inertial navigation to output the same pitch angle theta and roll angle phi as those in the fifth step, controlling the turret through a ground control and display device, keeping the optical axis horizontal, and aligning the aiming line of the visible television to a point D; recording the course angle psi of the inertial navigation output at the momentb' and turret azimuth angle psir', the azimuthal deviation can then be calculated by the following equation:
ψ＝ψb′-ψr′
and substituting the psi into the sixth step for calculation, so that the target calibration precision can be further improved.
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