CN107884781A - A kind of double unmanned plane tracking distance-finding methods - Google Patents
A kind of double unmanned plane tracking distance-finding methods Download PDFInfo
- Publication number
- CN107884781A CN107884781A CN201711083451.6A CN201711083451A CN107884781A CN 107884781 A CN107884781 A CN 107884781A CN 201711083451 A CN201711083451 A CN 201711083451A CN 107884781 A CN107884781 A CN 107884781A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- mtd
- mtr
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of double unmanned plane tracking distance-finding methods, one target of the two rack-mounted unmanned planes for being loaded with electro-optical tracking device while tracking, send the orientation values of sight and pitch value to ground control system, the coordinate of target is calculated using space analysis algorithm for control system.Double unmanned plane tracking distance-finding methods provided by the invention are tracked simultaneously using double unmanned planes to target, target is tried to achieve in the position of three dimensions by space analysis algorithm, solves the problems, such as that return laser beam distance-finding method ranging distance in being positioned to object space is near and needs power supply.
Description
Technical field
The present invention relates to space analysis tracking ranging technology field, and in particular to a kind of double unmanned plane tracking distance-finding methods.
Background technology
In recent years unmanned plane undergo an unusual development it is rapid.Simplicity is let and reclaimed to civilian rotor wing unmanned aerial vehicle fly away, cheap, can be with
Electro-optical tracking device (such as television tracking device) and navigation equipment are carried, rotor wing unmanned aerial vehicle can be right after installing Laser Distance Measuring Equipment additional
Spatial object tracking ranging, determines Target space position.But the load capacity of rotor wing unmanned aerial vehicle is limited to, weight is larger
Medium-long range Laser Distance Measuring Equipment is attached to rotor wing unmanned aerial vehicle on being difficult, this greatly limit the target following of rotor wing unmanned aerial vehicle away from
From.
The content of the invention
To solve the problems, such as that return laser beam distance-finding method ranging distance in being positioned to object space is near and needs power supply, this
Invention provides a kind of double unmanned plane tracking distance-finding methods, and target is tracked simultaneously using double unmanned planes, uses space analysis algorithm
Target is tried to achieve in the position of three dimensions.
To achieve these goals, the present invention uses following technical scheme：
A kind of double unmanned plane tracking distance-finding methods, one mesh of the two rack-mounted unmanned planes for being loaded with electro-optical tracking device while tracking
Mark, sends the orientation values of sight and pitch value to ground control system, control system is calculated using space analysis algorithm
The coordinate of target.
Specifically, the calculating process of control system comprises the following steps：
1) orientation values and pitch value of the sight of two unmanned planes under tracking mode, are obtained, and are found in sight away from nobody
The point of machine unit distance, try to achieve three-dimensional coordinate of this under unmanned plane body axis system；
Wherein, εTSAnd βTSIt is the orientation values and pitch value of unmanned plane sight respectively, XTS、YTS、ZTSIt is unit distance respectively
Coordinate of the point under unmanned plane body axis system；
2) coordinate of the point of unit distance, is transformed into unmanned plane geographic coordinate system from unmanned plane body axis system；
Coordinate under the unmanned plane body axis system (WZ) that unmanned plane is obtained by electro-optical tracking device, is transformed into unmanned plane
Under geographic coordinate system；
X in formulaGWZ、YGWZ、ZGWZIt is coordinate of the unit distance point under unmanned plane geographic coordinate system, XTS、YTS、ZTSIt is unit
Range points position coordinates under unmanned plane body axis system；
φWZFor the course angle of unmanned plane；
For the angle of pitch of unmanned plane；
γWZFor the inclination angle of unmanned plane；
3), by Coordinate Conversion of the unmanned plane in earth coordinates to geocentric rectangular coordinate system；
Coordinate of the unmanned plane position in earth coordinates is (L, B, H), and the coordinate in geocentric rectangular coordinate system is
(xGX0,yGX,zGX0), transformational relation between the two：
Earth coordinates use WGS-84 earth coordinates, are represented with (L, B, H)；
Origin is the intersection point of Greenwich meridian and terrestrial equator；
L is geodetic longitude；
B is geodetic latitude；
H is the normal distance from reference ellipsoid amount, i.e. height；Longitude, latitude are that unit is calculated with " radian ",
Height is that unit is calculated with " rice "；
The conventional basic parameter that WGS-84 earth coordinates ellipsoid uses：Semimajor axis of ellipsoid：A=6378137m；Ellipsoid is short
Semiaxis：B=6356752.3142m；Flattening of ellipsoid：First eccentricity square：
N is the radius of curvature in prime vertical of unmanned plane position in formula；A is semimajor axis of ellipsoid；E is the first eccentricity；
4), by under Coordinate Conversion of the point of unit distance under unmanned plane geographic coordinate system to geocentric rectangular coordinate system；
(L in formula0,B0) --- longitude and latitude of the unmanned plane geographic coordinate system initial point in earth coordinates；
(XGX0,YGX0,ZGX0) --- unmanned plane geographic coordinate system initial point is position of the unmanned plane under geocentric rectangular coordinate system
Coordinate；
(XGX,YGX,ZGX) --- the position coordinates of the point of unit distance under geocentric rectangular coordinate system；
(XGWZ,YGWZ,ZGWZ) --- the point position coordinates of the unit distance under unmanned plane geographic coordinate system；
5), judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation；
According to coordinate (x of the unmanned plane in step 3) in geocentric rectangular coordinate systemGX0,yGX0,zGX0), and in step 4)
Unit distance point geocentric rectangular coordinate system coordinate (XGX,YGX,ZGX), obtain two sights using the method for vector space
Unit vector v10, v20 and two unmanned plane line vector t；
Judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation according to v10, v20 and t：
If 6), the judged result of step 5) is intersecting, the intersecting point coordinate for obtaining two straight lines is coordinates of targets；
If 7), the judged result of step 5) is antarafacial, the beeline of this two sights is obtained, and in this distance
On two sight closest approach coordinate；The coordinate at the midpoint in two closest approach is coordinates of targets；
8) target and unmanned plane distance, are tried to achieve according to coordinates of targets.
More specifically, step 5) judges two unmanned plane sights in the parallel of space, antarafacial according to v10, v20 and t and intersected
Situation：
It is parallel：V10 × v20=0；
Antarafacial：Order ≠ 0 of (t, v10, v20) determinant；
It is intersecting：Order=0 of (t, v10, v20) determinant, and v10 × v20 ≠ 0.
More specifically, the calculating process of the coordinates of targets of step 6) is：
| v1 |=| t | sinJ/sinA=| t | | t × v20 |/| t |/| v10 × v20 |=| t × v20 |/| v10 × v20 |；
| v2 |=| t × v10 |/| v10 × v20 |；
Coordinates of targets is tried to achieve by v1 or v2.
More specifically, the calculating process of the coordinates of targets of step 7) is：
By v10, v20 multiplication crosses obtain the vertical vector n of its public affairs, and the two normal vector for forming plane is obtained according to n and v10 are multiplied,
Plane equation is obtained by normal vector and one of unmanned plane location point；Simultaneous plane equation and second each unmanned plane sight equation
Try to achieve an intersection point；The intersection point of first unmanned plane sight and (n, v20) plane can similarly be tried to achieve；The midpoint B of two intersection points is taken to obtain
To coordinates of targets.
Beneficial effects of the present invention
Double unmanned plane tracking distance-finding methods provided by the invention are tracked simultaneously using double unmanned planes to target, are solved by space
Analysis algorithm tries to achieve target in the position of three dimensions.Solve return laser beam distance-finding method in being positioned to object space ranging away from
From near and the problem of need power supply.
Brief description of the drawings
Fig. 1 is that two unmanned aerial vehicle vision space of lines of the invention cross situation map.
Embodiment
The present invention is specifically described below by embodiment, it is necessary to it is pointed out here that be that the present embodiment is served only for pair
The present invention is further described, it is impossible to is interpreted as limiting the scope of the invention, the person skilled in the art in the field can
Some nonessential modifications and adaptations are made with the content of the invention more than.In the case where not conflicting, the reality in the present invention
Applying the feature in example and embodiment can be mutually combined.
At a time, when two unmanned planes all complete tracking to target, unmanned plane can return it and be sat in unmanned plane body
The orientation values and pitch value of the lower sight of mark system.Sight is inevitable to point to target by unmanned plane, therefore two sight intersection points are exactly target.
The space analysis method that sight crosses, by calculating the sight joint of two frame unmanned planes, target can be obtained
Space coordinates.
Ranging is tracked to complete double unmanned planes, the present invention proposes a kind of new double unmanned aerial vehicle platforms tracking distance-finding method.
Regard two unmanned plane sights as two straight lines first.
Parallel, intersecting and three kinds of possibilities of antarafacial be present in two straight lines in three dimensions.Target is carried out in two unmanned planes
When tracking ranging, two sights should intersect in theory.Due to trace point, sight angle measurement, target location and attitude measurement
The introducing of error, should be generally antarafacial.If two sights intersect, intersection point is exactly the position of target；If
Sight antarafacial then seeks the beeline line of two sights, and using its midpoint as target location.As shown in figure 1, W and J are two
The position of unmanned plane, A points are that sight intersects situation armed helicopter position, and B points are the target locations in the case of sight antarafacial.
A kind of double unmanned plane tracking distance-finding methods concretely comprise the following steps：
1) orientation values and pitch value of two unmanned plane W and J sight under tracking mode, are obtained, and find in sight away from
The point of unmanned plane unit distance, try to achieve three-dimensional coordinate of this under unmanned plane body axis system；
Wherein, εTSAnd βTSIt is the orientation values and pitch value of unmanned plane sight respectively, XTS、YTS、ZTSIt is unit distance respectively
Coordinate of the point under unmanned plane body axis system.
2) coordinate of the point of unit distance, is transformed into unmanned plane geographic coordinate system from unmanned plane body axis system；
The coordinate of unit distance point under the unmanned plane body axis system (WZ) that unmanned plane is obtained by electro-optical tracking device,
It is transformed under unmanned plane geographic coordinate system (GWZ).
X in formulaGWZ、YGWZ、ZGWZIt is coordinate of the unit distance point under unmanned plane geographic coordinate system；
XTS、YTS、ZTSIt is unit distance point position coordinates under unmanned plane body axis system；
Course angle (the φ of unmanned planeWZ)：The projection of the unmanned plane longitudinal axis in the horizontal plane and unmanned plane geographic coordinate system OxGWZ
The angle of axle, the unmanned plane longitudinal axis leave OxGWZAxle rotate counterclockwise is just；
The angle of pitch of unmanned planeAngle between the unmanned plane longitudinal axis and horizontal plane, it is upward out with the unmanned plane longitudinal axis
Horizontal plane is just；
Inclination angle (the γ of unmanned planeWZ)：Angle between unmanned plane longitudinal direction reference plane and the vertical guide for crossing the unmanned plane longitudinal axis,
Seen along unmanned plane direction, left side is higher than right side for just.
3), by Coordinate Conversion of the unmanned plane in earth coordinates to geocentric rectangular coordinate system；
Coordinate of the unmanned plane position in earth coordinates is (L, B, H), and the coordinate in geocentric rectangular coordinate system is
(xGX0,yGX,zGX0), transformational relation between the two：
Earth coordinates use WGS-84 earth coordinates, are represented with (L, B, H).
The intersection point of origin --- Greenwich meridian and terrestrial equator；
L --- geodetic longitude；
B --- geodetic latitude；
H --- the normal distance (height) from reference ellipsoid amount.
The conventional basic parameter that WGS-84 earth coordinates ellipsoid uses：
Semimajor axis of ellipsoid：A=6378137m；
Semiminor axis of ellipsoid：B=6356752.3142m；
Flattening of ellipsoid：
First eccentricity square：
N in formula --- the radius of curvature in prime vertical of unmanned plane position；
A --- semimajor axis of ellipsoid；
E --- the first eccentricity；
Longitude, latitude under (L, B, H) --- earth coordinates, height, longitude, latitude are in terms of unit is carried out by " radian "
Calculate, be that unit is calculated highly with " rice ".
4), by the point of unit distance under unmanned plane geographic coordinate system (GWZ) Coordinate Conversion to geocentric rectangular coordinate system
(GX) under；
(L in formula0,B0) --- longitude and latitude of the unmanned plane geographic coordinate system initial point in earth coordinates；
(XGX0,YGX0,ZGX0) --- unmanned plane geographic coordinate system initial point is position of the unmanned plane under geocentric rectangular coordinate system
Coordinate；
(XGX,YGX,ZGX) --- the position coordinates of the point of unit distance under geocentric rectangular coordinate system；
(XGWZ,YGWZ,ZGWZ) --- the point position coordinates of the unit distance under unmanned plane geographic coordinate system.
5), judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation；
According to coordinate (x of the unmanned plane in step 3) in geocentric rectangular coordinate systemGX0,yGX0,zGX0), and in step 4)
Unit distance point geocentric rectangular coordinate system coordinate (XGX,YGX,ZGX), obtain two sights using the method for vector space
Unit vector v10, v20 and two unmanned plane lines vector be t (WJ).
Judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation：
It is parallel：V10 × v20=0；
Antarafacial：Order ≠ 0 of (t, v10, v20) determinant；
It is intersecting：Order=0 of (t, v10, v20) determinant, and v10 × v20 ≠ 0.
If 6), the judged result of step 5) is intersecting, the intersection point of two straight lines is obtained；
It can be obtained by triangle sine：
| t |/sinA=| v1 |/sinJ=| v2 |/sinW；
Due to known t, v10=v1/ | v1 |, v20=v2/ | v2 |：
SinA=| v1 × v2 |/(| v1 | | v2 |)=| v10 × v20 |；
SinJ=| t × v2 |/(| t | | v2 |)=| t/ | t | × v2/ | v2 | |=| t × v20 |/| t |；
SinW=| v1 × t |/(| v1 | | t |)=| v1/ | v1 | × t/ | t | |=| v10 × t |/| t |；
It can obtain：| v1 |=| t | sinJ/sinA=| t | | t × v20 |/| t |/| v10 × v20 |=| t × v20 |/| v10 ×
v20|；
| v2 |=| t × v10 |/| v10 × v20 |；
By v1, v2 can try to achieve A point coordinates, both demand one.
If 7), the judged result of step 5) is antarafacial, the beeline of this two sights is obtained, and in this distance
On two sight closest approach coordinate；
By v10, v20 multiplication crosses obtain the vertical vector n of its public affairs, and the two normal vector for forming plane is obtained according to n and v10 are multiplied,
Plane equation is obtained by normal vector and the first unmanned plane W location points；Simultaneous plane equation and the second unmanned plane J sight equations are tried to achieve
One intersection point；The intersection point of the first unmanned plane W sights and (n, v20) plane can similarly be tried to achieve.The midpoint B of two intersection points is taken to obtain target
Coordinate.
8) target and unmanned plane distance, are tried to achieve according to coordinates of targets.
Obviously, described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, belongs to the scope of the present invention.
Claims (5)
1. a kind of double unmanned plane tracking distance-finding methods, it is characterised in that the two rack-mounted unmanned planes for being loaded with electro-optical tracking device are simultaneously
A target is tracked, sends the orientation values of sight and pitch value to ground control system, control system is calculated using space analysis
The coordinate of target is calculated in method.
2. double unmanned plane tracking distance-finding methods according to claim 1, it is characterised in that the calculating of the control system
Journey comprises the following steps：
1) orientation values and pitch value of the sight of two unmanned planes under tracking mode, are obtained, and are found in sight away from unmanned plane list
The point of position distance, tries to achieve three-dimensional coordinate of this under unmanned plane body axis system；
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>X</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>cos&epsiv;</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
<msub>
<mi>cos&beta;</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Y</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>sin&epsiv;</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>cos&epsiv;</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
<msub>
<mi>sin&beta;</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Wherein, εTSAnd βTSIt is the orientation values and pitch value of unmanned plane sight respectively, XTS、YTS、ZTSIt is that the point of unit distance exists respectively
Coordinate under unmanned plane body axis system；
2) coordinate of the point of unit distance, is transformed into unmanned plane geographic coordinate system from unmanned plane body axis system；
Coordinate under the unmanned plane body axis system (WZ) that unmanned plane is obtained by electro-optical tracking device, it is transformed into unmanned plane geography
Under coordinate system；
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msub>
<mi>M</mi>
<mi>Y</mi>
</msub>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>&phi;</mi>
<mrow>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<msub>
<mi>M</mi>
<mi>Z</mi>
</msub>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>&theta;</mi>
<mrow>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<msub>
<mi>M</mi>
<mi>X</mi>
</msub>
<mrow>
<mo>(</mo>
<mo>-</mo>
<msub>
<mi>&gamma;</mi>
<mrow>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mrow>
<mi>T</mi>
<mi>S</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
X in formulaGWZ、YGWZ、ZGWZIt is coordinate of the unit distance point under unmanned plane geographic coordinate system, XTS、YTS、ZTSIt is unit distance
Point position coordinates under unmanned plane body axis system；
φWZFor：The course angle of unmanned plane；
θWZFor：The angle of pitch of unmanned plane；
γWZFor：The inclination angle of unmanned plane；
3), by Coordinate Conversion of the unmanned plane in earth coordinates to geocentric rectangular coordinate system；
Coordinate of the unmanned plane position in earth coordinates is (L, B, H), and the coordinate in geocentric rectangular coordinate system is (xGX0,
yGX,zGX0), transformational relation between the two：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>=</mo>
<mo>(</mo>
<mi>N</mi>
<mo>+</mo>
<mi>H</mi>
<mo>)</mo>
<mi>cos</mi>
<mi> </mi>
<mi>B</mi>
<mi> </mi>
<mi>cos</mi>
<mi> </mi>
<mi>L</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>=</mo>
<mo>(</mo>
<mi>N</mi>
<mo>+</mo>
<mi>H</mi>
<mo>)</mo>
<mi>cos</mi>
<mi> </mi>
<mi>B</mi>
<mi> </mi>
<mi>sin</mi>
<mi> </mi>
<mi>L</mi>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
<mo>=</mo>
<mo>&lsqb;</mo>
<mi>N</mi>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<msup>
<mi>e</mi>
<mn>2</mn>
</msup>
<mo>)</mo>
<mo>+</mo>
<mi>H</mi>
<mo>&rsqb;</mo>
<mi>sin</mi>
<mi> </mi>
<mi>B</mi>
</mtd>
</mtr>
</mtable>
</mfenced>
Earth coordinates use WGS-84 earth coordinates, are represented with (L, B, H)；
Origin is the intersection point of Greenwich meridian and terrestrial equator；
L is geodetic longitude；
B is geodetic latitude；
H is the normal distance from reference ellipsoid amount, i.e. height；Longitude, latitude are that unit is calculated with " radian ", height
It is that unit is calculated with " rice "；
The conventional basic parameter that WGS-84 earth coordinates ellipsoid uses：Semimajor axis of ellipsoid：A=6378137m；Semiminor axis of ellipsoid：
B=6356752.3142m；Flattening of ellipsoid：First eccentricity square：
<mrow>
<mi>N</mi>
<mo>=</mo>
<mfrac>
<mi>a</mi>
<msqrt>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msup>
<mi>e</mi>
<mn>2</mn>
</msup>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<mi>B</mi>
</mrow>
</msqrt>
</mfrac>
</mrow>
N is the radius of curvature in prime vertical of unmanned plane position in formula；A is semimajor axis of ellipsoid；E is the first eccentricity；
4), by under Coordinate Conversion of the point of unit distance under unmanned plane geographic coordinate system to geocentric rectangular coordinate system；
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Y</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Z</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi> </mi>
<msub>
<mi>B</mi>
<mn>0</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>Z</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>Y</mi>
<mrow>
<mi>G</mi>
<mi>W</mi>
<mi>Z</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mrow>
<mi>G</mi>
<mi>X</mi>
<mn>0</mn>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
(L in formula0,B0) be：Longitude and latitude of the unmanned plane geographic coordinate system initial point in earth coordinates；
(XGX0,YGX0,ZGX0) be：Unmanned plane geographic coordinate system initial point is position coordinates of the unmanned plane under geocentric rectangular coordinate system；
(XGX,YGX,ZGX) be：The position coordinates of the point of unit distance under geocentric rectangular coordinate system；
(XGWZ,YGWZ,ZGWZ) be：The point position coordinates of unit distance under unmanned plane geographic coordinate system；
5), judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation；
According to coordinate (x of the unmanned plane in step 3) in geocentric rectangular coordinate systemGX0,yGX0,zGX0), and the list in step 4)
Coordinate (X of the point of position distance in geocentric rectangular coordinate systemGX,YGX,ZGX), obtain the list of two sights using the method for vector space
Bit vector v10, v20 and two unmanned plane line vector t；
Judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation according to v10, v20 and t：
If 6), the judged result of step 5) is intersecting, the intersecting point coordinate for obtaining two straight lines is coordinates of targets；
If 7), the judged result of step 5) is antarafacial, the beeline of this two sights is obtained, and at this apart from upper
The coordinate in two sight closest approach；The coordinate at the midpoint in two closest approach is coordinates of targets；
8) target and unmanned plane distance, are tried to achieve according to coordinates of targets.
3. double unmanned plane tracking distance-finding methods according to claim 2, it is characterised in that according to v10, v20 in step 5)
Judge two unmanned plane sights in the parallel of space, antarafacial and intersecting situation with t：
It is parallel：V10 × v20=0；
Antarafacial：Order ≠ 0 of (t, v10, v20) determinant；
It is intersecting：Order=0 of (t, v10, v20) determinant, and v10 × v20 ≠ 0.
4. double unmanned plane tracking distance-finding methods according to claim 2, it is characterised in that the meter of the coordinates of targets of step 6)
Calculation process is：
| v1 |=| t | sinJ/sinA=| t | | t × v20 |/| t |/| v10 × v20 |=| t × v20 |/| v10 × v20 |；
| v2 |=| t × v10 |/| v10 × v20 |；
Coordinates of targets is tried to achieve by v1 or v2.
5. double unmanned plane tracking distance-finding methods according to claim 2, it is characterised in that the meter of the coordinates of targets of step 7)
Calculation process is：
By v10, v20 multiplication crosses obtain the vertical vector n of its public affairs, the two normal vector for forming plane are obtained according to n and v10 are multiplied, by method
The one of unmanned plane location point of vector sum obtains plane equation；Simultaneous plane equation and second unmanned plane sight equation are tried to achieve
One intersection point；The intersection point of first unmanned plane sight and (n, v20) plane can similarly be tried to achieve；The midpoint B of two intersection points is taken to obtain mesh
Mark coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711083451.6A CN107884781B (en) | 2017-11-07 | 2017-11-07 | Tracking and ranging method for double unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711083451.6A CN107884781B (en) | 2017-11-07 | 2017-11-07 | Tracking and ranging method for double unmanned aerial vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107884781A true CN107884781A (en) | 2018-04-06 |
| CN107884781B CN107884781B (en) | 2020-06-02 |
Family
ID=61778942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711083451.6A Active CN107884781B (en) | 2017-11-07 | 2017-11-07 | Tracking and ranging method for double unmanned aerial vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107884781B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843492A (en) * | 2018-06-19 | 2018-11-20 | 上海扩博智能技术有限公司 | Fan yaw angle measuring method and system are carried out by unmanned plane |
| CN112507531A (en) * | 2020-11-24 | 2021-03-16 | 北京电子工程总体研究所 | Method for expanding defense area under two-to-one scene of plane space |
| CN115683041A (en) * | 2021-07-27 | 2023-02-03 | 中国科学院长春光学精密机械与物理研究所 | Calculation method of tracking search guide data of photoelectric early warning networking system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011058507A1 (en) * | 2009-11-11 | 2011-05-19 | Dror Nadam | Apparatus, system and method for self orientation |
| CN102081404A (en) * | 2011-01-27 | 2011-06-01 | 西北工业大学 | Synergistic target tracking method for dual unmanned planes under communication constraint |
| KR20130079881A (en) * | 2012-01-03 | 2013-07-11 | 한국항공우주산업 주식회사 | Method and computer-readable recording medium for calibrating position of a target using a fixed target for unmanned aerial vehicle |
| CN105812791A (en) * | 2016-04-08 | 2016-07-27 | 中国西安卫星测控中心 | System error compensation method for optical tracking measurement data |
| CN106468552A (en) * | 2016-08-30 | 2017-03-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of two-shipper crossing location method based on airborne photoelectric platform |
| CN106873627A (en) * | 2017-03-31 | 2017-06-20 | 湘潭大学 | A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity |
-
2017
- 2017-11-07 CN CN201711083451.6A patent/CN107884781B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011058507A1 (en) * | 2009-11-11 | 2011-05-19 | Dror Nadam | Apparatus, system and method for self orientation |
| CN102081404A (en) * | 2011-01-27 | 2011-06-01 | 西北工业大学 | Synergistic target tracking method for dual unmanned planes under communication constraint |
| KR20130079881A (en) * | 2012-01-03 | 2013-07-11 | 한국항공우주산업 주식회사 | Method and computer-readable recording medium for calibrating position of a target using a fixed target for unmanned aerial vehicle |
| CN105812791A (en) * | 2016-04-08 | 2016-07-27 | 中国西安卫星测控中心 | System error compensation method for optical tracking measurement data |
| CN106468552A (en) * | 2016-08-30 | 2017-03-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of two-shipper crossing location method based on airborne photoelectric platform |
| CN106873627A (en) * | 2017-03-31 | 2017-06-20 | 湘潭大学 | A kind of multi-rotor unmanned aerial vehicle and method of automatic detecting transmission line of electricity |
Non-Patent Citations (2)
| Title |
|---|
| LIU HONG-YANG 等: ""Target Tracking by Two UAVs under Constraint of Distances Coordination"", 《PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE》 * |
| 朱黔 等: ""角度测量下双机协同standoff目标跟踪"", 《北京航空航天大学学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843492A (en) * | 2018-06-19 | 2018-11-20 | 上海扩博智能技术有限公司 | Fan yaw angle measuring method and system are carried out by unmanned plane |
| CN112507531A (en) * | 2020-11-24 | 2021-03-16 | 北京电子工程总体研究所 | Method for expanding defense area under two-to-one scene of plane space |
| CN112507531B (en) * | 2020-11-24 | 2024-05-07 | 北京电子工程总体研究所 | Defending area expanding method under two-to-one scene of planar space |
| CN115683041A (en) * | 2021-07-27 | 2023-02-03 | 中国科学院长春光学精密机械与物理研究所 | Calculation method of tracking search guide data of photoelectric early warning networking system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107884781B (en) | 2020-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104880187B (en) | A kind of method for estimating of the aircraft light stream pick-up unit based on twin camera | |
| CN102243074B (en) | Method for simulating geometric distortion of aerial remote sensing image based on ray tracing technology | |
| CN105242285B (en) | A kind of Navigation of Pilotless Aircraft data based on satellite communication are spoofed recognition methods | |
| CN109696663A (en) | A kind of vehicle-mounted three-dimensional laser radar scaling method and system | |
| CN105698762A (en) | Rapid target positioning method based on observation points at different time on single airplane flight path | |
| CN107884781A (en) | A kind of double unmanned plane tracking distance-finding methods | |
| CN106885571B (en) | A kind of lunar surface rover method for rapidly positioning of combination IMU and navigation image | |
| CN103424114A (en) | Visual navigation/inertial navigation full combination method | |
| CN107450582A (en) | It is a kind of that guidance control method is passed based on the phased array number planned in real time on star | |
| CN109813306A (en) | A kind of unmanned vehicle planned trajectory satellite location data confidence level calculation method | |
| CN105319969A (en) | Unmanned aerial vehicle cooperative ground covering system | |
| CN104655135B (en) | A kind of aircraft visual navigation method based on terrestrial reference identification | |
| CN103871075B (en) | A kind of large oval remote sensing satellite earth background relative motion method of estimation | |
| CN107621647A (en) | A kind of alignment system and method for overcoming aeronautical satellite valley effect | |
| CN109084760B (en) | Navigation system between buildings | |
| CN103400416B (en) | A kind of urban environment robot navigation method based on probability multilayer landform | |
| CN104501801B (en) | A kind of indoor orientation method | |
| CN104459750A (en) | GPS/INS-based dynamic pointing method | |
| CN107908808A (en) | 3 ° of points of band coordinate transformation systems based on Compensating level surface or Mean height plane | |
| CN106155081A (en) | A kind of rotor wing unmanned aerial vehicle target monitoring on a large scale and accurate positioning method | |
| CN105737858A (en) | Attitude parameter calibration method and attitude parameter calibration device of airborne inertial navigation system | |
| CN108387236A (en) | Polarized light S L AM method based on extended Kalman filtering | |
| CN103697893A (en) | Three-dimensional attitude determination method utilizing atmospheric polarization light | |
| CN103487032A (en) | Low earth orbit space camera free-pointing image motion vector calculation method | |
| CN106840159B (en) | A kind of coordinate transformation method based on ellipticity angle compensation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |