CN109612333A - A kind of vision auxiliary guide system vertically recycled towards reusable rocket - Google Patents
A kind of vision auxiliary guide system vertically recycled towards reusable rocket Download PDFInfo
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- CN109612333A CN109612333A CN201811326834.6A CN201811326834A CN109612333A CN 109612333 A CN109612333 A CN 109612333A CN 201811326834 A CN201811326834 A CN 201811326834A CN 109612333 A CN109612333 A CN 109612333A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
A kind of vision auxiliary guide system vertically recycled towards reusable rocket, position and attitude misalignment real-time estimation module including the landing platform, rocket body arranged on landing navigation camera, ground or the sea installed on rocket body relative to main landing platform；Wherein, the landing navigation camera installed on rocket body includes 4 and regards landing navigation camera, 2 positive vertical view landing navigation cameras obliquely downward；The landing platform arranged on ground or sea includes that 1 main landing platform and 4 auxiliary cooperate beacon platform；When rocket body is between main landing platform 10km~100m, the landing navigation camera installed on rocket body is to the main landing platform on ground or sea and assists cooperation beacon platform imaging, position and attitude misalignment real-time estimation module position and attitude misalignment according to image-forming information real-time estimation rocket body relative to main landing platform of the rocket body relative to main landing platform, above-mentioned deviation can be used for controlling the accuracy of rocket body vertical landing.
Description
Technical field
The invention belongs to technical field of visual navigation, and in particular to reusable carrier rocket grade vertical landing is returned
The precise Estimation Method of the position and posture returned.
Background technique
Inexpensive, highly reliable reusable rocket is the developing direction of space technology, for realize rocket body safety,
Steadily, accurate vertical recycles, and needs accurately to estimate opposite position of the rocket body relative to specified drop zone in rocket body descent
Set and attitude misalignment, guidance issued according to the deviation and corrects rocket body motion state with control instruction, to the posture of rocket body, position,
The implementations such as speed accurately control, and rocket body is accurately directed to landing platform.How rocket body and specified drop zone accurately estimated
Position and attitude misalignment be the important technology realizing reusable rocket and vertically recycling.
Currently, method used by each research institution is big for the navigation problem in reusable rocket descent
A variety of assisting navigation equipment are combined to be constituted integrated navigation system all centered on inertial navigation, common navigation equipment includes DGPS/
INS integrated navigation system, air data system, radar altimeter etc..For rocket body in landing phases, flight environment of vehicle variation is huge, flies
The problems such as vibration of row device, aero-optical effect and satellite-signal losing lock, lead to the different navigation equipment workable period
Difference, and navigation accuracy generates certain error, such as: GPS positioning error just includes ephemeris error, satellite clock correction, receiver
The systematic errors such as clock deviation, antenna phase center error, relativistic effect and multipath effect, ionospheric refraction, troposphere folding
The accidental errors such as area, tide, load tide are penetrated, during the navigation process due to the objective reality of various errors, inevitably
Adverse effect is brought to relative position estimation.It is reusable that navigation system must have extreme high reliability to be just able to satisfy
Rocket vertical landing requirement, this proposes stern challenge to the design of navigation system, to realize that highly reliable and high-precision is led
Boat also needs other than the navigation equipments such as DGPS/INS integrated navigation system, air data system, radar altimeter to realize
New technological approaches is sought in high-precision navigation, in a certain sensor failure, is additionally provided certain navigation redundancy, with
Just accurately estimate relative pose of the rocket body relative to specified landing platform.
Summary of the invention
Technology of the invention solves the problems, such as: seeking a kind of new airmanship approach, provide one kind makes towards repeatable
The vision auxiliary guide system vertically recycled with rocket realizes that rocket body is accurately estimated in descent relative to specified landing
The relative position of platform and attitude misalignment return to rocket control and guidance system is provided highly reliable and high-precision led to be vertical
Boat information.
The technical solution of the invention is as follows: a kind of vision auxiliary guiding vertically recycled towards reusable rocket
System, including arranged on landing navigation camera, ground or the sea installed on rocket body landing platform, rocket body is relative to main drop
Fall position and the attitude misalignment real-time estimation module of platform；Wherein, the landing navigation camera installed on rocket body include 4 obliquely downward
Depending on landing navigation camera, 2 positive vertical view landing navigation cameras；The landing platform arranged on ground or sea includes 1 main landing
Platform and 4 auxiliary cooperate beacon platform；When rocket body is between main landing platform 10km~100m, installed on rocket body
Landing navigation camera is to the main landing platform on ground or sea and assists cooperation beacon platform imaging, and rocket body is relative to main drop
Fall platform position and attitude misalignment real-time estimation module according to image-forming information real-time estimation rocket body relative to main landing platform
Position and attitude misalignment, above-mentioned deviation can be used for controlling the accuracy of rocket body vertical landing.
Preferably, described 4 are mounted on the middle and lower part of rocket body and on rocket body depending on landing navigation camera obliquely downward with 90 degree
Angle is uniformly installed, and the positive installation position for overlooking landing navigation camera more obliquely downward depending on landing navigation camera sets low 0.2~2m；Just bow
It is uniformly installed on rocket body with 180 degree angle depending on landing navigation camera；The positive peace for overlooking landing navigation camera central axes and rocket body
Clamping angle is 0 degree, regards the installation angle of landing navigation camera central axes and rocket body obliquely downward as α, α is that view navigation camera regards obliquely downward
The half of rink corner γ:
Wherein: K is rocket body radius, and H is the terrain clearance of view navigation camera obliquely downward；
There is no limit for view landing navigation camera and the positive installation angle overlooked between landing navigation camera obliquely downward.
Preferably, the value range of the installation angle α is 20~30 degree.
Preferably, described 4 are obliquely downward near-infrared depending on the positive landing navigation camera of overlooking of landing navigation camera and 2
Imaging sensor, regards landing navigation camera obliquely downward and positive landing navigation camera of overlooking is all identical, and imaging wavelength is 0.9 micron~
1.7 microns, field angle γ, value range is 40~60 degree, and imaging frame speed is greater than 120 frames/second, and imaging resolution is n × n,
N calculation method is as follows:
Wherein: β is the space angular resolution of navigation camera.
Preferably, the arrangement sides of the 1 main landing platform arranged on ground or sea and 4 auxiliary cooperation beacon platforms
Formula: centered on main landing platform, 4 auxiliary of uniform equidistant placement cooperate beacon platform in border circular areas around it.
Preferably, auxiliary cooperation the distance between beacon platform and main landing platform L is meeting following constraint condition premise
Under it is as big as possible:
L<Hmintan(γ)
Wherein: HminThe minimum terrain clearance of auxiliary guidance information is provided for all navigation phase functions, γ is to regard obliquely downward
Land navigation camera and the positive field angle for overlooking landing navigation camera.
Preferably, the value range of the distance L is 50~80m.
Preferably, the cooperation beacon on main landing platform and auxiliary cooperation beacon platform is by near infrared band sensitivity material
Matter or light belt composition, material are consistent；Non- cooperation beacon material on main landing platform and auxiliary cooperation beacon platform is to close red
The insensitive metal of wave section.
Preferably, the cooperation beacon that " H+ annulus " type is arranged on the main landing platform, wherein " H " type cooperation beacon
A length of a, width isThe overall diameter of the great circle of " annulus " type cooperation beacon is greater than 100m, the value model of the overall diameter of roundlet
It encloses for 30~50m, the wide 10-15m of annulus；The a is calculated by following manner: each pixel in calculating image first
Representative ground distance sr (unit: m/pixel):
Then, product is carried out using wide the included pixel of sr and beacon images, obtains a value；
Wherein: S is depending on/positive ground instantaneous field of view the length overlooking navigation camera and being captured, h value is on rocket body obliquely downward
The locating height of any navigation camera.
Preferably, the value of a is greater than 50m, and the value range for forming every line width of " H " is 10~20m.
Preferably, the cooperation beacon that " H " type is arranged on the auxiliary cooperation beacon platform, wherein " H " type cooperation beacon
A length of b, width isB value is greater than 40m, and the value range for forming every line width of " H " is 10~15m.
Preferably, the direction for " H " type cooperation beacon arranged on 4 auxiliary cooperation beacon platforms requires: composition " H "
Intermediate strigula "-" passes through the central point of main landing platform.
Preferably, the rocket body includes view relative to the position of main landing platform and attitude misalignment real-time estimation module
Feel that auxiliary guiding policy module, image processing module, image information relative pose resolve module；
Image processing module in real time to landing navigation camera shooting image handle, in detection image whether include
Cooperate beacon, the type of cooperation beacon place landing platform and to cooperation beacon progress feature point extraction；It will be whether comprising closing
The result of the type processing of landing platform where making beacon, cooperation beacon is sent to vision auxiliary guiding policy module；It will extract
Cooperation beacon characteristic point be sent to image information relative pose resolve module；
Vision auxiliary guiding policy module, processing result image, control image information relative pose resolve based on the received
Module uses corresponding pose calculation method, resolves module by image information relative pose and determines the relatively main landing platform of rocket body
Location parameter and pitch angle, yaw angle and roll angle.
Preferably, the vision auxiliary guiding specific control strategy of policy module is as follows:
If there is cooperation beacon in the image of shooting, whether has in the existing cooperation beacon of judgement and belong to main landing platform
Cooperation beacon, if there is the cooperation beacon for belonging to main landing platform, control image information relative pose resolve module only with
Cooperation beacon characteristic point information on main landing platform carries out relative pose resolving；
If not belonging to the cooperation beacon of main landing platform, only belongs to the cooperation beacon of auxiliary landing platform, then control
Image information relative pose resolves module and carries out only with the cooperation beacon characteristic point information on any auxiliary landing platform
Relative pose resolves；
If there is no cooperation beacons in the image obtained, controls image information relative pose resolving module and do not use
Cooperate beacon images information and carries out relative pose resolving.
Preferably, the image processing module carries out the inspection of " H " type cooperation beacon images using SIFT matching algorithm
It surveys, judges to whether there is annulus in cooperation beacon region using Hough circle detection method, and then judge drop where cooperation beacon
Fall the type of platform；Harris corner feature point is extracted to " H " type cooperation beacon images detected.
Preferably, the image information relative pose resolves module when the information using cooperation beacon carries out opposite position
When appearance resolves, according to 12 characteristic points of " H " type cooperation beacon obtained in real time, and 12 features of " H " type cooperation beacon
Coordinate of the point under world coordinate system calculates translation matrix and spin matrix by Tsai algorithm, so obtain rocket body relative to
Location parameter, pitch angle, yaw angle and the roll angle of main landing platform.
The present invention has the beneficial effect that compared with prior art
(1) the present invention provides a kind of new airmanship approach vertically recycled towards reusable rocket, additionally
Certain navigation redundancy is provided, the vertical high-precision and highly reliable navigation for returning to rocket is met；
(2) present invention employs 4 to regard landing navigation camera and 2 positive vertical view landing navigation cameras obliquely downward, so that landing
Navigation phase function observes wider region, is conducive to capture cooperation beacon, and the case where part landing navigation camera fails
Under can still obtain useful visual information；
(3) landing platform arranged in the present invention includes 1 main landing platform and 4 auxiliary cooperation beacon platforms, big
Main landing platform and auxiliary cooperation beacon platform are respectively set in region, facilitates landing navigation phase function and captures conjunction as far as possible
Make beacon, effectively overcome and block and interfere, provides available cooperation beacon message for descent.
Detailed description of the invention
Fig. 1 is the vision auxiliary guide system schematic diagram that the present invention is vertically recycled towards reusable rocket；
Fig. 2 is landing navigation camera scheme of installation on rocket body of the present invention；
Fig. 3 is that view navigation camera investigative range schematic diagram, (a) are to show obliquely downward depending on navigation camera investigative range solid obliquely downward
It is intended to, (b) is to regard navigation camera investigative range floor map obliquely downward；
Fig. 4 is cross section scheme of installation of the landing navigation camera of the present invention on rocket body；
Fig. 5 is the landing platform schematic diagram arranged on ground of the present invention or sea；
Fig. 6 is the main landing platform schematic diagram of the present invention；
Fig. 7 is that present invention auxiliary cooperates beacon platform schematic diagram；
Fig. 8 is step flow chart of the rocket body of the present invention relative to the pose real-time resolving method of main landing platform；
Fig. 9 is 12 Harris corner feature points of " H " type cooperation beacon that the present invention need to extract, and is landed based on (a) flat
12 Harris corner feature points, (b) of " H " type cooperation beacon are assist " H " type cooperation beacon on landing platform 12 on platform
A Harris corner feature point.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments,
The present invention will be described in further detail.It should be appreciated that described herein, specific examples are only used to explain the present invention,
It is not intended to limit the present invention.In addition, technical characteristic involved in the various embodiments of the present invention described below is only
Not constituting a conflict with each other can be combined with each other.
A kind of vision auxiliary guide system vertically recycled towards reusable rocket, including installed on rocket body
Landing platform, the rocket body arranged on land navigation camera, ground or sea are real relative to the position of main landing platform and attitude misalignment
When estimation module；Wherein, the landing navigation camera installed on rocket body includes 4 and regards landing navigation camera, 2 positive vertical views obliquely downward
Landing navigation camera；The landing platform arranged on ground or sea includes that 1 main landing platform and 4 auxiliary cooperation beacons are flat
Platform；When rocket body is between main landing platform 10km~100m, the landing navigation camera installed on rocket body is to ground or sea
On main landing platform and auxiliary cooperation beacon platform imaging, rocket body it is real relative to the position of main landing platform and attitude misalignment
When position and attitude misalignment of the estimation module according to image-forming information real-time estimation rocket body relative to main landing platform, above-mentioned deviation
It can be used for controlling the accuracy of rocket body vertical landing.
It is illustrated in figure 2 landing navigation camera position schematic diagram on rocket body, 4 installed on rocket body lead depending on landing obliquely downward
Navigate camera and 2 positive vertical view landing navigation cameras；The middle and lower part of rocket body is mounted on depending on landing navigation camera obliquely downward, is regarded obliquely downward
The installation angle of land navigation camera central axes and rocket body is α, and α is the half of view navigation viewing field of camera angle γ obliquely downward, with reference to Fig. 3
It is shown, it is ensured that view navigation camera is in 10km~100m altitude range theoretically it is observed that main landing platform or auxiliary obliquely downward
Cooperate a complete cooperation beacon on beacon platform,
From the geometrical relationship in figure can be seen that monocular obliquely downward regard navigation camera radius of investigation asEnable vision imaging device to the visual field all standing of 360 ° of drop zone, regards navigation phase obliquely downward by monocular
Machine radius of investigation mutually covers R/2 calculating, and projector distance D maximum of the rocket body on ground should meetAssuming that
Rocket body radius K is 2m, considers more extreme situation, regard the terrain clearance H for the camera that navigates obliquely downward as 100m,It is 20 degree that α, which can be chosen,.
The positive middle and lower part overlooked landing navigation camera and be mounted on rocket body, regards the installation site of landing navigation camera more obliquely downward
Low 0.2~2m；It is illustrated in figure 4 scheme of installation of the landing navigation camera on the cross section on rocket body, positive vertical view, which is landed, to be led
The installation angle of boat camera central axes and rocket body is 0 degree；4 obliquely downward view landing navigation camera it is equal with 90 degree of angles on rocket body
Even installation, 2 positive landing navigation cameras of overlooking uniformly are installed on rocket body with 180 degree angle, regard obliquely downward landing navigation camera with
There is no limit for the positive installation angle overlooked between landing navigation camera.
4 are obliquely downward near infrared imaging sensor depending on the positive landing navigation camera of overlooking of landing navigation camera and 2, tiltedly
Lower view landing navigation camera and positive landing navigation camera of overlooking are all identical, and imaging wavelength is 0.9 micron~1.7 microns, field angle
α=40 degree γ=2, imaging frame speed are greater than 120 frames/second, and imaging resolution is n × n, it is assumed that the space angular resolution for the camera that navigates
Rate β is better than 0.5mrad, in this wayTake camera imaging resolution be 2560 ×
2560。
As shown in figure 5,4 auxiliary of uniform equidistant placement are closed in border circular areas around it centered on main landing platform
Make beacon platform, the cooperation beacon on main landing platform and auxiliary cooperation beacon platform by near infrared band sensitivity material or
Light belt composition, material are consistent；Non- cooperation beacon material on main landing platform and auxiliary cooperation beacon platform is to near-infrared wave
The insensitive metal of section；Auxiliary cooperation the distance between beacon platform and main landing platform L is as big as possible, takes all navigation phases
Machine remains to provide the minimum terrain clearance H of auxiliary guidance informationminL < H should also be met for 100m, LminTan (γ)=83.9m, L
Value is 80m.
The cooperation beacon of " H+ annulus " type is arranged on main landing platform as shown in Figure 6, cooperative target there need to be certain ruler
It is very little to be conducive to cooperate beacon detection, in α=20 ° and n=2560, when navigating camera heights h=10km, every pixel in image
Representative ground distanceFrom being conducive to " H " type cooperation beacon figure
The context of detection of picture sees that the wide of " H " type cooperation beacon images should be not less than 10 pixels, is converted into physical length, " H " type closes
The width for making beacon should be greater than 2.84m/pixel × 10pixel=28.4m, and the length of " H " type cooperation beacon should be greater thanThe value of the long a of " H " type cooperation beacon can be set as 70m, the width of " H " type cooperation beacon is
50m, the value for forming every line width of " H " is 20m；The overall diameter of the great circle of " annulus " type cooperation beacon is 100m, roundlet
The value range of overall diameter is 50m, the wide 10m of annulus；" H " the type cooperation letter arranged on auxiliary cooperation beacon platform as shown in Figure 7
Target a length of 42m, width 30m, the value for forming every line width of " H " is 10m.
Rocket body includes vision auxiliary guiding strategy relative to the position of main landing platform and attitude misalignment real-time estimation module
Module, image processing module, image information relative pose resolve module；
Vision auxiliary guiding policy module as shown in Figure 8；In rocket body descent, 4 regard navigation camera and 2 obliquely downward
Ground or sea is imaged in a positive vertical view navigation camera, by image processing module judge in 6 width images of acquisition whether
In the presence of cooperation beacon；Cooperate beacon if it exists, judges whether there is the cooperation letter for belonging to main landing platform in existing cooperation beacon
Mark combines figure only with the cooperation beacon imaging information on main landing platform if there is the cooperation beacon for belonging to main landing platform
As processing module and image information relative pose resolving module, output rocket body is inclined relative to the position of main landing platform and posture
Poor information；If not belonging to the cooperation beacon of main landing platform, only belongs to the cooperation beacon of auxiliary landing platform, then only adopt
With the cooperation beacon imaging information combination image processing module and image information relative pose on any auxiliary landing platform
Module is resolved, position and attitude misalignment information of the rocket body relative to main landing platform are exported；If in the 6 width images obtained not
In the presence of cooperation beacon, then in rocket body relative to not using cooperation in the position of main landing platform and the solution process of attitude misalignment
Beacon images information.
Landing platform type sentences make and break where image processing module includes the on-line checking for cooperating beacon, cooperates beacon
The point feature for making beacon images is extracted；" H " image of a width standard is stored in advance in pattern process computer on arrow, adopts
Real-time characteristic matching will be carried out in the standard prestored " H " image and the real-time figure of navigation camera acquisition with SIFT matching algorithm,
Line detects " H " type cooperation beacon；Then, judge to whether there is annulus in cooperation beacon region using Hough circle detection method,
The type of landing platform where judgement cooperation beacon；If there is the cooperation beacon for belonging to main landing platform, only to " H " detected
Type cooperation beacon images extract Harris corner feature point, as shown in Fig. 9 (a)；If not belonging to the cooperation letter of main landing platform
Mark, only belongs to the cooperation beacon of auxiliary landing platform, then only believes " H " type cooperation on any auxiliary landing platform
Logo image extracts Harris corner feature point, as shown in Fig. 9 (b).
For the camera Intrinsic Matrix that navigatesWhereinF is to have
Focal length is imitated, du is lateral pixel spacing, and dv is vertical pixel spacing；u0And v0The lateral shift projected for optical center in the plane of delineation
Amount and vertical offset, γ are the out of plumb factor, and navigation camera Intrinsic Matrix is obtained by manually calibration；According to obtaining in real time
12 Harris corner feature point [u of " H " type cooperation beacon takeni,vi]T(i=1,12) and 12 Harris 2 ...,
Coordinate [x of the corner feature point under world coordinate system1,y1], rocket body is calculated relative to closing on landing platform by Tsai algorithm
Make position and the posture angular displacement of beacon, calculatesAnd 12 Harris corner feature points are sat in the world
Coordinate arrangement under mark system is at Υ=[u '1,v′1,1,...,u′12,v′12,1]TWithCalculate Ψ=(ATA)-1ATΥ；Rocket body is opposite
It is to position deviation in the height for cooperating beacon on landing platformIt is horizontal lateral
Position deviation X=Z Ψ (4)；Horizontal forward location deviation Y=Z Ψ (8)；Rocket body is bowed relative to cooperating beacon on landing platform
Elevation deflection φ=- arcsin (Ψ (7)), yaw angular displacement
Rolling angular displacement θ=arctan (Ψ (4)/Ψ (1)).
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all wrap
Containing within protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (16)
1. a kind of vision auxiliary guide system vertically recycled towards reusable rocket, it is characterised in that: including on rocket body
Position and appearance of the landing platform, rocket body arranged on the landing navigation camera of installation, ground or sea relative to main landing platform
State deviation real-time estimation module；Wherein, the landing navigation camera installed on rocket body includes 4 and regards landing navigation camera, 2 obliquely downward
It is positive to overlook landing navigation camera；The landing platform arranged on ground or sea includes 1 main landing platform and 4 auxiliary cooperation letters
Mark platform；When rocket body is between main landing platform 10km~100m, the landing navigation camera installed on rocket body to ground or
Main landing platform and auxiliary cooperation beacon platform imaging on sea, position and attitude misalignment of the rocket body relative to main landing platform
Position and attitude misalignment of the real-time estimation module according to image-forming information real-time estimation rocket body relative to main landing platform, above-mentioned deviation
It can be used for controlling the accuracy of rocket body vertical landing.
2. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1,
Be characterized in that: described 4 obliquely downward depending on landing navigation camera be mounted on the middle and lower part of rocket body and on rocket body it is equal with 90 degree of angles
Even installation, the positive installation position for overlooking landing navigation camera more obliquely downward depending on landing navigation camera set low 0.2~2m；Positive vertical view, which is landed, to be led
Boat camera is uniformly installed on rocket body with 180 degree angle；The positive landing navigation camera central axes and the installation angle of rocket body overlooked are 0
Degree regards the installation angle of landing navigation camera central axes and rocket body obliquely downward as α, and α is the one of view navigation viewing field of camera angle γ obliquely downward
Half:
Wherein: K is rocket body radius, and H is the terrain clearance of view navigation camera obliquely downward；
There is no limit for view landing navigation camera and the positive installation angle overlooked between landing navigation camera obliquely downward.
3. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 2,
Be characterized in that: the value range of the installation angle α is 20~30 degree.
4. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1 or 2,
It is characterized by: described 4 are obliquely downward that near infrared imaging passes depending on the positive landing navigation camera of overlooking of landing navigation camera and 2
Sensor, regards landing navigation camera obliquely downward and positive landing navigation camera of overlooking is all identical, and imaging wavelength is 0.9 micron~1.7 microns,
Field angle is γ, and value range is 40~60 degree, and imaging frame speed is greater than 120 frames/second, and imaging resolution is n × n, n calculation method
It is as follows:
Wherein: β is the space angular resolution of navigation camera.
5. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1,
It is characterized in that: the arrangement of the 1 main landing platform arranged on ground or sea and 4 auxiliary cooperation beacon platforms: with master
Centered on landing platform, 4 auxiliary of uniform equidistant placement cooperate beacon platform in border circular areas around it.
6. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 5,
Be characterized in that: auxiliary cooperation the distance between beacon platform and main landing platform L to the greatest extent may be used under the premise of meeting following constraint condition
It can be big:
L<Hmintan(γ)
Wherein: HminThe minimum terrain clearance of auxiliary guidance information is provided for all navigation phase functions, γ is to regard landing navigation obliquely downward
Camera and the positive field angle for overlooking landing navigation camera.
7. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 6,
Be characterized in that: the value range of the distance L is 50~80m.
8. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1 or 5,
It is characterized by: the cooperation beacon on main landing platform and auxiliary cooperation beacon platform is by near infrared band sensitivity material or light
Band composition, material are consistent；Non- cooperation beacon material on main landing platform and auxiliary cooperation beacon platform is near infrared band
Insensitive metal.
9. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1 or 5,
It is characterized by: the cooperation beacon of " H+ annulus " type is arranged on the main landing platform, wherein " H " type cooperation beacon is a length of
A, width areThe overall diameter of the great circle of " annulus " type cooperation beacon is greater than 100m, and the value range of the overall diameter of roundlet is 30~
50m, the wide 10-15m of annulus；The a is calculated by following manner: ground representated by each pixel first in calculating image
Identity distance is from sr (unit: m/pixel):
Then, product is carried out using wide the included pixel of sr and beacon images, obtains a value；
Wherein: S is depending on/positive ground instantaneous field of view the length overlooking navigation camera and being captured, h value is any on rocket body obliquely downward
The locating height of one navigation camera.
10. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 9,
Be characterized in that: the value of a is greater than 50m, and the value range for forming every line width of " H " is 10~20m.
11. a kind of vision auxiliary guiding system vertically recycled towards reusable rocket according to claim 1 or 5
System, it is characterised in that: the cooperation beacon of " H " type is arranged on the auxiliary cooperation beacon platform, wherein " H " type cooperation beacon
A length of b, width areB value is greater than 40m, and the value range for forming every line width of " H " is 10~15m.
12. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 11,
It is characterized by: the direction for " H " type cooperation beacon arranged on 4 auxiliary cooperation beacon platforms requires: the centre of composition " H " is short
Horizontal line "-" passes through the central point of main landing platform.
13. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 1,
Be characterized in that: the rocket body includes that vision auxiliary is led relative to the position of main landing platform and attitude misalignment real-time estimation module
Draw policy module, image processing module, image information relative pose resolving module；
Image processing module is in real time handled the image of landing navigation camera shooting, whether includes cooperation letter in detection image
It marks, cooperate the type of beacon place landing platform and feature point extraction is carried out to cooperation beacon；Will whether comprising cooperation beacon,
The result of the type processing of landing platform where cooperation beacon is sent to vision auxiliary guiding policy module；The cooperation of extraction is believed
Mark characteristic point is sent to image information relative pose and resolves module；
Vision auxiliary guiding policy module, processing result image, control image information relative pose resolve module based on the received
Using corresponding pose calculation method, the position that module determines the relatively main landing platform of rocket body is resolved by image information relative pose
Parameter and pitch angle, yaw angle and roll angle.
14. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 13,
It is characterized by: the vision auxiliary guiding specific control strategy of policy module is as follows:
If there is cooperation beacon in the image of shooting, judge whether there is the cooperation for belonging to main landing platform in existing cooperation beacon
Beacon controls image information relative pose and resolves module only with main landing if there is the cooperation beacon for belonging to main landing platform
Cooperation beacon characteristic point information on platform carries out relative pose resolving；
If not belonging to the cooperation beacon of main landing platform, only belongs to the cooperation beacon of auxiliary landing platform, then control image
Information relative pose resolves module and carries out relatively only with the cooperation beacon characteristic point information on any auxiliary landing platform
Pose resolves；
If controlling image information relative pose there is no cooperation beacon in the image obtained and resolving module and do not use and cooperate to believe
Logo image information carries out relative pose resolving.
15. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 13,
It is characterized by: the image processing module carries out the detection of " H " type cooperation beacon images using SIFT matching algorithm, use
It whether there is annulus in Hough circle detection method judgement cooperation beacon region, and then judge landing platform where cooperating beacon
Type；Harris corner feature point is extracted to " H " type cooperation beacon images detected.
16. a kind of vision auxiliary guide system vertically recycled towards reusable rocket according to claim 13,
It is characterized by: the image information relative pose resolves module when the information using cooperation beacon carries out relative pose resolving
When, it is alive according to 12 characteristic points of " H " type cooperation beacon obtained in real time, and 12 characteristic points of " H " type cooperation beacon
Coordinate under boundary's coordinate system calculates translation matrix and spin matrix by Tsai algorithm, and then obtains rocket body relative to main landing
Location parameter, pitch angle, yaw angle and the roll angle of platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811326834.6A CN109612333B (en) | 2018-11-08 | 2018-11-08 | Visual auxiliary guide system for vertical recovery of reusable rocket |
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| CN112629322A (en) * | 2020-12-14 | 2021-04-09 | 湖北航天飞行器研究所 | Semi-physical simulation electrifying device and method based on overload activation start-control missile |
| CN115265290A (en) * | 2022-07-07 | 2022-11-01 | 大连船舶重工集团有限公司 | Marine recovery rocket sealing device |
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