CN109670204B - Carrier rocket video image interpretation error correction method - Google Patents

Carrier rocket video image interpretation error correction method Download PDF

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CN109670204B
CN109670204B CN201811366006.5A CN201811366006A CN109670204B CN 109670204 B CN109670204 B CN 109670204B CN 201811366006 A CN201811366006 A CN 201811366006A CN 109670204 B CN109670204 B CN 109670204B
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rocket
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carrier rocket
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崔书华
张伟
胡绍林
乜铁宁
刘军
王敏
张冬波
余慧
郑雨西
杨小燕
陈钦
苟茹君
孙廓
贾冰
鲁自虎
张力
陈虓
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China Xian Satellite Control Center
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Abstract

The invention discloses a carrier rocket video image interpretation error correction method, which belongs to the technical field of aerospace measurement and control. According to the method disclosed by the invention, after the double-side interpretation error is corrected, the transverse drift and the attitude of the carrier rocket can be accurately calculated, the error estimation of the rocket flight state is avoided, and an accurate and reliable data basis is provided for rocket model analysis and rocket flight performance evaluation.

Description

Carrier rocket video image interpretation error correction method
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and relates to a carrier rocket video image interpretation error correction method.
Background
In an aerospace test target range, a high-speed television measuring instrument is used for completing tracking measurement tasks of a vertical takeoff section of a carrier rocket, and transverse drift and attitude determination of the rocket are completed through effective acquisition, interpretation and error correction of image information of rocket bodies recorded by the high-speed television measuring instrument and data fusion calculation of multiple tracking measurements. The calculation result is used for flight performance analysis of the carrier rocket, and has important significance for improving the rocket body structure, perfecting the performance of a test and launch system and improving the safety of the launch process. Foreign places attach great importance to the measurement and evaluation of the launching process by using a high-speed television measurement system, and the purpose is to provide important data resources for the fine analysis of the flight performance of the carrier rocket.
In the conventional interpretation error correction process, due to the influence of imaging quality or image processing technology, one-sided interpretation data is generally used as the basis of error correction, but certain constraint exists in the correction process, model errors exist in the interpretation error correction of the measurement mark, and the data processing effect is influenced. With the rapid development of image data processing technology, particularly after the disturbance removal, the enhancement and the subdivision of a fuzzy imaging part, the effective interpretation of a complete time sequence video image can be realized, and powerful technical support is provided for more accurately correcting interpretation errors. The invention utilizes the interpretation method at both sides to correct errors, and provides an effective technical means for accurately determining the transverse drift amount and flight attitude of the rocket.
Disclosure of Invention
The invention aims to provide a carrier rocket video image interpretation error correction method, which solves the problems that the traditional one-sided interpretation error correction method has constraint and influences the error correction effect.
The technical scheme adopted by the invention is that the method for correcting the interpretation error of the video image of the carrier rocket comprises the following specific steps:
step 1, in video imaging data of a vertical takeoff section of a carrier rocket, tracked and measured by a high-speed television measuring instrument, selecting any measuring ring on the carrier rocket for interpretation to obtain time sequence measuring data from the time of rocket ignition takeoff to the time of rocket tower exit;
step 2, defining A, E as an angle before error correction of the interpretation part, A ', E ' as an angle after correction of the interpretation part, taking edge points on the left side and the right side of the same measurement ring in a video image of the carrier rocket, respectively recording the edge points as N and M, respectively recording the N ' and the M ' as projections of the N and the M on a station address plane of the equipment, defining S as a station address center of the tracking equipment of the high-speed television measuring instrument, o as a central point of the measurement ring, and o ' as a projection of the o on a station measuring plane;
then there are:
Figure BDA0001868569720000021
Figure BDA0001868569720000022
Figure BDA0001868569720000023
let the left side point N measure the angle data as (A) l ,E l ) The right hand point M measures data as (A) r ,E r ) Then, obtaining:
Figure BDA0001868569720000024
substituting the formula 4 into the formula 3 to obtain the correction angle of the double-sided interpretation error:
Figure BDA0001868569720000031
yet another feature of the present invention is that,
the measuring ring on the carrier rocket is a sprayed mark ring for measuring the drift of the carrier rocket in the appearance of the carrier rocket body.
The method has the advantages that after the bilateral interpretation error is corrected, the transverse drift and the rocket body attitude of the carrier rocket can be accurately calculated, and accurate and reliable data basis is provided for rocket model analysis and rocket flight performance evaluation.
Drawings
FIG. 1 is a schematic view of a launch vehicle configuration;
FIG. 2 is a schematic diagram of a two-sided interpretation error correction;
FIG. 3 is a comparison graph of lateral drift data of a carrier rocket body in the x direction obtained through single-sided interpretation and double-sided interpretation;
FIG. 4 is a comparison graph of lateral z-direction drift data of a rocket body of a carrier rocket obtained through single-sided interpretation and double-sided interpretation;
FIG. 5 is a comparison graph of pitch angle data of rocket bodies of a carrier rocket obtained through single-sided interpretation and double-sided interpretation;
FIG. 6 is a graph comparing the carrier rocket body yaw angle data obtained by single-sided interpretation and double-sided interpretation.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a method for correcting interpretation errors of carrier rocket video images, which comprises the following steps of:
step 1, in video imaging data of a vertical takeoff section of a carrier rocket, which is tracked and measured by a high-speed television measuring instrument, selecting any measuring ring (shown in figure 1) on the carrier rocket for interpretation to obtain time series measuring data from the time period from rocket ignition takeoff to rocket tower exit;
and 2, as shown in fig. 2, defining a, E as an angle before error correction of the interpretation part, a ', E ' as an angle after correction of the interpretation part, taking edge points on the left side and the right side of the same measurement ring in the video image of the carrier rocket, respectively marking as N and M, respectively marking N ' and M ' as projections of the N and M on a station address plane of the equipment, defining S as a station address center of the tracking equipment of the high-speed television measuring instrument, o as a central point of the measurement ring, and o ' as a projection of the o on a station measuring plane.
Then there are:
Figure BDA0001868569720000041
Figure BDA0001868569720000042
Figure BDA0001868569720000043
let the left hand point N measure data as (A) l ,E l ) The right side point M measures (A) r ,E r ) Then, obtaining:
Figure BDA0001868569720000044
substituting formula 4 into formula 3 to obtain the correction angle of the double-sided interpretation error:
Figure BDA0001868569720000051
after error correction is carried out by the bilateral interpretation method, the specific process of calculating the rocket transverse drift amount and the rocket attitude angle is as follows:
step 1, two steps of intersection:
calculating the direction cosine of the vector between the two measuring stations and the target in the transmitting coordinate system according to a formula 6:
Figure BDA0001868569720000052
in the formula:
A′ i ,E′ i the azimuth angle and the pitch angle of the ith survey station after error correction of the measured data;
Ω i -a rotation matrix of the station coordinate system to the transmission coordinate system;
calculating the cosine of an included angle between the two measuring stations and the target according to a formula 7:
cosψ＝l 1 l 2 +m 1 m 2 +n 1 n 2 (7)
calculating the cosine of an included angle between a connecting line from the target to the measuring station and a connecting line between the two measuring stations according to a formula 8:
Figure BDA0001868569720000053
in the formula:
(X 01 ,Y 01 ,Z 01 ),(X 02 ,Y 02 ,Z 02 ) -representing the coordinates of the sites of the two stations separately;
calculating the target-to-survey station slant distance according to formula 9:
Figure BDA0001868569720000054
in the formula:
D 12 ＝[(X 01 -X 02 ) 2 +(Y 01 -Y 02 ) 2 +(Z 01 -Z 02 ) 2 ] 1/2 ；
the target location parameter is calculated according to equation 10:
Figure BDA0001868569720000061
step 2, calculating the drift amount:
the drift of the measurement point in the x and z directions is calculated according to equation 11:
Figure BDA0001868569720000062
in the formula:
x k ,y k ,z k -coordinates of the kth measurement point on the rocket in the launch coordinate system;
x k0 ,y k0 ,z k0 -initial position of the kth measurement point on the rocket in the launch coordinate system.
And step 3, attitude calculation:
rocket pitch angle calculation is performed according to formula 12:
Figure BDA0001868569720000063
calculating the rocket yaw angle according to the formula 13:
Figure BDA0001868569720000064
in the formula:
Δ x, Δ y, Δ z-coordinate position difference of two corresponding measuring points on the rocket in x, y, z directions in the launching coordinate system.
The invention utilizes the interpretation method at both sides to correct the error, and realizes the purpose of describing the flight state of the actual carrier rocket more closely. Compared with the traditional single-side correction, the double-side interpretation method of the invention comprises the following steps:
single-side interpretation correction method
When the rocket interpretation part is the right side of the rocket, the correction is carried out according to the following formula:
Figure BDA0001868569720000071
and when the rocket interpretation part is the left side of the rocket, correcting according to the following formula:
Figure BDA0001868569720000072
in the formula, as shown in fig. 2, a and E are angles before the interpretation position error correction (i.e., data corrected by the systematic error and the miss distance error using the pointing angle in the image information), respectively; a 'and E' are angles of the interpretation part after correction; d is the rocket diameter of the corresponding measuring point part; r is the projection of a connecting line from the origin of the coordinate system of the measuring station to the origin of the coordinate system of the emission on the horizontal plane, namely SO';
in the vertical takeoff process of the rocket, because the carrier rocket has transverse drift, D and R in the formula 15 are actually not theoretical data but change values related to the transverse drift, so that a large error still exists in a single-side correction method, and the angle data of the rocket cannot be accurately obtained.
The specific embodiment is as follows:
taking a certain test task as an example, a specific implementation process of interpretation, correction, intersection fusion, transverse drift calculation and rocket attitude determination of a plurality of carrier rocket video images is given.
Firstly, data preparation is carried out, a high-speed television measuring instrument tracks and measures video imaging data of a vertical takeoff section of a carrier rocket, any measuring ring on the carrier rocket is selected, such as a measuring ring L1, a measuring ring L2 or a measuring ring L3 in the graph 1 for interpretation, and time series measuring data from the time of rocket ignition takeoff to the time of rocket tower takeoff are obtained;
then, the interpretation error is corrected: as shown in fig. 2, the edge points on the left and right sides of the measurement ring are respectively N and M, S is the site center of the tracking device of the high-speed tv measuring instrument, and o is the center point of the measurement ring:
then there are:
Figure BDA0001868569720000081
Figure BDA0001868569720000082
Figure BDA0001868569720000083
let the left side point N measure the angle data as (A) l ,E l ) The right side point M measures (A) r ,E r ) Then, there are:
Figure BDA0001868569720000084
the two-sided interpretation error correction angle can be obtained:
Figure BDA0001868569720000085
to compare the calculation effect of the single-sided interpretation and the double-sided interpretation more intuitively, a data diagram is used for illustration, which is shown in fig. 3-6. As is apparent from fig. 3 to 6, the results calculated by the bilateral interpretation correction method are better than those calculated by the unilateral interpretation correction method, the data results effectively correct the bias error in unilateral interpretation, and the data is more stable.
Attached: in the embodiment, the lateral drift and rocket body attitude data of the carrier rocket calculated after the error correction is read from two sides are as follows:
(1) The input file is interpretation data on two sides of each measuring point, the first column is time data (unit: second), the second column is octal azimuth angle data, the third column is octal pitch angle data, the fourth column is a photographic focal length (unit: millimeter), the fifth column is x-direction miss distance (unit: millimeter), and the sixth column is y-direction miss distance (unit: millimeter).
Data on right side of first measurement point of test station # 1:
Figure BDA0001868569720000091
left data of first measurement point of 1# measuring station:
Figure BDA0001868569720000092
data on right side of second measurement point of 1# measurement station:
Figure BDA0001868569720000093
left data of second measuring point of 1# measuring station:
Figure BDA0001868569720000101
data to the right of the first measurement point of the 2# measuring station:
Figure BDA0001868569720000102
left data of first measurement point of 2# measuring station:
Figure BDA0001868569720000103
data on right side of second measurement point of 2# measurement station:
Figure BDA0001868569720000104
Figure BDA0001868569720000111
left data of second measuring point of 2# measuring station:
Figure BDA0001868569720000112
(2) The input file is subjected to bilateral error correction by utilizing a bilateral interpretation correction method, wherein the first column is time data (unit: second), the second column is photographic focal length (unit: millimeter), the third column is pitch angle data (unit: radian), and the fourth column is azimuth angle data (unit: radian).
1# station first measurement point corrected data:
Figure BDA0001868569720000113
1# station second measurement point corrected data:
Figure BDA0001868569720000114
modified data of first measurement point of 2# measurement station:
Figure BDA0001868569720000121
data corrected by the second measuring point of the 2# measuring station:
Figure BDA0001868569720000122
(3) And (4) performing intersection calculation on the data after the interpretation error correction, wherein the first column is time data (unit: second), the second column is the x-direction position coordinate (unit: meter) of the measuring point in the emission coordinate system, the third column is the height (unit: meter) of the measuring point relative to the center of the inertial platform after intersection, and the fourth column is the z-direction position coordinate (unit: meter) of the measuring point in the emission coordinate system.
Two intersection result data of the first measuring point:
Figure BDA0001868569720000123
two intersection result data of the second measuring point are as follows:
Figure BDA0001868569720000124
Figure BDA0001868569720000131
(3) The first column of the calculation result of the lateral drift of the rocket body is time data (unit: second), the second column is data (unit: meter) of the lateral drift of the carrier rocket in the x direction in the launching coordinate system, and the third column is data (unit: meter) of the lateral drift of the carrier rocket in the z direction in the launching coordinate system.
First measurement point lateral drift calculation result data:
Figure BDA0001868569720000132
second measurement point lateral drift calculation result data:
Figure BDA0001868569720000133
(5) And the first column of the calculation result of the rocket body attitude is time data (unit: second), the second column is carrier rocket pitch angle data (unit: radian) in a launching coordinate system, and the third column is carrier rocket yaw angle data (unit: radian) in the launching coordinate system.
Figure BDA0001868569720000134
Figure BDA0001868569720000141

Claims (2)

1. The method for correcting the interpretation error of the video image of the carrier rocket is characterized by comprising the following operation steps:
step 1, in video imaging data of a vertical takeoff section of a carrier rocket tracked and measured by a high-speed television measuring instrument, selecting any measuring ring on the carrier rocket, and interpreting to obtain measuring data at different moments;
step 2, defining A, E as an angle before error correction of the interpretation part, A ', E ' as an angle after correction of the interpretation part, taking edge points on the left side and the right side of the same measurement ring in a video image of the carrier rocket, respectively recording the edge points as N and M, respectively recording the N ' and the M ' as projections of the N and the M on a station address plane of the equipment, defining S as a station address center of the tracking equipment of the high-speed television measuring instrument, o as a central point of the measurement ring, and o ' as a projection of the o on a station measuring plane;
then there are:
Figure FDA0001868569710000011
Figure FDA0001868569710000012
Figure FDA0001868569710000013
let the left side point N measure the angle data as (A) l ,E l ) The right hand point M measures data as (A) r ,E r ) Then, obtaining:
Figure FDA0001868569710000014
substituting the formula 4 into the formula 3 to obtain the correction angle of the double-side interpretation error:
Figure FDA0001868569710000021
2. the method for correcting interpretation errors of video images of a launch vehicle according to claim 1, wherein the measurement rings on the launch vehicle are painted marker rings of the shape of the body of the launch vehicle for measuring the drift of the launch vehicle.
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