CN109945824A - A kind of method and system of carrier aircraft heading reference measurement and transmitting - Google Patents
A kind of method and system of carrier aircraft heading reference measurement and transmitting Download PDFInfo
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- CN109945824A CN109945824A CN201711396168.9A CN201711396168A CN109945824A CN 109945824 A CN109945824 A CN 109945824A CN 201711396168 A CN201711396168 A CN 201711396168A CN 109945824 A CN109945824 A CN 109945824A
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Abstract
The present invention relates to a kind of methods of carrier aircraft heading reference measurement and transmitting.The method of carrier aircraft heading reference measurement provided by the invention and transmitting can optimize alignment algorithm by external measurement device survey aircraft course angle, simplify alignment process, improve rapid alignment precision, shorten the alignment time, meet battlefield rapid response to customer's need.The invention further relates to a kind of systems of carrier aircraft heading reference measurement and transmitting.
Description
Technical field
The present invention relates to a kind of methods of carrier aircraft heading reference measurement and transmitting.The invention further relates to a kind of carrier aircraft course bases
The system of locating tab assembly and transmitting.
Background technique
Opportunity of combat needs to complete initial alignment work before setting out execution task.The major way being aligned at present is using winged
The inertial navigation of machine itself is completed, and the precision of alignment is mainly by the technique of inertial navigation device and ambient enviroment interference effect.In the prior art
Alignment precision is low, while the orientation angular alignment time is long, is difficult to meet battlefield rapid response to customer's need.
Therefore, the prior art requires further improvement.
Summary of the invention
For above-mentioned problems of the prior art, the purpose of the present invention is to provide a kind of measurements of carrier aircraft heading reference
With the method for transmitting, can automatic rapid alignment, alignment precision is high, and the alignment time shortens.
To achieve the above object, the invention adopts the following technical scheme:
A kind of method of carrier aircraft heading reference measurement and transmitting, comprising the following steps:
Measuring instrument is provided, the fixed measuring instrument measures ground reference point, constructs the measuring instrument coordinate system Ts；
Construct body frame of reference Tn；
Several targets are set on the body；
The target on the body of stop is measured by the measuring instrument, calculates and obtains the target described
Coordinate (x under the frame of reference0, y0, z0)；
x0=f (ψ, θ, φ, x2,y2,z2)
Pass through equation group: y0=g (ψ, θ, φ, x2,y2,z2), calculate carrier aircraft course angle (ψ, θ,)；
z0=h (ψ, θ, φ, x2,y2,z2)
Wherein (x2, y2, z2) be the body frame of reference and be mobile after body coordinate system between translation vector；f
(ψ, θ,), g (ψ, θ,), h (ψ, θ,) be (ψ, θ,) trigonometric function product and it is poor；
Course angle is identifiably transferred to carrier aircraft inertial navigation by computer disposal.
Preferably, the measuring instrument includes CCD camera, the laser range finder that is mounted in the CCD camera and for branch
Support the fixation bracket of the CCD camera.
Preferably, the fixed bracket is by electronic two-axis platcform, encoder and motor form.
Preferably, the coordinate (x for obtaining the target under the frame of reference is calculated0, y0, z0) method include:
The image processing software automatic identification target of the CCD camera, and target position information is fed back into fixed bracket,
Fixed bracket is adjusted by rotating the motor, motor pitching, yaw angle is adjusted, makes target pattern center and CCD phase
The target surface of machine is overlapped, and records pitch angle α, yaw angle β；Pass through the distance of the laser range finder measurement target drone pattern to measurement point
L0, pass through conversion relation:
x0=L0Cos α sin β, y0=L0Sin α, z0=L0Sin α calculates coordinate (x0, y0, z0)。
Preferably, the target pattern is to cross in circle acceptance of the bid, and the diameter of the target is 1~10cm.
Preferably, the target is sprayed on good, the indeformable position of rigidity on the carrier aircraft body.
Preferably, pixel of the target pattern on the target surface of the CCD camera is not less than 10 pixels.
Preferably, the CCD camera field angle is not less than ± 1 °.
Preferably, the ranging range of the laser range finder is not less than 20m, and range accuracy is not more than 0.5mm.
The present invention also provides a kind of carrier aircraft heading references to measure the system with transmitting, the system comprises:
Target on the carrier aircraft body is set；
For measuring the measuring instrument of the target, the measuring instrument includes CCD camera, is mounted in the CCD camera
Laser range finder and the fixation bracket for being used to support the CCD camera；The laser range finder is for measuring the target to survey
Measure the distance of point；
And computer, the computer are connect with the carrier aircraft and the measuring instrument signal.
The invention has the following advantages:
Carrier aircraft heading reference measurement provided by the invention can be navigated with transmission method by external measurement device survey aircraft
To angle, optimize alignment algorithm, simplifies alignment process, improve rapid alignment precision, shorten the alignment time, meet battlefield quick response
Demand.
Detailed description of the invention
Fig. 1 is the system schematic of carrier aircraft heading reference measurement and transmitting of the present invention；
Fig. 2 is the schematic diagram of target；
Fig. 3 is the body coordinate system schematic diagram after measuring instrument coordinate system, the body frame of reference, movement.
Wherein:
1, target 2, laser range finder
3, CCD camera 4, fixed bracket
5, computer 6, motor
A, B, C, target
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
A kind of method of carrier aircraft heading reference measurement and transmitting, comprising the following steps:
Measuring instrument is provided, fixation measuring instrument measures ground reference point, constructs measuring instrument coordinate system Ts；
Construct body frame of reference Tn；
Several targets are set on body；
The target on the body of stop is measured by measuring instrument, calculates the seat for obtaining target under the frame of reference
Mark (x0, y0, z0)；
x0=f (ψ, θ, φ, x2,y2,z2)
Pass through equation group: y0=g (ψ, θ, φ, x2,y2,z2), calculate carrier aircraft course angle (ψ, θ,)；
z0=h (ψ, θ, φ, x2,y2,z2)
Wherein (x2, y2, z2) be the body frame of reference and be mobile after body coordinate system between translation vector；F (ψ,
θ,), g (ψ, θ,), h (ψ, θ,) be (ψ, θ,) trigonometric function product and it is poor；
Course angle is identifiably transferred to carrier aircraft inertial navigation by computer disposal.
There are 4 coordinate systems, respectively inertial navigation coordinate system, measuring instrument seat with the method for transmitting for the measurement of carrier aircraft heading reference
Body coordinate system after marking system, the body frame of reference, movement.
Measuring instrument coordinate system TsOrigin is located at measuring instrument pitching azimuth axis intersection point, and Y-axis is vertical direction, and X-axis is horizontal plane
Interior and north orientation is in the direction of accurately known angle.XY horizontal plane is obtained by the level meter on measuring instrument, and X-axis in carrier aircraft by stopping
Machine ground is arranged two fixed target calibration methods and determines.
Preferably, pass through mechanical localization mechanism between measuring instrument and installation pedestal.
The body frame of reference refers to body coordinate system when calibration, is connected with body, the body frame of reference and inertial navigation
Coordinate system is consistent.Z axis is the body longitudinal axis, is determined by the measurement point on body surface.
Body coordinate system after movement refers to the frame of reference after body is mobile.After the body frame of reference and movement
The frame of reference between corner be to reflect the posture angular difference of stop position twice.
Transition matrix between measuring instrument coordinate system and the body frame of reference are as follows:
In formula, Ts→0Indicate spin matrix between two coordinate systems, 9 all known quantities of matrix element； (x1, y1, z1) be
Translation between two coordinate systems is known quantity.
The transition matrix between body coordinate system and the frame of reference after movement are as follows:
In formula, T0→nIndicate the spin matrix between the body frame of reference and postrotational body coordinate system, three angles are
Unknown quantity；(x2, y2, z2) it is translation vector between the body frame of reference and postrotational body coordinate system, three coordinates are
Unknown quantity.
Coordinate of the measured point target A under the frame of reference is set on false body as (x0, y0, z0), under measuring instrument coordinate system
Coordinate be (xs, ys, zs), then have:
Thus the equation group for containing 6 unknown numbers is obtained:
x0=f (ψ, θ, φ, x2,y2,z2)
y0=g (ψ, θ, φ, x2,y2,z2)
z0=h (ψ, θ, φ, x2,y2,z2)
In formula, f (ψ, θ,), g (ψ, θ,), h (ψ, θ,) be (ψ, θ,) trigonometric function product and it is poor.
Equally, other tested target points (B, C) also available equation group.So far, it has obtained about body appearance
The equation group of state angle variable quantity.Equation group is that the form of the trigonometric function product of unknown number occurs, and can be calculated by numerical value
Method carries out solving vector angle.
Preferably, measuring instrument includes CCD camera, the laser range finder being mounted in CCD camera and is used to support CCD camera
Fixation bracket.
Fixed bracket is by electronic two-axis platcform, encoder and motor form.
Preferably, the coordinate (x for obtaining target under the frame of reference is calculated0, y0, z0) method include:
The image processing software automatic identification target of CCD camera, and target position information is fed back into fixed bracket, pass through
Rotating electric machine adjusts fixed bracket, adjusts motor pitching, yaw angle, makes the target surface of target pattern center and CCD camera
It is overlapped, records pitch angle α, yaw angle β；Pass through the distance L of laser range finder measurement target drone pattern to measurement point0, pass through conversion
Relationship:
x0=L0Cos α sin β, y0=L0Sin α, z0=L0Sin α calculates coordinate (x0, y0, z0)。
In a specific embodiment, target pattern is to cross in circle acceptance of the bid, the diameter of target is 1~
10cm。
In a specific embodiment, target is sprayed on good, the indeformable position of rigidity on carrier aircraft body.
The quantity of target can be 3 or more.
In a specific embodiment, pixel of the target pattern on the target surface of CCD camera is not less than 10 pixels.
In a specific embodiment, CCD camera field angle is not less than ± 1 °.
Preferably, the ranging range of laser range finder is not less than 20m, and range accuracy is not more than 0.5mm.
The present invention also provides a kind of system of carrier aircraft heading reference measurement and transmitting, system includes:
Target on carrier aircraft body is set；
For the measuring instrument of measurement target drone, measuring instrument includes CCD camera, be mounted on laser range finder in CCD camera and
It is used to support the fixation bracket of CCD camera；Distance of the laser range finder for measurement target drone to measurement point；
And computer, computer are connect with the carrier aircraft and the measuring instrument signal.
The present invention is based on the Airborne Inertial Navigation System fast transfer alignment external measurement devices of autocollimator, measure the boat of carrier aircraft
Airborne ins are injected, it can be achieved that automatic, quick measurement carrier aircraft heading reference to angle, and by measuring device.
Illustrate the method for carrier aircraft heading reference measurement and transmitting in the present invention below by specific embodiment.
As shown in Figure 1 to Figure 3, the measurement of carrier aircraft heading reference and the system of transmitting include: target 1, laser range finder 2, CCD
Camera 3, fixed bracket 4, computer 5 and motor 6.
The ground reference point of measuring instrument measurement is fixed, measuring instrument coordinate system T is constructeds；Construct body frame of reference Tn；
It is measured to aircraft target pattern is stopped.
The image of aircraft target A is as shown in Figure 2.The process of measurement target drone pattern is to pass through rotating electric machine (not shown) tune
Solidating fixed rack adjusts motor pitching, yaw angle by image processing software, makes target image center and CCD target surface
It is overlapped, records pitch angle α, yaw angle β；Pass through the distance L of laser range finder measurement target drone pattern to measurement point0, pass through conversion
Relationship:
x0=L0Cos α sin β, y0=L0Sin α, z0=L0Sin α calculates coordinate (x0, y0, z0).In repetition
State process, measurement target drone B, C etc..
X0A, y0A, z0A；x0B, y0B, z0BSix unknown numbers in equation can be solved by being brought into following equations, calculate machine
Body attitude angle solves vector angle.
x0=f (ψ, θ, φ, x2,y2,z2)
y0=g (ψ, θ, φ, x2,y2,z2)
z0=h (ψ, θ, φ, x2,y2,z2)
By the way that data are transported in aircraft inertial navigation after computer disposal.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of method of carrier aircraft heading reference measurement and transmitting, feature with, comprising the following steps:
Measuring instrument is provided, the fixed measuring instrument measures ground reference point, constructs the measuring instrument coordinate system Ts；
Construct body frame of reference Tn；
Several targets are set on the body；
The target on the body of stop is measured by the measuring instrument, calculates and obtains the target in the benchmark
Coordinate (x under coordinate system0, y0, z0)；
Pass through equation group:Calculate the course angle of carrier aircraft
Wherein (x2, y2, z2) be the body frame of reference and be mobile after body coordinate system between translation vector；ForTrigonometric function product and it is poor；
Course angle is identifiably transferred to carrier aircraft inertial navigation by computer disposal.
2. the method for carrier aircraft heading reference measurement and transmitting according to claim 1, it is characterised in that: the measuring instrument packet
CCD camera is included, the laser range finder being mounted in the CCD camera and the fixation bracket for being used to support the CCD camera.
3. the method for carrier aircraft heading reference measurement and transmitting according to claim 2, it is characterised in that: the fixed bracket
By electronic two-axis platcform, encoder and motor form.
4. the method for carrier aircraft heading reference measurement and transmitting according to claim 3, it is characterised in that: calculate described in obtaining
Coordinate (x of the target under the frame of reference0, y0, z0) method include:
The image processing software automatic identification target of the CCD camera, and target position information is fed back into fixed bracket, pass through
It rotates the motor and adjusts fixed bracket, adjust motor pitching, yaw angle, make target pattern center and CCD camera
Target surface is overlapped, and records pitch angle α, yaw angle β；Pass through the distance L of the laser range finder measurement target drone pattern to measurement point0,
Pass through conversion relation:
x0=L0Cos α sin β, y0=L0Sin α, z0=L0Sin α calculates coordinate (x0, y0, z0)。
5. the method for carrier aircraft heading reference measurement and transmitting according to claim 4, it is characterised in that: the target pattern
To cross in circle acceptance of the bid, the diameter of the target is 1~10cm.
6. the method for carrier aircraft heading reference measurement and transmitting according to claim 4, it is characterised in that: the target spraying
Good, the indeformable position of rigidity on the carrier aircraft body.
7. the method for carrier aircraft heading reference measurement and transmitting according to claim 4, it is characterised in that: the target pattern
Pixel on the target surface of the CCD camera is not less than 10 pixels.
8. the method for carrier aircraft heading reference measurement and transmitting according to claim 7, it is characterised in that: the CCD camera
Field angle is not less than ± 1 °.
9. the method for carrier aircraft heading reference measurement and transmitting according to claim 4, it is characterised in that: the laser ranging
The ranging range of instrument is not less than 20m, and range accuracy is not more than 0.5mm.
10. a kind of system of carrier aircraft heading reference measurement and transmitting, which is characterized in that the system comprises:
Target on the carrier aircraft body is set；
For measuring the measuring instrument of the target, the measuring instrument includes CCD camera, the laser being mounted in the CCD camera
Rangefinder and the fixation bracket for being used to support the CCD camera；The laser range finder is for measuring the target to measurement point
Distance；
And computer, the computer are connect with the carrier aircraft and the measuring instrument signal.
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| CN111551173A (en) * | 2020-02-19 | 2020-08-18 | 中国人民解放军海军航空大学 | System for measuring course output of aircraft by using external measuring instrument |
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