CN110033480B - Aerial photography measurement-based airborne photoelectric system target motion vector estimation method - Google Patents
Aerial photography measurement-based airborne photoelectric system target motion vector estimation method Download PDFInfo
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Abstract
The invention discloses an airborne photoelectric system target motion vector estimation method based on aerial photography measurement. The method is based on the functions of linear motion compensation and target tracking of an onboard photoelectric system, and utilizes the principle of oblique photogrammetry of the aerial camera onboard photoelectric system to acquire the motion vector of a ground target in an image space coordinate system in real time by automatically tracking the target under forward motion compensation of the ground moving target; and then, by establishing a corresponding relation between the image space coordinate system and the ground photogrammetry coordinate system, solving the motion vector of the target in the ground northeast and north day coordinate system according to the motion vector of the target in the image space coordinate system and the azimuth angle of the aiming line of the airborne photoelectric system, wherein the motion vector comprises the motion rate and the direction. The aerial-shooting-measurement-based target motion vector estimation method of the airborne photoelectric system is independent of real-time positioning of the target, and has the characteristics of high precision, high calculation speed and the like.
Description
Technical Field
The invention belongs to the technical field of estimation of a ground target motion vector of an airborne photoelectric system, and particularly relates to an airborne photoelectric system target motion vector estimation method based on aerial photography measurement.
Background
In recent years, the rapid development of unmanned plane technology integrating observation and beating requires that an airborne photoelectric platform not only realize high-definition long-distance target imaging, target detection, target positioning and the like, but also has long-distance motion vector (speed and direction) estimation capability of a target. The method realizes the motion vector estimation of the target, and is an important guarantee for perfecting and improving tactical indexes of the unmanned aerial vehicle system, rapidly acquiring battlefield information and realizing remote accurate striking of the unmanned platform.
Currently, the target motion vector estimation methods are mainly divided into two categories: the method is based on static video image target motion vector estimation, mainly using static observation platform to estimate the speed and direction of moving target; the other is motion vector estimation based on object positioning, and the moving speed and direction of the object are calculated by mainly positioning the geographic coordinates of the moving object by using a static or/and dynamic observation platform. The airborne photoelectric reconnaissance platform mainly adopts a motion vector estimation method based on target positioning at present.
The motion vector estimation method based on target positioning utilizes target positioning information and the interval time between two times of positioning to calculate a target instantaneous velocity measurement model, and then obtains the target motion speed including the speed and the motion direction through iterative computation of multiple groups of data. However, the method depends on that an onboard photoelectric system must have a target real-time positioning function, and is influenced by a relative ground height error and a line of sight inclination angle of a loaded machine, so that a positioning result error is large, and therefore, the target motion vector estimation precision cannot meet application requirements.
Disclosure of Invention
In order to solve the problem of motion vector estimation of a ground target by an existing airborne photoelectric system and improve the motion vector estimation precision of a remote target, the invention provides an airborne photoelectric system target motion vector estimation method based on aerial photography measurement by means of a photogrammetry theory, a remote photogrammetry pixel model is established, and the motion vector of the ground moving target in an image plane space coordinate system is solved by utilizing the motion vector of the ground moving target in the coordinate system of the image plane space coordinate system and the coordinate system conversion between the image space coordinate system and the ground photogrammetry coordinate system, so that the motion vector of the target in the northeast day coordinate system of the ground, comprising the motion rate and the direction, is obtained, and the remote, rapid, convenient and high-precision target motion vector estimation is realized.
The technical scheme of the invention is as follows:
the method for estimating the target motion vector of the airborne photoelectric system based on aerial photography measurement is characterized by comprising the following steps of: the method comprises the following steps:
step 1: controlling an onboard photoelectric system to enable an image plane cross wire to press a moving target, enabling the onboard photoelectric system to enter an LMC linear motion compensation state, and enabling the cross wire to always point to an initial target locking position in the motion process of the target and the onboard;
step 2: the airborne photoelectric system tracks the moving object and acquires the pixel coordinates of the moving object on the image plane at the current moment in real time;
step 3: calculating the ground sampling distance of each pixel in the transverse direction and the longitudinal direction on the image plane in the field of view of the current airborne photoelectric system by using a remote photogrammetry pixel ground model;
step 4: calculating the number of pixels of the target moving in the horizontal and vertical directions in the image plane, and calculating the ground distance of the target moving along the horizontal and vertical axes of the image plane according to the ground sampling distance of each pixel on the image plane in the horizontal and vertical directions;
step 5: calculating to obtain a target movement rate according to the tracking time of the moving target and the moving distance of the moving target on the ground in the time;
step 6: calculating an included angle between the movement direction of the target and the projection line of the aiming line of the airborne photoelectric system on the ground according to the ground distance corresponding to the number of pixels of the target moving along the horizontal axis and the vertical axis in the image plane when tracking is finished;
step 7: calculating a rotation matrix of an aiming line of the airborne photoelectric system under the northeast coordinates of inertial navigation by utilizing the inertial navigation attitude angle of the carrier and the turret angle value of the airborne photoelectric system when tracking of the moving target is finished, and calculating an included angle between the projection line of the aiming line on the ground and the true north direction by utilizing the cosine value of the three-axis included angle between the aiming line and the northeast coordinates;
step 8: and (3) calculating to obtain the included angle between the target moving direction and the true north direction according to the included angle between the target moving direction obtained in the step (6) and the projection line of the aiming line of the airborne photoelectric system on the ground and the included angle between the projection line of the aiming line obtained in the step (7) on the ground and the true north direction.
Further preferred scheme, the airborne photoelectric system target motion vector estimation method based on aerial photography measurement is characterized by comprising the following steps of: in step 3, according to the altitude difference Δh between the carrier and the target area, the line-of-sight roll angle ω of the photoelectric system, the resolution m×n of the CCD detector, the focal length f' of the aerial camera, the pixel size e, the pixel resolution GSD in the horizontal and vertical directions on the coordinate axis is calculated under the image plane coordinate system with the center of the image plane as the origin j And GSD (GSD) i The method comprises the following steps of:
further preferred scheme, the airborne photoelectric system target motion vector estimation method based on aerial photography measurement is characterized by comprising the following steps of: in step 4, the motion vector of the ground moving object on the image plane is
The O point is the center of the image plane; the T point is the position of the image surface where the target is located after T time tracking, and the coordinates of the T point in the image surface coordinate system are (x, y); the ground distances corresponding to the number x and y of pixels of the moving object moving in the x-axis direction and the y-axis direction in the image plane coordinate system are calculated as follows:
further preferred scheme, the airborne photoelectric system target motion vector estimation method based on aerial photography measurement is characterized by comprising the following steps of: in step 7, firstly, calculating a rotation matrix A of the aiming line under the northeast and north inertial navigation day coordinates according to the roll angle and the pitch angle of the aiming line of the airborne photoelectric system and the course angle, the pitch angle and the roll angle of the carrier, and marking as:
secondly, according to a rotation matrix of the aiming line under the inertial navigation northeast and north day coordinates, calculating cosine values of triaxial included angles of the aiming line and the northeast and north day coordinates:
and finally, calculating an included angle kappa between the ground projection pointed by the aiming line and the true north direction according to the cosine value of the triaxial included angle between the aiming line and the northeast and northeast coordinate system, wherein the included angle kappa is as follows:
further preferred scheme, the airborne photoelectric system target motion vector estimation method based on aerial photography measurement is characterized by comprising the following steps of: the step 8 is divided into the following two cases:
case one: when the angle between the ground projection pointed by the aiming line and the true north direction is kappa +.n +.pi/2 (n=0, 1,2, 3):
dividing an image plane into 5 areas according to a line of sight azimuth kappa, and obtaining an included angle (north-east direction) between a target moving direction and a true north direction by an included angle between the target moving direction and a ground projection pointed by the line of sight and the line of sight azimuth according to the image plane area where an image plane coordinate (x, y) of a target after t time is tracked:
wherein, the value of < 1 is determined by:
and a second case: when the line of sight azimuth κ=n pi/2 (n=0, 1,2, 3):
dividing an image plane into 4 areas according to the azimuth angle kappa of the aiming line, and calculating an included angle between the moving direction of the target and the ground projection pointed by the aiming line and the azimuth angle of the aiming line according to the image plane area where the coordinates (x, y) of the image plane after the target is tracked for t time and referring to the table I.
List one
Advantageous effects
The beneficial effects of the invention are as follows:
(1) The target motion vector estimation method provided by the invention does not need to position a moving target in real time, so that an airborne photoelectric system is not required to have a positioning function, and the accuracy of motion vector estimation is not influenced by the positioning accuracy of the target;
(2) The aerial-shooting-measurement-based target motion vector estimation method is established on the basis of the model of the remote photographic measurement pixels, and the model is not limited by the working distance of a photoelectric system, so that the aerial-shooting-measurement-based target motion vector estimation method has a greater advantage when the motion vector estimation is performed on a remote moving target.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic illustration of aerial survey-based target motion vector estimation in accordance with the present invention;
FIG. 2 is a schematic diagram of the object motion vector estimation of the present invention;
FIG. 3 is a flow chart of the target motion vector estimation of the present invention;
FIG. 4 is a schematic representation of the aerial survey pixel-like relationship of the present invention;
FIG. 5 is a schematic diagram of target motion rate estimation of the present invention;
FIG. 6 is a schematic diagram of the target motion direction estimation of the present invention;
FIG. 7 is a schematic view of image plane area division when the azimuth angle of line of sight of the present invention satisfies the condition;
fig. 8 is a schematic view of image plane area division when the azimuth angle of the aiming line satisfies the second condition.
Detailed Description
The following detailed description of embodiments of the invention is exemplary and intended to be illustrative of the invention and not to be construed as limiting the invention.
The following text uses the abbreviations:
LMC: linear motion compensation
EOS: optoelectronic system
CCD: charge coupled device image sensor
IMU: inertial navigation unit
GSD: ground sampling distance
EO: coordinate system of photoelectric system
ENU: northeast coordinate system
ROL: photoelectric system roll angle
EL: pitch angle of photoelectric system
Referring to fig. 1 and 2, the method for estimating the target motion vector of the airborne photoelectric system based on aerial photography measurement is based on the following principle:
the method comprises the steps of controlling a photoelectric system, enabling an image surface cross wire to press a moving target, enabling the system to be in a locking state (the target and a carrier move, enabling the cross wire to always point to an initial target locking position O, then enabling a wave gate to cover the moving target for tracking, obtaining pixel coordinates T (x, y) of the moving target after moving on the image surface after a period of time T, calculating a ground sampling distance GSD represented by each pixel on CCD according to the relation between a aerial photogrammetry image space coordinate system and a photogrammetry coordinate system by utilizing the relation of inclined photogrammetry pixels, calculating a ground distance corresponding to OT on the image surface according to the number of pixels of the target moving on the image surface, obtaining a target movement rate by means of tracking time T of the moving target, calculating an azimuth angle 1 of a target line in the ground projection and the true north direction according to the inertial navigation posture and EO azimuth (or roll and pitch) when the moving target is finished, and finally obtaining an angle 2 between the target movement direction and the true north direction by utilizing the relation of the true azimuth angle 2 of the target movement direction and the true north direction.
Referring to fig. 3, the method for estimating the target motion vector of the airborne photoelectric system based on aerial photography measurement comprises the following specific steps:
step 1: the onboard photoelectric system is controlled to enable the image plane cross wire to press a moving target, the onboard photoelectric system enters an LMC linear motion compensation state, and in the motion process of the target and the carrier, the cross wire direction (aiming line direction) always points to the initial locking position of the target.
Step 2: the airborne photoelectric system tracks the moving object and acquires the pixel coordinates of the moving object on the image plane at the current moment in real time.
Step 3: and calculating the ground sampling distance of each pixel in the transverse direction and the longitudinal direction on the image plane in the field of view of the current airborne photoelectric system by using a remote photogrammetry pixel ground model.
Referring to fig. 4, according to the altitude difference Δh between the vehicle and the target area, the line-of-sight roll angle of the photoelectric system is ω, the resolution of the CCD detector is m×n, the focal length of the aerial camera is f', the pixel size is e, and the pixel resolution GSD in the horizontal and vertical directions on the coordinate axis is calculated in the image plane coordinate system with the center of the image plane as the origin j And GSD (GSD) i The method comprises the following steps of:
step 4: and calculating the number of pixels of the target moving in the transverse direction and the longitudinal direction in the image plane, and calculating the ground distance of the target moving along the transverse axis and the longitudinal axis of the image plane according to the ground sampling distance of each pixel in the transverse direction and the longitudinal direction on the image plane.
As shown in reference to figure 5 of the drawings,
a motion vector of a ground moving object on an image plane; the O point is the center of the image plane, namely the initial tracking position of the moving target; the point T is the position of the image surface where the target is located after T time tracking, and the coordinates of the point T in the coordinates of the image surface are (x, y). According to the pixel type relation, the ground distances corresponding to the x and y pixel numbers of the moving object moving in the x axis direction and the y axis direction in the image plane coordinate system are calculated as follows:
step 5: according to the tracking time of the moving target and the moving distance of the moving target on the ground in the time, calculating to obtain the target moving rate:
tracking time t by moving object and distance of moving object moving in ground x-axis direction and y-axis direction during time
And->
Calculating a target movement rate:
step 6: according to the ground distance corresponding to the number of pixels of the target moving along the horizontal axis and the vertical axis in the image plane when tracking is finished, calculating the included angle between the moving direction of the target and the projection line of the aiming line of the airborne photoelectric system on the ground:
referring to fig. 6, according to the ground distances corresponding to the pixels of the moving object moving in the x-axis direction and the y-axis direction in the image plane coordinate system, it can be known that the included angle (denoted as +.2) between the moving direction of the object and the ground projection pointed by the aiming line is:
step 7: and calculating a rotation matrix of the aiming line of the airborne photoelectric system under the northeast coordinates of inertial navigation by utilizing the inertial navigation attitude angle of the carrier and the turret angle value of the airborne photoelectric system when tracking of the moving target is finished, and calculating the included angle between the projection line of the aiming line on the ground and the true north direction by utilizing the cosine value of the three-axis included angle between the aiming line and the northeast coordinates:
firstly, calculating a rotation matrix A of the aiming line under the northeast and north inertial navigation coordinates by using the roll angle and the pitch angle of the aiming line of an airborne photoelectric system and the course angle, the pitch angle and the roll angle of a carrier, and marking as follows:
secondly, according to a rotation matrix of the aiming line under the inertial navigation northeast and north day coordinates, calculating cosine values of triaxial included angles of the aiming line and the northeast and north day coordinates:
and finally, calculating an included angle kappa between the ground projection pointed by the aiming line and the true north direction according to the cosine value of the triaxial included angle between the aiming line and the northeast and northeast coordinate system, wherein the included angle kappa is as follows:
step 8: and (3) calculating to obtain the included angle between the target moving direction and the true north direction according to the included angle between the target moving direction obtained in the step (6) and the projection line of the aiming line of the airborne photoelectric system on the ground and the included angle between the projection line of the aiming line obtained in the step (7) on the ground and the true north direction.
The two cases are as follows:
case one: when the line of sight azimuth κ+.n+.pi/2 (n=0, 1,2, 3):
referring to fig. 7, the image plane is divided into 5 areas according to the azimuth angle of the line of sight, and according to the image plane area where the coordinates (x, y) of the image plane after the target tracking time t are located, the angle between the moving direction of the target and the ground projection pointed by the line of sight and the azimuth angle of the line of sight can be obtained, so that the angle between the moving direction of the target and the true north direction (north-to-east direction):
wherein, the value of < 1 is determined by:
and a second case: when the line of sight azimuth κ=n pi/2 (n=0, 1,2, 3):
referring to fig. 8, the image plane is divided into 4 areas according to the azimuth angle of the aiming line, and the included angle (north-east direction) between the moving direction of the target and the ground projection pointed by the aiming line is calculated according to the first table by referring to the first table according to the image plane area where the coordinates (x, y) of the image plane after the target tracking time t are located.
List one
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (4)
1. An airborne photoelectric system target motion vector estimation method based on aerial photography measurement is characterized by comprising the following steps of: the method comprises the following steps:
step 1: controlling an onboard photoelectric system to enable an image plane cross wire to press a moving target, enabling the onboard photoelectric system to enter an LMC linear motion compensation state, and enabling the cross wire to always point to an initial target locking position in the motion process of the target and the onboard;
step 2: the airborne photoelectric system tracks the moving object and acquires the pixel coordinates of the moving object on the image plane at the current moment in real time;
step 3: calculating the ground sampling distance of each pixel in the transverse direction and the longitudinal direction on the image plane in the field of view of the current airborne photoelectric system by using a remote photogrammetry pixel ground model; according to the altitude difference delta H between the carrier and the target area, the transverse roll angle omega of the aiming line of the photoelectric system, the resolution m x n of the CCD detector, the main distance f', the pixel size e, and the pixel resolution GSD in the transverse direction and the longitudinal direction on the coordinate axis under the image plane coordinate system taking the center of the image plane as the origin point j And GSD (GSD) i The method comprises the following steps of:
step 4: calculating the number of pixels of the target moving in the horizontal and vertical directions in the image plane, and calculating the ground distance of the target moving along the horizontal and vertical axes of the image plane according to the ground sampling distance of each pixel on the image plane in the horizontal and vertical directions;
step 5: calculating to obtain a target movement rate according to the tracking time of the moving target and the moving distance of the moving target on the ground in the time;
step 6: calculating an included angle between the movement direction of the target and the projection line of the aiming line of the airborne photoelectric system on the ground according to the ground distance corresponding to the number of pixels of the target moving along the horizontal axis and the vertical axis in the image plane when tracking is finished;
step 7: calculating a rotation matrix of an aiming line of the airborne photoelectric system under the northeast coordinates of inertial navigation by utilizing the inertial navigation attitude angle of the carrier and the turret angle value of the airborne photoelectric system when tracking of the moving target is finished, and calculating an included angle between the projection line of the aiming line on the ground and the true north direction by utilizing the cosine value of the three-axis included angle between the aiming line and the northeast coordinates;
step 8: and (3) calculating to obtain the included angle between the target moving direction and the true north direction according to the included angle between the target moving direction obtained in the step (6) and the projection line of the aiming line of the airborne photoelectric system on the ground and the included angle between the projection line of the aiming line obtained in the step (7) on the ground and the true north direction.
2. The aerial photography measurement-based airborne photoelectric system target motion vector estimation method according to claim 1, wherein the method comprises the following steps of: in step 4, the motion vector of the ground moving object on the image plane is
The O point is the center of the image plane; the T point is the position of the image surface where the target is located after T time tracking, and the coordinates of the T point in the image surface coordinate system are (x, y); calculating to obtain the coordinate system of the moving object on the image planeThe ground distances corresponding to the x and y numbers of pixels moving in the x-axis direction and the y-axis direction are respectively as follows:
3. the aerial photography measurement-based airborne photoelectric system target motion vector estimation method according to claim 1, wherein the method comprises the following steps of: in step 7, firstly, calculating a rotation matrix A of the aiming line under the northeast and north inertial navigation day coordinates according to the roll angle and the pitch angle of the aiming line of the airborne photoelectric system and the course angle, the pitch angle and the roll angle of the carrier, and marking as:
secondly, according to a rotation matrix of the aiming line under the inertial navigation northeast and north day coordinates, calculating cosine values of triaxial included angles of the aiming line and the northeast and north day coordinates:
and finally, calculating an included angle kappa between the ground projection pointed by the aiming line and the true north direction according to the cosine value of the triaxial included angle between the aiming line and the northeast and northeast coordinate system, wherein the included angle kappa is as follows:
4. the aerial photography measurement-based airborne photoelectric system target motion vector estimation method according to claim 1, wherein the method comprises the following steps of: the step 8 is divided into the following two cases:
case one: when the angle between the ground projection pointed by the aiming line and the true north direction is kappa +.n +.pi/2 (n=0, 1,2, 3):
dividing an image plane into 5 areas according to a line of sight azimuth kappa, and obtaining an included angle (north-east direction) between a target moving direction and a true north direction by an included angle between the target moving direction and a ground projection pointed by the line of sight and the line of sight azimuth according to the image plane area where an image plane coordinate (x, y) of a target after t time is tracked:
wherein, the value of < 1 is determined by:
and a second case: when the line of sight azimuth κ=n pi/2 (n=0, 1,2, 3):
dividing an image plane into 4 areas according to a line of sight azimuth kappa, and calculating an included angle between a target moving direction and a ground projection pointed by the line of sight and an angle of the line of sight according to the image plane area where an image plane coordinate (x, y) after a target tracking t time is positioned by referring to the following table to obtain the included angle between the target moving direction and a true north direction:
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| CN110675445B (en) * | 2019-09-27 | 2022-06-21 | 深兰科技（上海）有限公司 | Visual positioning method, device and storage medium |
| CN110989655A (en) * | 2019-11-05 | 2020-04-10 | 西安羚控电子科技有限公司 | Target tracking method for ship-based reconnaissance and shooting unmanned aerial vehicle in take-off and landing stages |
| CN110967021B (en) * | 2019-12-16 | 2021-07-16 | 中国兵器科学研究院 | Active/passive ranging independent target geographic positioning method for airborne photoelectric system |
| CN111983592A (en) * | 2020-08-14 | 2020-11-24 | 西安应用光学研究所 | Passive positioning fitting direction-finding speed-measuring method for airborne photoelectric system |
| CN114326828A (en) * | 2020-09-30 | 2022-04-12 | 中国电子科技集团公司第五十四研究所 | Ground target tracking method, electronic equipment and computer storage medium |
| CN112332917A (en) * | 2020-10-23 | 2021-02-05 | 军事科学院系统工程研究院网络信息研究所 | Laser communication autonomous tracking and aiming method controlled by inertial navigation |
| CN113238072B (en) * | 2021-01-20 | 2022-11-08 | 西安应用光学研究所 | Moving target resolving method suitable for vehicle-mounted photoelectric platform |
| CN113418523B (en) * | 2021-06-17 | 2023-04-07 | 西安应用光学研究所 | Speed compensation method for reliable target tracking of airborne photoelectric observing and aiming system |
| CN113409400A (en) * | 2021-06-17 | 2021-09-17 | 西安应用光学研究所 | Automatic tracking-based airborne photoelectric system target geographic positioning method |
| CN115493598B (en) * | 2022-11-15 | 2023-03-10 | 西安羚控电子科技有限公司 | Target positioning method and device in motion process and storage medium |
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