CN110967021B - Active/passive ranging independent target geographic positioning method for airborne photoelectric system - Google Patents

Active/passive ranging independent target geographic positioning method for airborne photoelectric system Download PDF

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CN110967021B
CN110967021B CN201911290908.XA CN201911290908A CN110967021B CN 110967021 B CN110967021 B CN 110967021B CN 201911290908 A CN201911290908 A CN 201911290908A CN 110967021 B CN110967021 B CN 110967021B
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CN110967021A (en
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王玉林
王惠林
姚军奎
刘吉龙
闫明
任海龙
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Ordnance Science and Research Academy of China
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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
    • 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
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    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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Abstract

The invention belongs to the technical field of airborne photoelectric system target positioning, and particularly relates to an airborne photoelectric system target geographical positioning method independent of active/passive distance measurement. In order to solve the problem of target positioning of an airborne photoelectric system based on active and passive distance measurement, the method continuously tracks or gazes at the target and periodically acquires the current position and attitude information of the airborne photoelectric system and the angle information of a photoelectric platform, wherein the current position and attitude information is given by inertial navigation equipment of the airborne photoelectric system; then, performing space forward intersection on the two carrier positions, establishing a baseline constraint equation, and calculating plane coordinates of the target under a local northeast coordinate system in real time; and finally, calculating to obtain the longitude, the latitude and the altitude of the target under the earth sea surface ellipsoid mathematical model. The target positioning method provided by the invention does not depend on active and passive distance measurement of the target, so that the limitation of a laser distance measuring machine and the influence of a carrier on height errors are avoided; the error source is few, and the target positioning precision is high.

Description

Active/passive ranging independent target geographic positioning method for airborne photoelectric system
Technical Field
The invention belongs to the technical field of airborne photoelectric system target positioning, and particularly relates to an airborne photoelectric system target geographical positioning method independent of active/passive distance measurement.
Background
The current informatization war condition puts higher requirements on the use of an airborne photoelectric reconnaissance/monitoring system, and how the airborne photoelectric reconnaissance/monitoring system can provide comprehensive and accurate target geographical position information in time is the problem to be solved before the target is accurately hit.
The airborne photoelectric system target positioning is mainly divided into two types, one is a target active positioning algorithm based on laser ranging, and the other is a target passive positioning algorithm independent of laser ranging. In some special application scenarios, the weight limit of the carrier for carrying photoelectric loads is limited, and the laser ranging device is not generally equipped any more. In addition, even if the problem of weight limitation is not considered, active positioning of a long-distance target cannot be realized due to the limited range of laser ranging. In consideration of the above factors, the passive target positioning method independent of laser ranging is a necessary means for the unmanned aerial vehicle to acquire the position information of the target through photoelectric reconnaissance/monitoring.
According to a traditional target passive positioning algorithm, passive distance measurement is carried out on a carrier according to the relative height between a photoelectric platform and a target and the inclination angle of a sight line so as to replace laser distance measurement in active positioning, and then target positioning is carried out by using a distance measurement-based target positioning algorithm. Therefore, the method still relies on passive ranging of the target to be positioned despite no need of configuring a laser ranging device, and the passive ranging is easily affected by relative height error between the carrier and the target. Particularly, when a long-distance target is positioned, the inclination angle of the aiming line is large, and the influence of relative height errors of the carrier on passive ranging is seriously amplified, so that the positioning accuracy is very poor, and the requirement of accurate striking of the long-distance target on the positioning accuracy cannot be met.
In addition, on the basis of a target positioning method for passive ranging by using the relative height of a carrier and the inclination angle of a sight line, some corresponding improved algorithms are proposed in the industry, such as a target passive positioning algorithm based on space triangulation, a target passive positioning algorithm based on assistance of a ground elevation model, and the like. However, these algorithms all require passive ranging of the target and geo-location under the mathematical model of the surface ellipsoid in which the target is located. These methods improve a part of the object passive positioning longitude, but increase the complexity of the algorithm, and the effect of the relative altitude error on the passive positioning is not essentially eliminated.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to solve among the prior art, the machine carries optoelectronic system target location problem based on initiative and passive range finding.
(II) technical scheme
In order to solve the technical problem, the invention provides an airborne photoelectric system target geographical positioning method independent of active/passive distance measurement, which comprises the following steps:
step 1: controlling an airborne photoelectric system to enable a sight line cross to press a target to be positioned, and then controlling the photoelectric system to enter a target tracking or staring state;
step 2: periodically acquiring and recording position information and attitude information of current airborne photoelectric system inertial navigation equipment and angle information of a photoelectric platform;
and step 3: establishing a local northeast coordinate system D-XYZ by taking the acquired first carrier position as a carrier position S1 and taking a projection point of S1 on the surface of the earth' S sea as an origin, and sequentially taking the subsequently acquired carrier positions as carrier positions S2, and executing steps 4 to 8;
and 4, step 4: calculating coordinates of the carrier position S2 in the local northeast coordinate system D-XYZ from the position information at the carrier positions S1 and S2;
and 5: establishing an image space coordinate system S1- (x1, y1, -f), and solving a rotation matrix of a three-axis included angle between a coordinate system D-XYZ and S1- (x1, y1, -f) according to the position and the posture of the carrier at the position of S1 and the angle information of the photoelectric platform; the (x1, y1, -f) is the coordinate (x1, y1, -f) of the image point of the target image point in the optoelectronic system at the carrier position S1;
step 6: establishing an image space coordinate system S2- (x2, y2, -f), and solving a rotation matrix of a three-axis included angle between coordinate systems D-XYZ and S2- (x2, y2, -f) according to the position of the carrier at S1, the position and the posture of the carrier at S2 and the angle information of the photoelectric platform; the (x2, y2, -f) is the coordinate (x2, y2, -f) of the image point of the target image point in the optoelectronic system at the carrier position S2;
and 7: solving the coordinates of the target point in the northeast coordinate system D-XYZ according to the position coordinates of the carrier at S2 and two rotation matrixes between the coordinate system D-XYZ and S1- (x1, y1, -f) and S2- (x2, y2, -f), respectively;
and 8: and calculating the longitude, the latitude and the altitude of the target under the geographic coordinate system according to the coordinates of the target point in the northeast coordinate system D-XYZ.
In step 2, the position information of the onboard optoelectronic system inertial navigation device includes longitude, latitude and altitude.
In step 2, the attitude information of the inertial navigation device of the airborne photoelectric system includes an azimuth angle, a pitch angle and a roll angle.
In step 2, the angle information of the photoelectric platform includes an azimuth angle and a pitch angle, or a pitch angle and a roll angle.
Wherein in the step 4, according to the position information at the carrier positions S1 and S2, let [ xc，yc，zc]TComprises the following steps:
Figure BDA0002319094300000031
wherein, L1 and B1 are longitude and latitude at the onboard position S1 respectively, L2, B2 and H2 are longitude, latitude and altitude at the onboard position S2 respectively, a and B are major axis radius and minor axis radius of the ellipse of the earth sea surface ellipsoid mathematical model respectively, e is first eccentricity of the ellipse, R is first eccentricity of the ellipse, and R is second eccentricity of the ellipseNThe curvature radius of the prime circle on the meridian plane ellipse of the earth projection point of the overload machine position S2 is the coordinate [ Xs ] of the load machine position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TComprises the following steps:
Figure BDA0002319094300000041
wherein, in the step 5, the heading angle alpha 1 of the carrier at the carrier position S1 is determinedF Pitch angle beta 1FTransverse roll angle gamma 1FAnd the roll angle theta 1 of the photoelectric platformROAngle of pitch θ 1ELAcquiring a rotation matrix R1 of a three-axis included angle between a northeast-sky coordinate system D-XYZ and an image space coordinate system S1- (x1, y1, -f) at a carrier position S1:
Figure BDA0002319094300000042
in the step 6, the longitude L1 and the latitude B1 at the position S1 of the carrier and the longitude L2 and the latitude at the position S2 of the carrier are determinedDegree B2, and aircraft heading angle α 2 at aircraft position S2F Pitch angle beta 2FTransverse roll angle gamma 2FAnd the roll angle theta 2 of the photoelectric platformROAngle of pitch θ 2ELObtaining a rotation matrix R2 of a three-axis included angle between a northeast sky coordinate system D-XYZ and an image space coordinate system S2- (x2, y2, -f) at a carrier position S2;
the step 6 comprises the following steps:
step 61: solving a rotation matrix formed by three axial directions of the northeast coordinate system at the position S2 of the aircraft and three axial directions of the northeast coordinate system at the position S1 of the aircraft
Figure BDA0002319094300000043
Figure BDA0002319094300000044
Wherein the content of the first and second substances,
Figure BDA0002319094300000045
the WGS84 rectangular coordinate system and the northeast rotation matrix of the coordinate system at the carrier position S1:
Figure BDA0002319094300000046
Figure BDA0002319094300000047
a rotation matrix formed by an included angle between a northeast coordinate system at the position S2 of the carrier and a WGS84 rectangular coordinate system:
Figure BDA0002319094300000048
step 62: solving a rotation matrix formed by included angles between three axial directions of an inertial navigation coordinate system and a northeast coordinate system
Figure BDA0002319094300000051
Figure BDA0002319094300000052
And step 63: solving a rotation matrix formed by three-axis included angles between a sight line coordinate system and an inertial navigation coordinate system
Figure BDA0002319094300000053
Figure BDA0002319094300000054
Step 64: solving a rotation matrix R2 between the northeast coordinate system D-XYZ and the image space coordinate system S2- (x2, y2, -f):
Figure BDA0002319094300000055
in step 6, when the distances between the carrier positions S1 and S2 are not far, and the rotation matrix R2 is calculated, the relative attitude deviation between the two northeast coordinate systems at the carrier positions S2 and S1 can be ignored, and the rotation matrix R2 can be calculated according to the method of calculating R1 in step 5.
Wherein, in the step 7, the position coordinates [ Xs2, Ys2, Zs2 ] of the carrier at the carrier position S2 are obtained by the carrier]And two rotation matrices R1, R2, the coordinates [ x ] of the target point in the northeast coordinate system D-XYZ are calculatedT,yT,zT]TThe method comprises the following steps:
step 71: solving coordinates [ u1, v1, w1 ] of the target image point in the image space auxiliary measurement coordinate system at the carrier positions S1 and S2 according to the coordinates (x1, y1, -f) and (x2, y2, -f) of the image point in the photoelectric system at the carrier positions S1 and S2 respectively and the rotation matrixes R1 and R2 respectively]TAnd [ u2, v2, w2]T：
Figure BDA0002319094300000056
Step 72: according to the coordinate [ Xs ] of the carrier position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TAnd coordinates [ u1, v1, w1 ] of the target image point in the image space-aided measurement coordinate system at the carrier positions S1 and S2]TAnd [ u2, v2, w2]TAnd respectively solving the coordinates [ U1, V1 and W1 ] of the target point in the image space auxiliary measurement coordinate systems S1-U1V1W1 and S2-U2V2W2]TAnd [ U2, V2, W2]T：
Figure BDA0002319094300000061
Step 73: calculating the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1T,yT,zT]T：
Figure BDA0002319094300000062
Where H1 is the altitude at the carrier position S1.
In step 8, the longitude L1 and the latitude B1 at the carrier position S1 and the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1 are calculatedT,yT,zT]TLet [ x ] bea，ya，za]TComprises the following steps:
Figure BDA0002319094300000063
the longitude L of the target in the geographic coordinate systemTLatitude BTAnd altitude HTComprises the following steps:
Figure BDA0002319094300000064
(III) advantageous effects
Compared with the prior art, the invention provides the airborne photoelectric system target geographical positioning method independent of active/passive distance measurement by utilizing the spatial forward intersection principle of oblique photogrammetry and combining the servo stability control and gaze tracking functions of the airborne photoelectric system. The method is established under an ellipsoid mathematical model of the earth sea surface, the relative altitude between a carrier and a target does not need to be known, the target does not need to be actively or passively measured, and the method can be suitable for target geographic positioning under various conditions.
The invention has the following beneficial effects:
(1) the target positioning method provided by the invention positions the target by using the space intersection mathematical model, and does not depend on active or passive distance measurement of the target to be determined, so that the method is not limited by the condition that a laser distance measuring machine is required to be configured, and is not required to be supported by a high-precision ground elevation model of the ground area where the target is located;
(2) according to the target positioning method provided by the invention, the mathematical model is directly established under the earth sea surface ellipsoid model, the influence of the relative height error between the carrier and the target ground is avoided, the error source is less, and the target positioning precision is high.
Drawings
FIG. 1 is a schematic diagram of the principle of the target positioning method of the airborne optoelectronic system independent of active/passive ranging according to the present invention;
FIG. 2 is a flow chart of the method for locating the target of the airborne optoelectronic system independent of active/passive ranging according to the present invention;
FIG. 3 is a diagram of a mathematical model of an ellipsoid of the sea surface of the earth for target positioning according to the present invention;
FIG. 4 is a geometric model diagram of forward rendezvous in the target positioning space according to the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems in the prior art, the invention provides an airborne photoelectric system target geographical positioning method independent of active/passive distance measurement, which comprises the following steps:
step 1: controlling an airborne photoelectric system to enable a sight line cross to press a target to be positioned, and then controlling the photoelectric system to enter a target tracking or staring state;
step 2: the method comprises the steps of periodically collecting and recording position information (including longitude, latitude and altitude), attitude information (azimuth angle, pitch angle and roll angle) and angle information (azimuth angle and pitch angle or pitch angle and roll angle) of a photoelectric platform of the current airborne photoelectric system inertial navigation equipment;
and step 3: establishing a local northeast coordinate system D-XYZ by taking the acquired first carrier position as a carrier position S1 and taking a projection point of S1 on the surface of the earth' S sea as an origin, and sequentially taking the subsequently acquired carrier positions as carrier positions S2, and executing steps 4 to 8;
and 4, step 4: calculating coordinates of the carrier position S2 in the local northeast coordinate system D-XYZ from the position information at the carrier positions S1 and S2;
and 5: establishing an image space coordinate system S1- (x1, y1, -f), and solving a rotation matrix of a three-axis included angle between a coordinate system D-XYZ and S1- (x1, y1, -f) according to the position and the posture of the carrier at the position of S1 and the angle information of the photoelectric platform; the (x1, y1, -f) is the coordinate (x1, y1, -f) of the image point of the target image point in the optoelectronic system at the carrier position S1;
step 6: establishing an image space coordinate system S2- (x2, y2, -f), and solving a rotation matrix of a three-axis included angle between coordinate systems D-XYZ and S2- (x2, y2, -f) according to the position of the carrier at S1, the position and the posture of the carrier at S2 and the angle information of the photoelectric platform; the (x2, y2, -f) is the coordinate (x2, y2, -f) of the image point of the target image point in the optoelectronic system at the carrier position S2;
and 7: solving the coordinates of the target point in the northeast coordinate system D-XYZ according to the position coordinates of the carrier at S2 and two rotation matrixes between the coordinate system D-XYZ and S1- (x1, y1, -f) and S2- (x2, y2, -f), respectively;
and 8: and calculating the longitude, the latitude and the altitude of the target under the geographic coordinate system according to the coordinates of the target point in the northeast coordinate system D-XYZ.
In step 2, the position information of the onboard optoelectronic system inertial navigation device includes longitude, latitude and altitude.
In step 2, the attitude information of the inertial navigation device of the airborne photoelectric system includes an azimuth angle, a pitch angle and a roll angle.
In step 2, the angle information of the photoelectric platform includes an azimuth angle and a pitch angle, or a pitch angle and a roll angle.
Wherein in the step 4, according to the position information at the carrier positions S1 and S2, let [ xc，yc，zc]TComprises the following steps:
Figure BDA0002319094300000091
wherein, L1 and B1 are longitude and latitude at the onboard position S1 respectively, L2, B2 and H2 are longitude, latitude and altitude at the onboard position S2 respectively, a and B are major axis radius and minor axis radius of the ellipse of the earth sea surface ellipsoid mathematical model respectively, e is first eccentricity of the ellipse, R is first eccentricity of the ellipse, and R is second eccentricity of the ellipseNThe curvature radius of the prime circle on the meridian plane ellipse of the earth projection point of the overload machine position S2 is the coordinate [ Xs ] of the load machine position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TComprises the following steps:
Figure BDA0002319094300000092
wherein, in the step 5, the heading angle alpha 1 of the carrier at the carrier position S1 is determinedF Pitch angle beta 1FTransverse roll angle gamma 1FAnd the roll angle theta 1 of the photoelectric platformROAngle of pitch θ 1ELAcquiring a rotation matrix R1 of a three-axis included angle between a northeast-sky coordinate system D-XYZ and an image space coordinate system S1- (x1, y1, -f) at a carrier position S1:
Figure BDA0002319094300000093
in the step 6, according to the longitude L1 and the latitude B1 at the carrier position S1, the longitude L2 and the latitude B2 at the carrier position S2, and the carrier heading angle α 2 at the carrier position S2F Pitch angle beta 2FTransverse roll angle gamma 2FAnd the roll angle theta 2 of the photoelectric platformROAngle of pitch θ 2ELObtaining a rotation matrix R2 of a three-axis included angle between a northeast sky coordinate system D-XYZ and an image space coordinate system S2- (x2, y2, -f) at a carrier position S2;
the step 6 comprises the following steps:
step 61: solving a rotation matrix formed by three axial directions of the northeast coordinate system at the position S2 of the aircraft and three axial directions of the northeast coordinate system at the position S1 of the aircraft
Figure BDA0002319094300000101
Figure BDA0002319094300000102
Wherein the content of the first and second substances,
Figure BDA0002319094300000103
the WGS84 rectangular coordinate system and the northeast rotation matrix of the coordinate system at the carrier position S1:
Figure BDA0002319094300000104
Figure BDA0002319094300000105
a rotation matrix formed by an included angle between a northeast coordinate system at the position S2 of the carrier and a WGS84 rectangular coordinate system:
Figure BDA0002319094300000106
step 62: solving three axial directions and northeast sky of inertial navigation coordinate systemRotation matrix composed of included angles between coordinate systems
Figure BDA0002319094300000107
Figure BDA0002319094300000108
And step 63: solving a rotation matrix formed by three-axis included angles between a sight line coordinate system and an inertial navigation coordinate system
Figure BDA0002319094300000109
Figure BDA00023190943000001010
Step 64: solving a rotation matrix R2 between the northeast coordinate system D-XYZ and the image space coordinate system S2- (x2, y2, -f):
Figure BDA0002319094300000111
in step 6, when the distances between the carrier positions S1 and S2 are not far, and the rotation matrix R2 is calculated, the relative attitude deviation between the two northeast coordinate systems at the carrier positions S2 and S1 can be ignored, and the rotation matrix R2 can be calculated according to the method of calculating R1 in step 5.
Wherein, in the step 7, the position coordinate [ Xs ] of the loader at the loader position S2 is obtained by the loader2,Ys2,Zs2]And two rotation matrices R1, R2, the coordinates [ x ] of the target point in the northeast coordinate system D-XYZ are calculatedT,yT,zT]TThe method comprises the following steps:
step 71: solving coordinates [ u1, v1, w1 ] of the target image point in the image space auxiliary measurement coordinate system at the carrier positions S1 and S2 according to the coordinates (x1, y1, -f) and (x2, y2, -f) of the image point in the photoelectric system at the carrier positions S1 and S2 respectively and the rotation matrixes R1 and R2 respectively]TAnd [ u2, v2, w2]T：
Figure BDA0002319094300000112
Step 72: according to the coordinate [ Xs ] of the carrier position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TAnd coordinates [ u1, v1, w1 ] of the target image point in the image space-aided measurement coordinate system at the carrier positions S1 and S2]TAnd [ u2, v2, w2]TAnd respectively solving the coordinates [ U1, V1 and W1 ] of the ground target point in the image space auxiliary measurement coordinate systems S1-U1V1W1 and S2-U2V2W2]TAnd [ U2, V2, W2]T：
Figure BDA0002319094300000113
Step 73: calculating the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1T,yT,zT]T：
Figure BDA0002319094300000114
Where H1 is the altitude at the carrier position S1.
In step 8, the longitude L1 and the latitude B1 at the carrier position S1 and the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1 are calculatedT,yT,zT]TLet [ x ] bea，ya，za]TComprises the following steps:
Figure BDA0002319094300000121
the longitude L of the target in the geographic coordinate systemTLatitude BTAnd altitude HTComprises the following steps:
Figure BDA0002319094300000122
example 1
Referring to fig. 1, the present embodiment provides a geographic positioning method for an airborne optoelectronic system target independent of active/passive ranging, and the principle is as follows:
when a target is positioned, the airborne photoelectric system is controlled to enable the cross of the sight line to press the target to be positioned, meanwhile, the control system enters a target tracking or staring mode, and the target is always positioned at the cross of the sight line in the moving process of the airborne machine; then, the airborne photoelectric system periodically acquires position information (including longitude, latitude and altitude), attitude information (including azimuth angle, pitch angle and roll angle) and angle information (including roll angle and pitch angle or azimuth angle and pitch angle) of the photoelectric platform, which are provided by the current airborne inertial navigation equipment, and records the acquired first airborne position as an airborne position S1, and then acquires the subsequent airborne position as an airborne position S2; then, by using the information of the positions and postures of the two carriers at the positions S1 and S2 and the angle information of the photoelectric platform, establishing a space forward intersection baseline constraint equation by using a photogrammetry space forward intersection principle, and periodically calculating the position coordinates of the target in a plane coordinate system at the position S1; and finally, under an earth sea surface ellipsoid mathematical model, resolving longitude, latitude and altitude under a target geographic coordinate system by using the plane position coordinates of the target.
Referring to fig. 2, a method for geographically locating an airborne optoelectronic system target independent of active/passive ranging includes the following specific steps:
step 1: and controlling the airborne photoelectric system to enable the cross of the aiming line to press the target to be positioned, and then controlling the photoelectric system to enter a target tracking or staring mode.
Step 2: periodically collecting and recording position information (including longitude, latitude and altitude), attitude information (azimuth angle, pitch angle and roll angle) and photoelectric platform angle information (azimuth angle and pitch angle or azimuth angle and roll angle) of the current photoelectric system inertial navigation equipment;
and step 3: establishing a local northeast coordinate system D-XYZ by taking the first acquired carrier position as a carrier position S1 and taking a projection point of S1 on the surface of the earth' S sea as an origin, and sequentially taking the subsequently acquired carrier positions as carrier positions S2, and executing steps 4 to 8;
and 4, step 4: from the position information at the carrier positions S1 and S2, the coordinates of the carrier position S2 in the local northeast coordinate system D-XYZ are calculated.
In this embodiment, the specific implementation manner of step 4 is as follows:
referring to FIG. 3, from the position information of the carrier positions S1 and S2, [ x ] is setc，yc，zc]TComprises the following steps:
Figure BDA0002319094300000131
the coordinate [ Xs ] of the carrier position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TComprises the following steps:
Figure BDA0002319094300000141
wherein, L1 and B1 are respectively longitude and latitude at an onboard position S1, L2, B2 and H2 are respectively longitude, latitude and altitude at an onboard position S2, a and B are major axis radius and minor axis radius of an ellipse of an ellipsoid mathematical model of the surface of the sea of the earth, and e is first eccentricity of the ellipse
Figure BDA0002319094300000142
RNThe curvature radius of the prime circle on the meridian plane ellipse passing through S2N＝a/[1-e2sin2B2]1/2。
The longitude/latitude and the altitude (km) of the known carrier at the positions S1 and S2 are (109.49609 degrees, 34.64612 degrees, 4.185) and (109.48071 degrees, 34.63992 degrees, 4.164) respectively, and the major axis radius a and the minor axis radius b of the ellipse of the ellipsoid mathematical model of the sea surface of the earth are (109.49609 degrees, 34.64612 degrees, 4.185) and (109.48071 degrees, 34.63992 degrees, 4.164) respectively6378.1370km and 6356.7523 km. According to step 4, the coordinates of the available carrier position S2 in the local northeast coordinate system D-XYZ are [ -1.4111, -0.6881,4.1640 [ -1.4111 ]]T。
And 5: establishing an image space coordinate system S1- (x1, y1, -f), and solving a rotation matrix of three-axis included angles between the coordinate system D-XYZ and S1- (x1, y1, -f) according to the position and the posture of the carrier at S1 and the angle information of the photoelectric platform.
In this embodiment, a specific implementation manner of step 5 includes the following steps:
step 51: according to the aircraft heading angle alpha 1 at the aircraft position S1F Pitch angle beta 1FTransverse roll angle gamma 1FSolving a rotation matrix formed by included angles between three axial directions of the carrier inertial navigation coordinate system and the northeast coordinate system D-XYZ
Figure BDA0002319094300000143
Figure BDA0002319094300000144
Step 52: according to the roll angle theta 1 of the photoelectric platform at the position S2 of the carrierROAngle of pitch θ 1ELSolving a rotation matrix formed by included angles between a sight line coordinate system and an inertial navigation coordinate system of the carrier
Figure BDA0002319094300000145
Figure BDA0002319094300000151
Step 53: solving a rotation matrix R1 between the northeast coordinate system D-XYZ and the image space coordinate system S1- (x1, y1, -f):
Figure BDA0002319094300000152
the position, posture and angle information of the photoelectric platform of the known carrier at S1 are as follows:
the longitude and latitude of the carrier are (109.49609 degrees, 34.64612 degrees),
the carrier orientation, pitch and roll angles are (246.17 deg., 1.88 deg., -2.67 deg.),
the roll and pitch angles of the photovoltaic platform are (66.55 °,1.3 °).
As can be obtained in accordance with step 5,
the rotation matrix R1 [ -0.20561-0.92183-0.32854; 0.39046-0.385110.83619; -0.897360.043640.43913].
Step 6: and establishing an image space coordinate system S2- (x2, y2, -f), and solving a rotation matrix of a three-axis included angle between coordinate systems D-XYZ and S2- (x2, y2, -f) according to the position of the carrier at S1, the position and the posture of the carrier at S2 and the angle information of the photoelectric platform.
In this embodiment, a specific implementation manner of step 6 includes the following steps:
step 61: solving a rotation matrix composed of three axial directions of the northeast of the S2 and three axial directions of the northeast of the S1 according to the longitude L1 and the latitude B1 of the carrier position S1 and the longitude L2 and the latitude B2 of the carrier position S2
Figure BDA0002319094300000153
Figure BDA0002319094300000154
Wherein the content of the first and second substances,
Figure BDA0002319094300000155
the WGS84 rectangular coordinate system and the northeast rotation matrix of the coordinate system at the camera station S1:
Figure BDA0002319094300000156
Figure BDA0002319094300000157
is northeast of the station S2 and WGSRotation matrix formed by included angles between 84 rectangular coordinate systems:
Figure BDA0002319094300000161
step 62: according to the aircraft heading angle alpha 2 at the aircraft position S2F Pitch angle beta 2FTransverse roll angle gamma 2FAnd solving a rotation matrix formed by included angles between three axial directions of the carrier inertial navigation coordinate system and the northeast coordinate system
Figure BDA0002319094300000162
Figure BDA0002319094300000163
And step 63: according to the roll angle theta 1 of the photoelectric platform at the position S2 of the carrierROAngle of pitch θ 1ELSolving a rotation matrix formed by three-axis included angles between a sight line coordinate system and an inertial navigation coordinate system
Figure BDA0002319094300000164
Figure BDA0002319094300000165
Step 64: solving a rotation matrix R2 between the northeast coordinate system D-XYZ and the image space coordinate system S2- (x2, y2, -f):
Figure BDA0002319094300000166
the position, posture and angle information of the photoelectric platform of the known carrier at S1 are as follows:
longitude and latitude (109.49609 deg., 34.64612 deg.) at the carrier S1,
longitude and latitude (109.49609 degrees, 34.64612 degrees) at the carrier S2,
the bearing, pitch and roll angles (250.04 °,0.81 °, -0.23 °) at the carrier S2,
the roll and pitch angles of the photovoltaic platform at carrier S2 were (63.96 °, -11.87 °).
As can be seen from step 6, the rotation matrix R2 [ -0.16381-0.85795-0.48691; 0.41139-0.508020.75674; -0.89661-0.076340.43617].
And 7: the coordinates of the target point in the northeast coordinate system D-XYZ are solved according to the coordinates of the carrier S2 in the local northeast coordinate system D-XYZ and two rotation matrices between the coordinate system D-XYZ and S1- (x1, y1, -f) and S2- (x2, y2, -f), respectively.
In this embodiment, a specific implementation manner of step 7 includes the following steps:
step 71: referring to FIG. 4, the coordinates [ u1, v1, w 1) in the image space-assisted measurement coordinate system of the image point at positions S1 and S2 are solved according to the coordinates (x1, y1, -f) and (x2, y2, -f) of the image point in the photoelectric system at positions S1 and S2, respectively, and the rotation matrices R1 and R2]TAnd [ u2, v2, w2]T：
Figure BDA0002319094300000171
Step 72: coordinates [ Xs ] in the northeast coordinate System D-XYZ from the position at Carrier S2 at Carrier S12,Ys2,Zs2]TAnd coordinates [ u1, v1, w1 ] of the target image point in the image space-assisted measurement coordinate system at positions S1 and S2]TAnd [ u2, v2, w2]TAnd respectively solving the coordinates [ U1, V1 and W1 ] of the target point in the image space auxiliary measurement coordinate systems S1-U1V1W1 and S2-U2V2W2]TAnd [ U2, V2, W2]T：
Figure BDA0002319094300000172
Step 73: according to the space geometric relation, the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1 is calculatedT,yT,zT]T：
Figure BDA0002319094300000173
Where H1 is the altitude at the carrier position S1.
As is known, step 4 determines the coordinates [ -1.4111, -0.6881,4.1640 ] of the carrier S2 in the local northeast coordinate system D-XYZ]TAnd two rotation matrices R1 and R2 between the coordinate system D-XYZ found in step 5 and step 6 and S1- (x1, y1, -f) and S2- (x2, y2, -f), respectively. According to step 7, the coordinates of the target point in the northeast coordinate system D-XYZ are [2.90728, -7.39954,0.29736 ]]T。
And 8: and calculating the longitude, the latitude and the altitude of the target under the geographic coordinate system according to the coordinates of the target point in the northeast coordinate system D-XYZ.
In this embodiment, the specific implementation manner of step 8 is as follows:
referring to fig. 3, according to the longitude L1 and the latitude B1 at the carrier position S1, and the coordinate [ x ] in the northeast coordinate system D-XYZ of the target point at the carrier position S1T,yT,zT]TLet [ x ] bea，ya，za]TComprises the following steps:
Figure BDA0002319094300000181
the longitude L of the target in the geographic coordinate systemTLatitude BTAnd altitude HTComprises the following steps:
Figure BDA0002319094300000182
the longitude/latitude and the altitude (109.49609 °,34.64612 °,4.185) at the carrier position S1 and the coordinates [2.90728, -7.39954,0.29736 ] of the target point obtained in step 7 in the northeast coordinate system D-XYZ are known]T。
According to step 8, the longitude, the latitude and the altitude (in km) of the target under the geographic coordinate system are respectively LT109.52777 °, BT 34.57941 ° and HT＝0.3023。
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. An airborne photoelectric system target geographical positioning method independent of active/passive distance measurement is characterized by comprising the following steps:
step 1: controlling an airborne photoelectric system to enable a sight line cross to press a target to be positioned, and then controlling the photoelectric system to enter a target tracking or staring state;
step 2: periodically acquiring and recording position information and attitude information of current airborne photoelectric system inertial navigation equipment and angle information of a photoelectric platform;
and step 3: establishing a local northeast coordinate system D-XYZ by taking the acquired first carrier position as a carrier position S1 and taking a projection point of S1 on the surface of the earth' S sea as an origin, and sequentially taking the subsequently acquired carrier positions as carrier positions S2, and executing steps 4 to 8;
and 4, step 4: calculating coordinates of the carrier position S2 in the local northeast coordinate system D-XYZ from the position information at the carrier positions S1 and S2;
and 5: establishing an image space coordinate system S1- (x1, y1, -f), and solving a rotation matrix of a three-axis included angle between a coordinate system D-XYZ and S1- (x1, y1, -f) according to the position and the posture of the carrier at the position of S1 and the angle information of the photoelectric platform; the (x1, y1, -f) is the coordinate (x1, y1, -f) of the image point of the target image point in the optoelectronic system at the carrier position S1;
step 6: establishing an image space coordinate system S2- (x2, y2, -f), and solving a rotation matrix of a three-axis included angle between coordinate systems D-XYZ and S2- (x2, y2, -f) according to the position of the carrier at S1, the position and the posture of the carrier at S2 and the angle information of the photoelectric platform; the (x2, y2, -f) is the coordinate (x2, y2, -f) of the image point of the target image point in the optoelectronic system at the carrier position S2;
and 7: solving the coordinates of the target point in the northeast coordinate system D-XYZ according to the position coordinates of the carrier at S2 and two rotation matrixes between the coordinate system D-XYZ and S1- (x1, y1, -f) and S2- (x2, y2, -f), respectively;
and 8: and calculating the longitude, the latitude and the altitude of the target under the geographic coordinate system according to the coordinates of the target point in the northeast coordinate system D-XYZ.
2. The active/passive ranging independent geographic location method for target of airborne optoelectronic system as claimed in claim 1, wherein in step 2, the position information of inertial navigation device of airborne optoelectronic system includes longitude, latitude and altitude.
3. The method for geo-locating an airborne optoelectronic system target independent of active/passive ranging as claimed in claim 2, wherein in the step 2, the attitude information of the inertial navigation device of the airborne optoelectronic system includes azimuth angle, pitch angle and roll angle.
4. The active/passive ranging-independent geographic location method for target of airborne optoelectronic system according to claim 3, wherein in step 2, the angular information of the optoelectronic platform comprises azimuth angle and pitch angle, or pitch angle and roll angle.
5. The active/passive ranging independent target geolocation method according to claim 4 wherein in said step 4, [ x ] is derived from the location information at the onboard position S1 and S2c，yc，zc]TComprises the following steps:
Figure FDA0003061820530000021
wherein L1 and B1 are respectively longitude and latitude at airborne position S1, and L2, B2 and H2 are respectively airborne position S2Longitude, latitude and altitude, a, b are respectively the major and minor radii of the ellipse of the mathematical model of the ellipsoid of the sea surface of the earth, e is the first eccentricity of the ellipse, RNThe curvature radius of the prime circle on the meridian plane ellipse of the earth projection point of the overload machine position S2 is the coordinate [ Xs ] of the load machine position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TComprises the following steps:
Figure FDA0003061820530000022
6. the active/passive ranging-independent airborne optoelectronic system target geolocation method of claim 5 wherein in said step 5, said method further comprises the step of determining the carrier azimuth angle α 1 at the carrier location S1FPitch angle beta 1FTransverse roll angle gamma 1FAnd the roll angle theta 1 of the photoelectric platformROAngle of pitch θ 1ELAcquiring a rotation matrix R1 of a three-axis included angle between a northeast-sky coordinate system D-XYZ and an image space coordinate system S1- (x1, y1, -f) at a carrier position S1:
Figure FDA0003061820530000031
7. the active/passive ranging independent target geolocation method according to claim 6 wherein in said step 6, said method further comprises the step of determining from said longitude L1 and said latitude B1 at said onboard position S1, said longitude L2 and said latitude B2 at said onboard position S2, and said onboard azimuth α 2 at said onboard position S2FPitch angle beta 2FTransverse roll angle gamma 2FAnd the roll angle theta 2 of the photoelectric platformROAngle of pitch θ 2ELObtaining a rotation matrix R2 of a three-axis included angle between a northeast sky coordinate system D-XYZ and an image space coordinate system S2- (x2, y2, -f) at a carrier position S2;
the step 6 comprises the following steps:
step 61: solving a rotation matrix formed by three axial directions of the northeast coordinate system at the position S2 of the aircraft and three axial directions of the northeast coordinate system at the position S1 of the aircraft
Figure FDA0003061820530000032
Figure FDA0003061820530000033
Wherein the content of the first and second substances,
Figure FDA0003061820530000034
the WGS84 rectangular coordinate system and the northeast rotation matrix of the coordinate system at the carrier position S1:
Figure FDA0003061820530000035
Figure FDA0003061820530000036
a rotation matrix formed by an included angle between a northeast coordinate system at the position S2 of the carrier and a WGS84 rectangular coordinate system:
Figure FDA0003061820530000037
step 62: solving a rotation matrix formed by included angles between three axial directions of an inertial navigation coordinate system and a northeast coordinate system
Figure FDA0003061820530000038
Figure FDA0003061820530000041
And step 63: solving between the line-of-sight coordinate system and the inertial navigation coordinate systemRotation matrix composed of three-axis included angles
Figure FDA0003061820530000042
Figure FDA0003061820530000043
Step 64: solving a rotation matrix R2 between the northeast coordinate system D-XYZ and the image space coordinate system S2- (x2, y2, -f):
Figure FDA0003061820530000044
8. the active/passive ranging independent target geolocation method according to claim 7 wherein in step 6, when the vehicle locations S1 and S2 are not far apart, and when the rotation matrix R2 is calculated, the relative attitude deviations of the two northeast-earth coordinates at the vehicle locations S2 and S1 can be ignored, and the calculation of the rotation matrix R2 can be performed according to the method of calculating R1 in step 5.
9. The active/passive ranging independent geo-location method of target for airborne optoelectronic system of claim 7 wherein in step 7, the position coordinates [ Xs ] of the airborne vehicle at the airborne location S22,Ys2,Zs2]And two rotation matrices R1, R2, the coordinates [ x ] of the target point in the northeast coordinate system D-XYZ are calculatedT,yT,zT]TThe method comprises the following steps:
step 71: solving coordinates [ u1, v1, w1 ] of the target image point in the image space auxiliary measurement coordinate system at the carrier positions S1 and S2 according to the coordinates (x1, y1, -f) and (x2, y2, -f) of the image point in the photoelectric system at the carrier positions S1 and S2 respectively and the rotation matrixes R1 and R2 respectively]TAnd [ u2, v2, w2]T：
Figure FDA0003061820530000045
Step 72: according to the coordinate [ Xs ] of the carrier position S2 in the local northeast coordinate system D-XYZ2,Ys2,Zs2]TAnd coordinates [ u1, v1, w1 ] of the target image point in the image space-aided measurement coordinate system at the carrier positions S1 and S2]TAnd [ u2, v2, w2]TAnd respectively solving the coordinates [ U1, V1 and W1 ] of the ground target point in the image space auxiliary measurement coordinate systems S1-U1V1W1 and S2-U2V2W2]TAnd [ U2, V2, W2]T：
Figure FDA0003061820530000051
Step 73: calculating the coordinate [ x ] of the target point in the northeast coordinate system D-XYZ at the carrier position S1T,yT,zT]T：
Figure FDA0003061820530000052
Where H1 is the altitude at the carrier position S1.
10. The active/passive ranging independent target geolocation method according to claim 9 wherein in step 8 said method comprises the longitude L1 and latitude B1 at said onboard position S1 and the coordinates [ x ] in the northeast D-XYZ coordinate system of said target point at said onboard position S1T,yT,zT]TLet [ x ] bea，ya，za]TComprises the following steps:
Figure FDA0003061820530000053
the longitude L of the target in the geographic coordinate systemTLatitude BTAnd altitude HTComprises the following steps:
Figure FDA0003061820530000054
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