CN112066957A - Method for controlling airborne photoelectric turret aiming line to move according to geographical azimuth - Google Patents

Method for controlling airborne photoelectric turret aiming line to move according to geographical azimuth Download PDF

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CN112066957A
CN112066957A CN202010888653.3A CN202010888653A CN112066957A CN 112066957 A CN112066957 A CN 112066957A CN 202010888653 A CN202010888653 A CN 202010888653A CN 112066957 A CN112066957 A CN 112066957A
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turret
coordinate system
line
electronic map
intersection point
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CN112066957B (en
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渠继峰
吉书鹏
刘志广
乔红垒
张飞航
尚璞
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Cama Luoyang Measurement and Control Equipments Co Ltd
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Cama Luoyang Measurement and Control Equipments Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/10—Control of position or direction without using feedback

Abstract

The invention provides a method for controlling an onboard photoelectric turret aiming line to move according to a geographical azimuth, which is characterized in that a mode of rotating according to the geographical azimuth is added when a photoelectric turret is operated to rotate, under the mode, the left and right movement of a handle controls the aiming line to move along the east-west direction on an electronic map, the front and back movement of the handle controls the aiming line to move in the north-south direction on the electronic map, and the attitude of a carrier is adjusted through attitude compensation parameters, so that the intersection point of the aiming line of the turret and the earth can be controlled to move according to an expected track on the electronic map, and the target can be conveniently and quickly searched by referring to the electronic map.

Description

Method for controlling airborne photoelectric turret aiming line to move according to geographical azimuth
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle reconnaissance, and particularly relates to a method for controlling an airborne photoelectric turret aiming line to move according to a geographic azimuth.
Background
In the field of unmanned aerial vehicle reconnaissance, when an airborne stabilized photoelectric turret is used for searching and reconnaissance ground targets, a ground operator generally controls the rotation of the photoelectric turret through a control handle. The left and right movement of the handle controls the azimuth rotation of the photoelectric turret, and the front and back movement controls the pitching rotation of the turret. The azimuth rotation of the photoelectric turret can bring about the left and right movement of an image, and the pitching rotation can bring about the up and down movement of the image, and the design conforms to the habit of a common operator. The movement track of the intersection point of the sight line and the ground is shown in figure 1, the track of the intersection point is circular when the rotating turret is rotated to orient, and the intersection point moves along the radius of the circular track when the rotating turret is rotated to pitch.
When an operator searches and reconnoiters a ground target, a position mark of an intersection point of an aiming line and the ground is often superposed and displayed on an electronic map, and the intersection point moves on the electronic map when the turret is controlled to rotate, so that the electronic map can be used as a reference to assist in quickly searching the target. The electronic map is generally displayed in a mode of 'up-north-down-south-left-west-right-east'. When the handle is used for controlling the turret to rotate, the moving track of the intersection point on the electronic map changes along with the heading and the attitude of the carrier and the azimuth/pitch angle of the turret, the movement rule is complex, the straight line movement of the intersection point on the electronic map is difficult to control, and the target is inconvenient to search quickly.
Disclosure of Invention
The invention aims to provide a method capable of controlling an onboard photoelectric turret sight line to move linearly according to a geographical position so as to quickly search a target by taking an electronic map as a reference.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for controlling the movement of an onboard photoelectric turret sight line according to the geographical position comprises the following steps,
s1, defining the speed of the intersection point of the sight line of the turret and the earth under a two-dimensional geographic coordinate system;
s2, converting the speed of the defined junction point into a sight line coordinate system;
s3, calculating attitude compensation parameters of the carrier according to the expected track and speed under the line-of-sight coordinate system;
and S4, controlling the speed of the carrier through the left-right and front-back movement of the handle, and adjusting the posture of the carrier through the posture compensation parameter, so that the intersection point of the aiming line of the turret and the ground can be controlled to move on the electronic map according to the expected track.
Further, the step S1 specifically includes the following steps,
s11, when the intersection point of the aiming line and the earth moves in the north-south direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure BDA0002656274850000021
Figure BDA0002656274850000022
To be positive is meant a movement to the north,
Figure BDA0002656274850000023
when the signal is negative, the signal represents moving to south;
s12, when the intersection point of the aiming line and the earth moves along the east-west direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure BDA0002656274850000024
Figure BDA0002656274850000025
A positive timing means a movement to the east,
Figure BDA0002656274850000026
when negative, it indicates westward movement;
s13, mixing
Figure BDA0002656274850000027
And
Figure BDA0002656274850000028
after orthogonalization, obtain
Figure BDA0002656274850000029
Which is used to represent the two-dimensional motion of the intersection point in a geographic coordinate system.
Further, the step S2 specifically includes: will be provided with
Figure BDA00026562748500000210
The expression converted to the line-of-sight coordinate system is:
Figure BDA0002656274850000031
wherein the content of the first and second substances,
Figure BDA0002656274850000032
defining heading, pitch and roll angles of the carrier as alpha, beta and gamma respectively for a coordinate transformation matrix from a northeast geographic coordinate system of the carrier to a coordinate system of a photoelectric turret base, and then
Figure BDA0002656274850000033
The expression of (a) is:
Figure BDA0002656274850000034
Figure BDA0002656274850000035
defining the azimuth angle of the aiming line relative to the photoelectric turret base as A and the pitch angle as B for a coordinate transformation matrix from the photoelectric turret base coordinate system to an aiming line coordinate system, and then
Figure BDA0002656274850000036
The expression of (a) is:
Figure BDA0002656274850000037
further, the attitude compensation parameters in step S3 include an azimuth velocity and a pitch velocity, and if the straight-line distance from the turret to the junction is defined as D, the azimuth velocity of the turret at the junction is defined as D
Figure BDA0002656274850000038
Pitch rate of intersection with respect to turret
Figure BDA0002656274850000039
Compared with the prior art, the invention has the beneficial effects that: when the photoelectric turret is operated to rotate, a geographic azimuth rotation mode is added, in the mode, the left-right movement of the handle controls the aiming line to move on the electronic map along the east-west direction, the front-back movement of the handle controls the aiming line to move in the north-south direction on the electronic map, and the attitude of the carrier is adjusted through the attitude compensation parameters, so that the intersection point of the aiming line of the turret and the earth can be controlled to move on the electronic map according to an expected track, and the target can be conveniently and quickly searched by referring to the electronic map.
Drawings
FIG. 1 is a schematic view of the movement trace of the intersection of the line of sight and the ground;
fig. 2 is a control flow diagram of a method for controlling an onboard photoelectric turret sight line to move according to a geographical position according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
The principle of the invention is as follows: in order to facilitate the quick searching of the target by referring to the electronic map, the invention adds a geographic azimuth rotation mode when operating the photoelectric turret to rotate. In this mode, the left and right movement of the handle controls the line of sight to move in the east-west direction on the electronic map, and the front and back movement of the handle controls the line of sight to move in the north-south direction on the electronic map.
The technical scheme of the invention is as follows:
as shown in fig. 2, a method of controlling movement of an onboard opto-electronic turret line of sight in a geographic orientation includes the steps of,
s1, defining the speed of the intersection point of the sight line of the turret and the earth under a two-dimensional geographic coordinate system;
the step S1 specifically includes the following steps,
s11, when the intersection point of the aiming line and the earth moves in the north-south direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure BDA0002656274850000041
Figure BDA0002656274850000042
To be positive is meant a movement to the north,
Figure BDA0002656274850000043
when the signal is negative, the signal represents moving to south;
s12, when the intersection point of the aiming line and the earth moves along the east-west direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure BDA0002656274850000051
Figure BDA0002656274850000052
A positive timing means a movement to the east,
Figure BDA0002656274850000053
when negative, it indicates westward movement;
s13, mixing
Figure BDA0002656274850000054
And
Figure BDA0002656274850000055
after orthogonalization, obtain
Figure BDA0002656274850000056
Which is used to represent the two-dimensional motion of the intersection point in a geographic coordinate system.
S2, converting the speed of the defined junction point into a sight line coordinate system;
step S2 specifically includes: will be provided with
Figure BDA0002656274850000057
The expression converted to the line-of-sight coordinate system is:
Figure BDA0002656274850000058
wherein the content of the first and second substances,
Figure BDA0002656274850000059
defining heading, pitch and roll angles of the carrier as alpha, beta and gamma respectively for a coordinate transformation matrix from a northeast geographic coordinate system of the carrier to a coordinate system of a photoelectric turret base, and then
Figure BDA00026562748500000510
The expression of (a) is:
Figure BDA00026562748500000511
Figure BDA00026562748500000512
defining the azimuth angle of the aiming line relative to the photoelectric turret base as A and the pitch angle as B for a coordinate transformation matrix from the photoelectric turret base coordinate system to an aiming line coordinate system, and then
Figure BDA00026562748500000513
The expression of (a) is:
Figure BDA00026562748500000514
and S3, calculating attitude compensation parameters of the carrier according to the expected track and speed under the line-of-sight coordinate system.
Further, due to
Figure BDA00026562748500000515
The speed of approach to the turret under the line of sight coordinate system does not constitute an angular motion. The attitude compensation parameters mainly comprise azimuth angle velocity and pitch angle velocity, the straight-line distance from the turret to an intersection point is defined as D,
the azimuthal velocity of the junction to the turret is then:
Figure BDA0002656274850000061
the pitch angle speed of the junction relative to the turret is:
Figure BDA0002656274850000062
s4, selecting a moving mode of the turret according to the geographical position in the carrier, and controlling the speed of the carrier through the left-right movement and the front-back movement of the handle, wherein the left-right movement of the handle is controlled
Figure BDA0002656274850000063
Polarity and magnitude of (3), control of forward and backward motion
Figure BDA0002656274850000064
Polarity and magnitude of. And then the attitude of the carrier is adjusted through the attitude compensation parameters, so that the intersection point of the sighting line of the turret and the ground can be controlled to move on an electronic map according to a desired track.
The present invention is explained below with respect to the control of the carrier at a certain time:
the attitude angle of the carrier at a certain moment is (319.453, 1.605, 5.460)TThe photoelectric turret azimuth angle A is 102.7 degrees, the pitch angle B is-48.9 degrees, the linear distance D of the carrier from the target is 3820m, and the fact that the intersection point of the aiming line and the ground is expected to be controlled to move towards the north of the geographic azimuth at the speed of 50m/s is supposed to be controlled. Substituting the data into the formulas (3), (2) and (1) to obtain:
Figure BDA0002656274850000065
substituting the data into equations (4) and (5), respectively, to obtain:
Figure BDA0002656274850000066
Figure BDA0002656274850000067
ωz、ωyis dynamically changed along with parameters such as attitude, distance and the like of the carrier, and the time is in omegaz＝-0.663°/s，ωyThe direction of motion of the line of sight meeting the ground is toward the north of the geographic position, as given inputs to the opto-electric turret orientation and pitch gyro stability circuits, 0.284/s, respectively.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (4)

1. A method for controlling the movement of an onboard photoelectric turret sight line according to the geographical position is characterized by comprising the following steps,
s1, defining the speed of the intersection point of the sight line of the turret and the earth under a two-dimensional geographic coordinate system;
s2, converting the speed of the defined junction point into a sight line coordinate system;
s3, calculating attitude compensation parameters of the carrier according to the expected track and speed under the line-of-sight coordinate system;
and S4, controlling the speed of the carrier through the left-right and front-back movement of the handle, and adjusting the posture of the carrier through the posture compensation parameter, so that the intersection point of the aiming line of the turret and the ground can be controlled to move on the electronic map according to the expected track.
2. The method as claimed in claim 1, wherein said step S1 comprises the following steps,
s11, when the intersection point of the aiming line and the earth moves in the north-south direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure FDA0002656274840000011
Figure FDA0002656274840000012
To be positive is meant a movement to the north,
Figure FDA0002656274840000013
when the signal is negative, the signal represents moving to south;
s12, when the intersection point of the aiming line and the earth moves along the east-west direction on the electronic map, the motion vector can be expressed as the geographic coordinate system
Figure FDA0002656274840000014
Figure FDA0002656274840000015
A positive timing means a movement to the east,
Figure FDA0002656274840000016
when negative, it indicates westward movement;
s13, mixing
Figure FDA0002656274840000017
And
Figure FDA0002656274840000018
after orthogonalization, obtain
Figure FDA0002656274840000019
Which is used to represent the two-dimensional motion of the intersection point in a geographic coordinate system.
3. The method as claimed in claim 2, wherein the step S2 specifically includes: will be provided with
Figure FDA00026562748400000110
The expression converted to the line-of-sight coordinate system is:
Figure FDA0002656274840000021
wherein the content of the first and second substances,
Figure FDA0002656274840000022
defining heading, pitch and roll angles of the carrier as alpha, beta and gamma respectively for a coordinate transformation matrix from a northeast geographic coordinate system of the carrier to a coordinate system of a photoelectric turret base, and then
Figure FDA0002656274840000023
The expression of (a) is:
Figure FDA0002656274840000024
Figure FDA0002656274840000025
defining the azimuth angle of the aiming line relative to the photoelectric turret base as A and the pitch angle as B for a coordinate transformation matrix from the photoelectric turret base coordinate system to an aiming line coordinate system, and then
Figure FDA0002656274840000026
The expression of (a) is:
Figure FDA0002656274840000027
4. the method as claimed in claim 3, wherein the attitude compensation parameters in step S3 include azimuth velocity and pitch velocity, and the straight-line distance from the turret to the junction is defined as D, so that the azimuth velocity of the turret at the junction is determined by the distance D
Figure FDA0002656274840000028
Pitch rate of intersection with respect to turret
Figure FDA0002656274840000029
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113238072A (en) * 2021-01-20 2021-08-10 西安应用光学研究所 Moving target calculating method suitable for vehicle-mounted photoelectric platform

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Publication number Priority date Publication date Assignee Title
CN105022271A (en) * 2015-06-09 2015-11-04 西北工业大学 An unmanned aerial vehicle self-adaptive PID control method
CN108614273A (en) * 2016-12-09 2018-10-02 中国人民解放军92232部队 A kind of airborne two waveband photoelectricity wide area is scouted and tracks of device and method
CN111026165A (en) * 2019-12-02 2020-04-17 西安应用光学研究所 Aiming line wide area scanning control method based on airborne photoelectric system
CN111366155A (en) * 2020-03-27 2020-07-03 西安应用光学研究所 Local scanning method based on airborne photoelectric system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105022271A (en) * 2015-06-09 2015-11-04 西北工业大学 An unmanned aerial vehicle self-adaptive PID control method
CN108614273A (en) * 2016-12-09 2018-10-02 中国人民解放军92232部队 A kind of airborne two waveband photoelectricity wide area is scouted and tracks of device and method
CN111026165A (en) * 2019-12-02 2020-04-17 西安应用光学研究所 Aiming line wide area scanning control method based on airborne photoelectric system
CN111366155A (en) * 2020-03-27 2020-07-03 西安应用光学研究所 Local scanning method based on airborne photoelectric system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113238072A (en) * 2021-01-20 2021-08-10 西安应用光学研究所 Moving target calculating method suitable for vehicle-mounted photoelectric platform
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

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