CN112629342A - Projectile attitude angle measuring method - Google Patents

Projectile attitude angle measuring method Download PDF

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CN112629342A
CN112629342A CN202011191124.4A CN202011191124A CN112629342A CN 112629342 A CN112629342 A CN 112629342A CN 202011191124 A CN202011191124 A CN 202011191124A CN 112629342 A CN112629342 A CN 112629342A
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coordinate system
angle
mapping
calculating
projectile
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CN112629342B (en
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张超
杜春林
赵振强
顾佳辉
李玉龙
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Northwestern Polytechnical University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
    • F42B35/00—Testing or checking of ammunition
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

Abstract

The invention discloses a projectile attitude angle measuring method, which comprises the following steps: establishing an image coordinate system and a terrestrial coordinate system of a target plate impacted by a projectile body; calculating a mapping attitude angle of the projectile body; wherein the mapping attitude angle is an angle at which the attitude angle of the projectile in the earth coordinate system is mapped to the image coordinate system; obtaining a mapping coordinate system according to the terrestrial coordinate system, and calculating the angle of the mapping coordinate system in an image coordinate system; wherein the mapping coordinate system angle is an angle of the mapping coordinate system in the image coordinate system; calculating a mapping coefficient according to the angle of the mapping coordinate system; wherein the mapping coefficient represents a relationship between a mapping coordinate system angle and the terrestrial coordinate system; and calculating the attitude angle of the projectile body in the terrestrial coordinate system through the mapping coefficient and the mapping attitude angle. The invention can efficiently and accurately measure the attitude angle of the projectile body in the high-speed flying process of the projectile body.

Description

Projectile attitude angle measuring method
Technical Field
The invention relates to a technology for measuring an impact attitude of a projectile in a high-speed dynamic impact event, in particular to a method for measuring an attitude angle of the projectile.
Background
When a high-speed impact test is performed, it is not accurately guaranteed that the projectile impacts the target plate in a posture completely consistent with the expectation, and therefore the posture angle of the projectile must be determined. In the test process, due to the fact that the speed of the projectile body is high (100-1000 m/s), the posture of the projectile body when the projectile body impacts a target cannot be determined through visual observation or a conventional test means.
The existing test technology has the disadvantages of large measurement error, incapability of determining the three-dimensional posture of the bullet, complex measurement device and complex processing mode, and results in low measurement efficiency, long period and high cost.
Disclosure of Invention
The invention mainly aims to provide a projectile attitude angle measuring method to solve the problems in the prior art, wherein:
the embodiment of the invention provides a projectile attitude angle measuring method, which comprises the following steps: establishing an image coordinate system and a terrestrial coordinate system of a target plate impacted by a projectile body; calculating a mapping attitude angle of the projectile body; wherein the mapping attitude angle is an angle at which the attitude angle of the projectile in the earth coordinate system is mapped to the image coordinate system; obtaining a mapping coordinate system according to the terrestrial coordinate system, and calculating the angle of the mapping coordinate system in an image coordinate system; wherein the mapping coordinate system angle is an angle of the mapping coordinate system in the image coordinate system; calculating a mapping coefficient according to the angle of the mapping coordinate system; wherein the mapping coefficient represents a relationship between a mapping coordinate system angle and the terrestrial coordinate system; and calculating the attitude angle of the projectile body in the terrestrial coordinate system through the mapping coefficient and the mapping attitude angle.
Wherein, the step of establishing the image coordinate system and the earth coordinate system of the projectile body impacting the target plate comprises the following steps: acquiring an image of a projectile impacting a target plate, and establishing an image coordinate system according to the image; establishing an earth coordinate system Oxyz by taking the sideline of the target plate as a reference line as an x axis and a y axis and taking a straight line perpendicular to the target plate as a z axis; and two edge reference lines of the projectile body are obtained in the image coordinate system, and the two edge reference lines are translated into the terrestrial coordinate system to respectively obtain a first line segment and a second line segment.
Wherein the attitude angle comprises a pitch angle and a yaw angle, and in the case that the attitude angle is a pitch angle, the method further comprises: calculating a mapping pitch angle of the projectile body; wherein, the included angle between the first line segment and the Oz is the mapping pitch angle; obtaining a first mapping coordinate system xOz according to the global coordinate system, and calculating a first mapping coordinate system angle; wherein the first mapped coordinate system angle is an angle of the first mapped coordinate system xOz in the image coordinate system; calculating a first mapping coefficient according to the first mapping coordinate system angle, wherein the first mapping coefficient represents the relation between the first mapping coordinate system angle and the terrestrial coordinate system; and calculating the pitch angle of the projectile body in the terrestrial coordinate system through the first mapping coefficient and the mapping pitch angle.
Wherein the method further comprises: and calculating the slopes of the line segments OA, Oz and Ox, and calculating the mapping pitch angle and the angle value of the first mapping coordinate system according to the slopes.
Wherein the first mapping coefficient f is calculated by the following formulaα：
Figure BDA0002752775370000021
Wherein the attitude angle comprises a pitch angle and a yaw angle, and in the case that the attitude angle is a yaw angle, the method further comprises: calculating a mapping deflection angle of the projectile body; wherein, the included angle between the second line segment and Oy is the mapping deflection angle; obtaining a second mapping coordinate system yOz according to the terrestrial coordinate system Oxyz, and calculating a second mapping coordinate system angle; wherein the second mapped coordinate system angle is an angle of the second mapped coordinate system yOz in the image coordinate system; calculating a second mapping coefficient according to the second mapping coordinate system angle, wherein the second mapping coefficient represents the relationship between the second mapping coordinate system angle and the terrestrial coordinate system; and calculating the deflection angle of the projectile body in the terrestrial coordinate system through the second mapping coefficient and the mapping deflection angle.
Wherein the method further comprises: and calculating the slopes of the line segments OC, Oz and Ox, and calculating the mapping deflection angle and the angle value of the second mapping coordinate system according to the slopes.
Wherein the second mapping coefficient f is calculated by the following formulaβ：
Figure BDA0002752775370000031
Wherein a reference line OY and a reference line O parallel to OY are obtained in the global coordinate system1Y1Reference lines OY and O1Y1Translating to the image coordinate system to obtain O 'Y' and O1'Y1'; wherein the included angle between PM and O 'Y' is perspective angle, and P is O 'Y' and O1'Y1' intersecting perspective point, M is the midpoint of the front end of the projectile body; calculating the perspective angle according to the slope of the PM and the O 'Y'; and correcting the error of the deflection angle in the terrestrial coordinate system according to the perspective angle.
The method is based on the high-speed camera imaging principle, calculates the accurate attitude angle through the geometric relation of the measured projectile body, can efficiently and accurately measure the attitude angle of the projectile body in the high-speed flying process of the projectile body, and has specific points with large measuring range and high accuracy.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1A is a schematic illustration of the relative motion relationship and coordinate system of a projectile and a target plate according to an embodiment of the invention;
FIG. 1B is a schematic diagram of a pitch angle α defining a projectile attitude angle in an earth coordinate system in accordance with an embodiment of the present invention;
FIG. 1C is a schematic diagram of a deflection angle β defining a pose angle of a projectile in an earth coordinate system according to an embodiment of the invention;
FIG. 2 is a flow chart of a projectile attitude angle measurement method according to an embodiment of the invention;
3A-3C are schematic diagrams of the attitude angle of a projectile in relation to the relative position of the earth coordinate system Oxyz in a coordinate system eta ξ according to an embodiment of the invention;
fig. 4A and 4B are schematic diagrams of a global coordinate system and an image perspective transformation relationship according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
In the event of an impact, the projectile impacts the target plate as shown in fig. 1A, with projectile velocity perpendicular to the target plate, and projectile attitude ideally with the rectangular sides perpendicular to the target plate impact (projectile leading edge plane parallel to the target plate plane, i.e., α ═ β ═ 0 ° in the case of fully perpendicular projectile impact to the target plate). In the actual test process, ideal conditions cannot be achieved, so that the attitude angle of the projectile body in the test needs to be calculated. Before the pose angle is defined, a corresponding coordinate system needs to be established. Defining the earth coordinate system as follows: xyz (actual coordinate system in the experiment), image coordinate system: η ξ (the two-dimensional coordinate system of the picture taken by the camera). When the projectile impacts the target plate in flight, the attitude of the projectile in the fig. 1B and 1C is defined, and the pitch angle of the attitude angle of the projectile in the earth coordinate system in the test is defined as alpha (in the plane coordinate system of xz), and the yaw angle is defined as beta (in the plane coordinate system of yz), namely the projectile has the impact attitude which is not perpendicular to the target plate (alpha is not equal to 0 degrees and is not equal to 0 degrees).
Before describing the present application in detail, some terms related to the present application will be explained, and an earth coordinate system (Oxyz), which refers to a real coordinate system in reality, determines a spatial position and posture of an object with the earth as a reference system, and is a three-dimensional coordinate system with length as a unit. The image coordinate system (η ξ) refers to a coordinate system established by an image plane for determining pixel positions, and is a two-dimensional coordinate system, and the image coordinate system η ξ can be established by image processing software with a single pixel size as a unit length in an image. Projective scaling (mapping principle) refers to the formation of a two-dimensional geometric shape in a two-dimensional plane by a three-dimensional geometric object through projection, which causes the angles of the three-dimensional object and the two-dimensional object to be scaled down or enlarged to some extent. The imaging perspective (perspective principle) means that a perspective effect exists between a far view and a near view due to a camera imaging principle, the perspective causes two parallel straight lines to have an intersection point (similar to a train rail shooting) at a far place, and in reality (an earth coordinate system), the two straight lines are parallel but have an included angle in a picture, and the included angle is called a perspective angle.
The method calculates the actual attitude angle of the projectile body through the camera image. In the image shot by the camera, the shape and relative position relationship of the image are greatly different from the real situation due to the projection scaling (mapping principle) and the imaging angle of view (perspective principle) of the actual terrestrial coordinate system object caused by the imaging principle, namely two problems existing in the transformation of the shot image and the real object, namely mapping and perspective. Therefore, the geometric relation of the relative positions of the objects in the images needs to be restored to real coordinates by eliminating the mapping and perspective problems so as to obtain the real attitude angle of the projectile body.
According to the embodiment of the application, a method for measuring the projectile attitude angle, which can also be called as a method for calculating or determining the projectile attitude angle, is provided, and as shown in fig. 2, the method at least comprises the following steps:
step S202, establishing an image coordinate system and a terrestrial coordinate system of a target plate impacted by a projectile body;
step S204, calculating a mapping attitude angle of the projectile body; wherein the mapping attitude angle is an angle at which the attitude angle of the projectile in the earth coordinate system is mapped to the image coordinate system.
Step S206, obtaining a mapping coordinate system according to the terrestrial coordinate system, and calculating the angle of the mapping coordinate system in an image coordinate system; wherein the mapping coordinate system angle is an angle of the mapping coordinate system in the image coordinate system;
step S208, calculating a mapping coefficient according to the angle of the mapping coordinate system; wherein the mapping coefficient represents a relationship between a mapping coordinate system angle and the terrestrial coordinate system;
and step S210, calculating the attitude angle of the projectile in the terrestrial coordinate system through the mapping coefficient and the mapping attitude angle.
In the embodiment of the present application, the attitude angle of the projectile includes a pitch angle and a yaw angle, and the details of calculating the pitch angle of the projectile are first described below.
Fig. 3A shows the relative positional relationship (α ≠ 0 ° or β ≠ 0 °) between the projectile and the target board in the case where the projectile impacts the target board obliquely (not perpendicularly) on the position of the projectile in fig. 1. In an image coordinate system eta xi, straight lines Ox and Oy parallel to an edge reference line (the edge reference line is vertical) in the target plate surface are selected as an x axis and a y axis of an earth coordinate system, and a straight line Oz (taking the edge reference line vertical to the target plate surface as a reference) vertical to the target plate surface is selected as a z axis to obtain an earth coordinate system Oxyz. The edge reference lines of the projectile are selected in the image coordinate system and defined as a 'B' and C 'D'. Translating A 'B' and C 'D' into Oxyz to enable the B 'point and the D' point to coincide with the O point, and obtaining AO and CO straight lines respectively. It should be noted that the projectile and target plate in the present application have straight characteristic edges, such as containing straight segments or being capable of projecting straight segments.
After the earth coordinate system is established, two mapping coordinate systems, namely a first mapping coordinate system xOz and a second mapping coordinate system yOz, can be obtained according to the earth coordinate system Oxyz. Referring to fig. 3B, the angle (α') between AO and Oz is set as the mapping pitch angle of the projectile in the image coordinate system η ξ, and the angle (α) between the mapping coordinate system xOz (first mapping coordinate system) and the image coordinate system η ξ is setxOz) Is a first mapped coordinate system angle. As shown in fig. 3A, the coordinates of the starting points O of the line segments OA, Oz, and Ox in the image coordinate system η ξ are (η ∑ in the image coordinate systemO，ξO) Wherein etaOAnd xiOAll three-dimensional column vectors (the value of each column vector is the same), and the terminal point coordinate is ([ eta ] respectivelyA，ηz，ηx]T，[ξA，ξz，ξx]T). Thus, the slopes [ k ] of AO, Oz and Ox can be obtained by the following slope formula (1)OA，kOz，kOx]T：
Figure BDA0002752775370000061
Δ η in formula (1)αAnd Δ ξαAnd (3) substituting the coordinate values of the starting point and the end point into the formula (2) to obtain:
Figure BDA0002752775370000062
where E is an identity matrix, Δ ηαIs a 3 × 3 matrix, Δ ξαIs a 1 x 3 column vector.
After the slope is obtained through the calculation of the formula (1), the mapping pitch angle alpha' and the mapping coordinate system angle alpha are obtained through the calculation of the following included angle formula (3)xOzThe value:
Figure BDA0002752775370000063
since the actual included angle of the selected coordinate system xOz in the terrestrial coordinate system is 90 °, the angle α of the mapping coordinate system is definedxOzThe mapping relation with the terrestrial coordinate system is defined by a mapping coefficient fαDetermining:
Figure BDA0002752775370000064
calculating the pitching angle alpha of the projectile body in the earth coordinate system through the mapping coefficient of the coordinate system xOz:
α＝fαα' (5)
the pixel coordinate values of each point are obtained through the coordinate system eta xi, and the pitch angle alpha of the projectile body in the terrestrial coordinate system can be obtained through the formulas (1) to (5).
The specific details of calculating the deflection angle β of the projectile are described below. Referring to fig. 3C, an angle β 'between CO and Oy is set as a mapping deflection angle β' of the projectile in the image coordinate system η ξ, and an angle (β) of the mapping coordinate system yOz (second mapping coordinate system) in the image coordinate system η ξ is setyOz) Is the second mapped coordinate system angle. Obtaining the coordinates of the starting points O of the line segments OC, Oz and Oy in the image coordinate system as (eta) from the image coordinate systemO，ξO) Wherein etaOAnd xiOAll three-dimensional column vectors (the value of each column vector is the same), and the terminal point coordinate is ([ eta ] respectivelyC，ηz，ηy]T，[ξC，ξz，ξy]T). Thus, the slopes [ k ] of OC, Oz and Oy can be calculated by the slope equation (6)OC，kOz，kOy]T：
Figure BDA0002752775370000071
Δ η in equation (6)βAnd Δ ξβAnd obtaining by substituting the coordinate values of the starting point and the end point into equation (7):
Figure BDA0002752775370000072
where E is an identity matrix, Δ ηβIs a 3 × 3 matrix, Δ ξβIs a 1 x 3 column vector.
After the slope is obtained through calculation of the formula (6), the mapping deflection angle beta' and the mapping coordinate system angle beta are obtained through calculation of the following included angle formula (8)yOzThe value:
Figure BDA0002752775370000073
the actual included angle of the selected coordinate system yOz in the terrestrial coordinate system is 90 degrees, and the beta' is in the betayOzWithin the complementary angle of (1), thus defining betayOzThe mapping coefficient with the terrestrial coordinate system is fβ：
Figure BDA0002752775370000074
Similarly, the deflection angle β of the projectile in the terrestrial coordinate system is calculated by the mapping coefficient of the mapping coordinate system yOz:
β＝fββ' (10)
the pixel coordinate values of each point are obtained through the coordinate system eta xi, and the deflection angle beta of the projectile body under the terrestrial coordinate system can be obtained through the formulas (6) to (10).
In the shooting process of the camera, the Oz straight line can be adjusted to be a horizontal straight line in a coordinate system eta xi by adjusting the angle and the position of the camera, and the processing method is convenient for simplifying the calculation process. Therefore, according to the imaging principle of the image capturing angle of view, there is no perspective error in the included angle in the horizontal direction (Oz direction), i.e. two parallel straight lines parallel to each other in the horizontal direction are still parallel in the terrestrial coordinate system. Therefore, the pitch angle α calculated by the above method has no perspective error. Whereas the deflection angle is found with reference to the vertical line Oy, there may be a perspective error.
Referring to fig. 4A and 4B, in the global coordinate system, the deflection angle β is set between CD and OY, and O is set1Y1Is a reference line segment parallel to OY. CD. OY and O1Y1C 'D', O 'Y' and O in the image coordinate system1'Y1'. The perspective point of the shooting visual angle is set as a point P (two parallel straight lines converge at the point P after shooting imaging), M is set as the middle point of the front end of the projectile body, and the included angle between a characteristic reference line PM and O 'Y' is defined as a perspective angle gamma. Beta' is the bullet in the coordinate system eta xi after eliminating perspective angleThe angle of deflection of (a).
Obtaining O 'Y' and O from the image coordinate system1'Y1Coordinates of origin of `:
Figure BDA0002752775370000081
and end point coordinates:
Figure BDA0002752775370000082
o 'Y' and O are obtained by calculation of the formula (11)1'Y1Slope of `
Figure BDA0002752775370000083
Figure BDA0002752775370000084
O 'Y' and O are obtained by calculation of the formula (12)1'Y1Intercept of `
Figure BDA0002752775370000085
Figure BDA0002752775370000086
Position coordinate (eta) of perspective point PP,ξP) Can be calculated by equations (11) and (12):
Figure BDA0002752775370000091
to this end P (. eta.)P,ξP) And M (η)M,ξM) The point coordinate values are known, and the slope k of the straight lines PM and O 'Y' is calculated by a slope formulaPMAnd kO'Y'. Thereby obtaining a transmission angle γ:
Figure BDA0002752775370000092
the deflection angle β ″ of the projectile body after the perspective error is eliminated is obtained according to the geometrical relationship of fig. 4A and 4B:
Figure BDA0002752775370000093
after considering the perspective error, β 'of the formula (10) must be calculated by the deflection angle β ″ after eliminating the perspective error, that is, β' of the formula (10) is replaced by β ″ to obtain the actual deflection angle β of the projectile:
β＝fβ(β'-γ) (16)
to this end, the pitch angle and yaw angle of the attitude angle of the projectile in the terrestrial coordinate system are calculated from the coordinate values of the reference lines of the projectile and the target plate in the image. The pitch angle α can be calculated by formula (5), and the yaw angle β can be calculated by formula (10) or (16).
Through the technical scheme of this application, have following effect at least:
1. the application provides a method for efficiently and accurately calculating the attitude angle of a plate-shaped projectile body in an impact test, which can accurately calculate the pitch angle and deflection angle of the projectile body.
2. According to the method, the size of any reference object is not required to participate in calculation in the angle calculation process, and the introduction of size measurement and errors is reduced.
3. All calculations are calculated based on a single-frame image, all reference objects are shot at the same time, and therefore camera shaking does not affect results.
4. The sideline of the projectile body and the target plate is used as a reference line of a space coordinate system, so that unnecessary steps and factors such as addition of a reference object in the test process are reduced.
5. Meanwhile, perspective and mapping errors caused by shooting imaging are considered, and the calculated result is closer to a real result.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. A projectile attitude angle measurement method, comprising:
establishing an image coordinate system and a terrestrial coordinate system of a target plate impacted by a projectile body;
calculating a mapping attitude angle of the projectile body; wherein the mapping attitude angle is an angle at which the attitude angle of the projectile in the earth coordinate system is mapped to the image coordinate system;
obtaining a mapping coordinate system according to the terrestrial coordinate system, and calculating the angle of the mapping coordinate system in an image coordinate system; wherein the mapping coordinate system angle is an angle of the mapping coordinate system in the image coordinate system;
calculating a mapping coefficient according to the angle of the mapping coordinate system; wherein the mapping coefficient represents a relationship between a mapping coordinate system angle and the terrestrial coordinate system;
and calculating the attitude angle of the projectile body in the terrestrial coordinate system through the mapping coefficient and the mapping attitude angle.
2. The method of claim 1, wherein the step of establishing an image coordinate system and an earth coordinate system of the projectile impacting the target plate comprises:
acquiring an image of a projectile impacting a target plate, and establishing an image coordinate system according to the image;
establishing an earth coordinate system Oxyz by taking the sideline of the target plate as a reference line as an x axis and a y axis and taking a straight line perpendicular to the target plate as a z axis;
and two edge reference lines of the projectile body are obtained in the image coordinate system, and the two edge reference lines are translated into the terrestrial coordinate system to respectively obtain a first line segment and a second line segment.
3. The method of claim 2, wherein the attitude angle comprises a pitch angle and a yaw angle, and in the case where the attitude angle is a pitch angle, the method further comprises:
calculating a mapping pitch angle of the projectile body; wherein, the included angle between the first line segment and the Oz is the mapping pitch angle;
obtaining a first mapping coordinate system xOz according to the global coordinate system, and calculating a first mapping coordinate system angle; wherein the first mapped coordinate system angle is an angle of the first mapped coordinate system xOz in the image coordinate system;
calculating a first mapping coefficient according to the first mapping coordinate system angle, wherein the first mapping coefficient represents the relation between the first mapping coordinate system angle and the terrestrial coordinate system;
and calculating the pitch angle of the projectile body in the terrestrial coordinate system through the first mapping coefficient and the mapping pitch angle.
4. The method of claim 3, further comprising:
calculating slopes of the line segments OA, Oz, and Ox, and calculating the mapping pitch angle and the first mapping coordinate system angle according to the slopes of the line segments OA, Oz, and Ox.
5. A method according to claim 3, characterized in that said first mapping coefficient f is calculated by the following formulaα：
Figure FDA0002752775360000021
6. The method of claim 2, wherein the attitude angle comprises a pitch angle and a yaw angle, and in the case where the attitude angle is a yaw angle, the method further comprises:
calculating a mapping deflection angle of the projectile body; wherein, the included angle between the second line segment and Oy is the mapping deflection angle;
obtaining a second mapping coordinate system yOz according to the terrestrial coordinate system Oxyz, and calculating the angle of the second mapping coordinate system; wherein the second mapped coordinate system angle is an angle of the second mapped coordinate system yOz in the image coordinate system;
calculating a second mapping coefficient according to the second mapping coordinate system angle, wherein the second mapping coefficient represents the relationship between the second mapping coordinate system angle and the terrestrial coordinate system;
and calculating the deflection angle of the projectile body in the terrestrial coordinate system through the second mapping coefficient and the mapping deflection angle.
7. The method of claim 6, further comprising:
calculating the slopes of the line segments OC, Oz and Ox, and calculating the mapping deflection angle and the second mapping coordinate system angle value according to the slopes of the line segments OC, Oz and Ox.
8. The method according to claim 6, wherein the second mapping coefficient f is calculated by the following formulaβ：
Figure FDA0002752775360000031
9. The method of claim 6,
obtaining in the global coordinate systemReference line OY and reference line O parallel to OY1Y1Reference lines OY and O1Y1Translating to the image coordinate system to obtain O 'Y' and O1'Y1'; wherein the included angle between PM and O 'Y' is perspective angle, and P is O 'Y' and O1'Y1' intersecting perspective point, M is the midpoint of the front end of the projectile body;
calculating the perspective angle according to the slope of the PM and the O 'Y';
and correcting the error of the deflection angle in the terrestrial coordinate system according to the perspective angle.
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