CN112710303A - Method for determining attitude angle theta change of target in field of view caused by motion of motion platform - Google Patents

Method for determining attitude angle theta change of target in field of view caused by motion of motion platform Download PDF

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CN112710303A
CN112710303A CN202011469201.8A CN202011469201A CN112710303A CN 112710303 A CN112710303 A CN 112710303A CN 202011469201 A CN202011469201 A CN 202011469201A CN 112710303 A CN112710303 A CN 112710303A
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platform
angle
target
motion
attitude
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CN112710303B (en
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王强
雷嘉明
王宗友
刘翔
马荣崎
罗传欣
向春生
吴琼雁
江彧
黄永梅
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Institute of Optics and Electronics of CAS
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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • 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
    • G01C21/16—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
    • 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
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Abstract

The invention discloses a method for determining the change of an attitude angle theta of a target in a view field caused by the motion of a motion platform, which is used for obtaining the change of the attitude angle theta of a target axis in the view field of an image detector according to angular position data (an azimuth angle A and a pitch angle E) of a target tracking point by a photoelectric tracking system and attitude information (a yaw angle H, a pitch angle P and a roll angle R) of a carrier platform in a ground coordinate system, which is provided by an inertial navigation system, so that the method can provide a basis for the decision of the tracking attitude of the target in the motion platform and the directional reference required by image processing. The method has the advantages of few required condition limitations, no dependence on image processing, no influence of target appearance, good real-time performance, high precision and strong adaptability, and only utilizes the angular position information of the instrument and the attitude information of the platform.

Description

Method for determining attitude angle theta change of target in field of view caused by motion of motion platform
Technical Field
The invention belongs to the field of photoelectric tracking under a motion platform, and particularly relates to a method for determining the change of an attitude angle theta of a target in a view field caused by the motion of the motion platform.
Background
In an ATP (acquisition tracking and tracking aiming) system, an instrument needs to perform high-precision detection and tracking on a target to effectively complete tracking and measuring tasks. In recent years, with the successive appearance of novel measurement and control platforms such as vehicles, airplanes, ships, satellites and the like, the conventional ATP system of the foundation fixed base cannot meet the requirements, and photoelectric tracking equipment begins to move to a maneuvering platform. Compared with a photoelectric tracking system based on a foundation fixed base, the mobile platform puts higher requirements on photoelectric equipment.
When the ATP system is installed on the motion platform, the motion and the shake of the motion platform cause the change of three attitude angles (H, P and R) of the instrument relative to a geodetic coordinate system, such that the change of the attitude of the target in the field of view is correspondingly brought. In the actual tracking process, the system often needs to acquire attitude information (azimuth angle a and pitch angle E) of the target in the image detector in real time, and provide a basis for dynamic analysis of the target, decision of tracking attitude, and directional reference information for image processing. Therefore, the change of the posture of the target in the view field caused by the motion of the motion platform causes troubles to the dynamics analysis, the posture estimation and the like of the target, thereby influencing the tracking precision of the system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the disturbance caused by the motion of the motion platform, an algorithm is provided, the change of the attitude angle theta of the target in a view field caused by the motion of the motion platform is calculated, the algorithm is suitable for a motion platform tracking system with six degrees of freedom and below, and the algorithm is wide in adaptability and high in real-time performance.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for determining the change of the attitude angle theta of a target in a view field caused by the motion of a motion platform calculates the change of the attitude of the target in the view field caused by the motion of the motion platform according to the attitude information (the yawing angle H, the pitching angle P and the yawing angle R) of a photoelectric tracking system and the angular position data (the azimuth angle A and the pitch angle E) of a target tracking point of the photoelectric tracking system. The method comprises the following concrete steps:
step (1), a photoelectric tracking system can track an upper target on a motion platform;
step (2), deducing a geodetic platform coordinate conversion formula:
conversion of polar coordinates (a, E) to rectangular coordinates (x, y, z):
Figure BDA0002835666330000021
wherein, L is the distance between the target point and the origin of coordinates, A is the azimuth angle pointed by the instrument, and E is the pitch angle pointed by the instrument;
when the platform has the conditions of yaw, pitch and roll at the same time, the conversion relation of the two coordinate systems is as follows:
Figure BDA0002835666330000022
wherein (x, y, z) is a three-dimensional coordinate of the geodetic coordinate system, (x)c,yc,zc) Coordinates of a corresponding motion platform coordinate system;
RTis a roll matrix, R is a roll angle, and is rotated around a y axis by a platformRaw;
PTis a pitching matrix, P is a pitching angle, and is generated by the rotation of the platform around the y axis;
HTis a yaw matrix, H is a yaw angle, and is generated by the rotation of the platform around the z axis;
deducing a polar coordinate conversion formula of the geodetic platform by combining the formula (1):
Figure BDA0002835666330000023
the same can be derived from equation (2):
Figure BDA0002835666330000024
and deducing a platform polar coordinate conversion formula by combining the formula (1):
Figure BDA0002835666330000025
step (3), polar coordinates M of the tracking point M in the field of viewC0(Ac0,Ec0) Substituting the moving platform attitude (H, P, R) provided by inertial navigation into a coordinate conversion formula (5) of the geodetic platform to calculate a polar coordinate M corresponding to the tracking point in the geodetic coordinate system0(A0,E0)；
Wherein:
Ac0,Ec0the direction and the pitching direction of the tracking point are determined for the motion platform coordinate system instrument;
A0,E0is Ac0,Ec0Corresponding polar coordinate values in a geodetic coordinate system;
step (4) at M0(A0,E0) Adding a horizontal offset epsilon to form another point M1(A1,E1) I.e. A1＝A0+ε；E1＝E0。
M0，M1Coordinate system of two points on earthA horizontal line is formed at the lower part, and the two points are the left end point and the right end point of the horizontal line respectively. Calculating the change of the attitude angle theta of the horizontal line in the view field caused by the motion of the motion platform;
step (5), point M1(A1,E1) Substituting the coordinate conversion formula (3) of the geodetic platform to obtain the polar coordinate M in the corresponding field of viewC1(Ac1,Ec1)；
Step (6), Mc in field of view0，Mc1Two points are connected into a line, the inclination angle theta of the line is the change of the target attitude in the visual field caused by the rotation of the platform, and Mc is measured0，Mc1The polar coordinate value is taken into formula (4) to find θ:
Figure BDA0002835666330000031
wherein E ═ Ec1-Ec0；△A＝Ac1-Ac0。
Further, the horizontal azimuth offset angle epsilon added in step (4) is a small enough variable, such as 0.01, for finding the over-tracking point M under the geodetic coordinate system0Another point M on the horizontal line of1。
The invention has the advantages that:
(1) the core of the invention is to calculate the attitude angle theta of the target axis in the view field of the image detector in real time according to the angular position data of the target tracking point by the photoelectric tracking system and the deflection angle of the motion platform provided by the inertial navigation system under the geodetic coordinate system.
(2) The invention has less required condition limitation, only utilizes the instrument attitude information (bow H, pitch P and roll R) provided by inertial navigation and the angular position data (A, E) of the instrument to the target tracking point, does not depend on image processing, is not influenced by the appearance of the target, and has good real-time performance, high precision and strong adaptability.
(3) The result of the invention, namely the real-time solution of the attitude angle theta of the target axis in the visual field, can provide a basis for the decision of the tracking attitude of the target under the motion platform and the directional reference required by image processing.
Drawings
FIG. 1 is an overall view of a photoelectric tracking system, a swing table and inertial navigation;
FIG. 2 is a schematic diagram of a tracking target of the photoelectric tracking system;
FIG. 3 illustrates a motion platform yaw parameter definition;
FIG. 4 is a schematic view of the imaging of an object in the field of view with the stage stationary;
FIG. 5 is a schematic view of the imaging of an object in the field of view after movement of the stage;
FIG. 6 is a schematic diagram of a dual lamp imaging;
FIG. 7 is a second schematic diagram of dual lamp imaging;
FIG. 8 is a block diagram of a comparison process of the attitude data and the two-lamp experimental data calculated by the present invention;
FIG. 9 is a graph comparing attitude data and two-lamp experimental data calculated according to the present invention;
fig. 10 is a graph of a two-lamp curve fixed minus a value of 1.3362 compared to a curve generated by the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
FIG. 1 is an overall view of a photoelectric tracking system, a swing table and inertial navigation. The swing platform is a six-degree-of-freedom swing platform and is used for simulating the shaking of the motion platform; the inertial navigation is fixed on the swing platform, and the shaking angles (bow H, pitch P and roll R) of the swing platform are measured in real time and fed back; the photoelectric tracking system is fixed on the swing platform and swings along with the swing platform, and the situation of observing a target under the motion platform is simulated.
Fig. 2 is a schematic view of a photoelectric tracking system tracking a target. Its own attitude may undergo changes in azimuth angle a and pitch angle E.
FIG. 3 is a motion platform roll parameter definition. The swing platform with six degrees of freedom provides rotational degrees of freedom around three orthogonal coordinate axes of x, y and z, and rotates around the axis of z to generate a bow angle H; rotating around the y axis to generate a pitch angle P; rotation about the x-axis produces a roll angle R.
The invention provides a method for determining the change of an attitude angle theta of a target in a visual field caused by the motion of a motion platform, which has the basic principle that instrument attitude information (yaw H, pitch P and roll R) and angular position data (A, E) of a target tracking point of an instrument are generated by the shake of the motion platform provided by inertial navigation. And solving the attitude angle theta of the target in the television detector in real time through the spatial relation.
The working principle is as follows:
the target, such as an airplane, is tracked in a detector under the condition that a platform is fixed, the imaging is shown in fig. 4, the target center in a wave gate is a characteristic tracking point, namely a nose, and the central axis of the target is a horizontal line in a visual field when the airplane moves in a horizontal flight mode, namely a white line in fig. 4. When the platform is moved, the aircraft is imaged in the detector as shown in fig. 5, and it can be seen that the axis of the aircraft is within the field of view and at an angle θ to the horizontal, which is caused by the movement of the platform and is called the attitude angle of the target within the field of view. The attitude angle theta of the target in the field of view caused by the platform motion is calculated by the instrument attitude information (yaw H, pitch P, roll R) provided by the inertial navigation under the known conditions and the angular position data (A, E) of the target tracking point by the instrument. FIG. 4 is a schematic view of imaging of a target in a field of view with the platform stationary; FIG. 5 is a schematic view of the imaging of an object in the field of view after movement of the stage;
the method comprises the following concrete steps:
(1) the photoelectric tracking system can track an upper target on the motion platform;
(2) derivation of a geodetic platform coordinate conversion formula:
conversion of polar coordinates (a, E) to rectangular coordinates (x, y, z):
Figure BDA0002835666330000041
wherein, L is the distance between the target point and the origin of coordinates, A is the azimuth angle pointed by the instrument, and E is the pitch angle pointed by the instrument; .
When the platform has the conditions of yaw, pitch and roll at the same time, the conversion relation of the two coordinate systems is as follows:
Figure BDA0002835666330000051
wherein (x, y, z) is a three-dimensional coordinate of the geodetic coordinate system, (x)c,yc,zc) Coordinates of a corresponding motion platform coordinate system;
RTis a roll matrix, R is a roll angle, and is generated by the rotation of the platform around the y axis;
PTis a pitching matrix, P is a pitching angle, and is generated by the rotation of the platform around the y axis;
HTis a yaw matrix, H is a yaw angle, and is generated by the rotation of the platform around the z axis;
deducing a polar coordinate conversion formula of the geodetic platform by combining the formula (1):
Figure BDA0002835666330000052
the same can be derived from equation (2):
Figure BDA0002835666330000053
and deducing a platform polar coordinate conversion formula by combining the formula (1):
Figure BDA0002835666330000054
(3) polar coordinate M in the field of view by the tracking pointC0(Ac0,Ec0) Substituting the moving platform attitude (H, P, R) provided by inertial navigation into a coordinate conversion formula (5) of the geodetic platform to calculate a polar coordinate M corresponding to the tracking point in the geodetic coordinate system0(A0,E0)；
Wherein:
Ac0,Ec0the direction and the pitching direction of the tracking point are determined for the motion platform coordinate system instrument;
A0,E0is Ac0,Ec0Corresponding polar coordinate values in a geodetic coordinate system;
(4) at M0(A0,E0) Adding a horizontal offset epsilon to form another point M1(A1,E1) I.e. A1＝A0+ε；E1＝E0。
M0，M1The two points form a horizontal line under the earth coordinate system, and the two points are the left end point and the right end point of the horizontal line respectively. Calculating the change of the attitude angle theta of the horizontal line in the view field caused by the motion of the motion platform;
further, ε is a sufficiently small variable, e.g., 0.01, to find the over-tracking point M in the geodetic coordinate system0Another point M on the horizontal line of1。
(5) Will point M1(A1,E1) Substituting the coordinate conversion formula (3) of the geodetic platform to obtain the polar coordinate M in the corresponding field of viewC1(Ac1,Ec1)；
(6) Mc in field of view0，Mc1Two points are connected into a line, the inclination angle theta of the line is the change of the target attitude in the visual field caused by the rotation of the platform, and Mc is measured0，Mc1Carrying out polar coordinate value equation (4) to determine theta
Figure BDA0002835666330000061
Wherein E ═ Ec1-Ec0；△A＝Ac1-Ac0。
Wherein, fig. 6 and 7 are schematic diagrams of double-lamp imaging, two horizontally adjacent lamps are observed through a theodolite, and the positions (x) of the two lamps in the visual field under the motion platform are recorded in real time1,y1)；(x2,y2). In this experiment, two lamps adjacent horizontally are used to simulate a horizontal line in the geodetic coordinate system, and the two lamps are the end points of the horizontal line, and when the rocking platform moves, the positions of the two end points change correspondingly, so that the horizontal line changes in the field of view, and mostAnd then produces the attitude angle theta. This experiment was used for the verification of the algorithm, with two lamps corresponding to M in the algorithm0，M1Two points, attitude angle θ in the two-lamp experiment from the real-time recorded two-lamp position (x)1,y1)；(x2,y2) The theta of the invention is calculated by combining the algorithm provided with the (H, P, R) of the double-lamp experiment, and compared with the two algorithms, the method has good effect on the verification of the invention. FIG. 8 is a block diagram illustrating a comparison process between the attitude data and the two-lamp experimental data, wherein epsilon is set to 0.01, and FIG. 9 is a comparison graph between the attitude data and the two-lamp experimental data. It can be seen that the two curves have a static error value of 1.3362 deg., and are otherwise substantially identical. This is because in the two lamp experiment, the two lamps were not perfectly horizontal, with a slight drift angle equal to 1.3362 °, i.e. the static error in the comparison graph. Fig. 10 is a graph of a two-lamp curve fixed minus a value of 1.3362 compared to a curve generated by the present invention. It can be seen that the two curves are substantially identical, and the mean square error value is 0.00009 °, mainly because the environmental factors such as wind cause the light to slightly shake during the operation of the two-light experiment. Therefore, the algorithm for deducing the change of the attitude angle theta of the target in the visual field caused by the motion of the motion platform is basically consistent with the practical algorithm.

Claims (2)

1. A method of determining a change in attitude angle θ of an object in a field of view due to motion of a moving platform, characterized by: the method comprises the following implementation steps:
step (1), a photoelectric tracking system can track an upper target on a motion platform;
step (2), deducing a geodetic platform coordinate conversion formula:
conversion of polar coordinates (a, E) to rectangular coordinates (x, y, z):
Figure FDA0002835666320000011
wherein, L is the distance between the target point and the origin of coordinates, A is the azimuth angle pointed by the instrument, and E is the pitch angle pointed by the instrument;
when the platform has the conditions of yaw, pitch and roll at the same time, the conversion relation of the two coordinate systems is as follows:
Figure FDA0002835666320000012
wherein (x, y, z) is a three-dimensional coordinate of the geodetic coordinate system, (x)c,yc,zc) Coordinates of a corresponding motion platform coordinate system;
RTis a roll matrix, R is a roll angle, and is generated by the rotation of the platform around the y axis;
PTis a pitching matrix, P is a pitching angle, and is generated by the rotation of the platform around the y axis;
HTis a yaw matrix, H is a yaw angle, and is generated by the rotation of the platform around the z axis;
deducing a polar coordinate conversion formula of the geodetic platform by combining the formula (1):
Figure FDA0002835666320000013
the same can be derived from equation (2):
Figure FDA0002835666320000014
and deducing a platform polar coordinate conversion formula by combining the formula (1):
Figure FDA0002835666320000015
step (3), polar coordinates M of the tracking point in the field of viewC0(Ac0,Ec0) Substituting the moving platform attitude (H, P, R) provided by inertial navigation into a coordinate conversion formula (5) of the geodetic platform to calculate a polar coordinate M corresponding to the tracking point in the geodetic coordinate system0(A0,E0)；
Wherein:
Ac0,Ec0the direction and the pitching direction of the tracking point are determined for the motion platform coordinate system instrument;
A0,E0is Ac0,Ec0Corresponding polar coordinate values in a geodetic coordinate system;
step (4) at M0(A0,E0) Adding a horizontal offset epsilon to form another point M1(A1,E1) I.e. A1＝A0+ε；E1＝E0；
Step (5), point M1(A1,E1) Substituting the coordinate conversion formula (3) of the geodetic platform to obtain the polar coordinate M in the corresponding field of viewC1(Ac1,Ec1)；
Step (6), Mc in field of view0，Mc1Two points are connected into a line, the inclination angle theta of the line is the change of the target attitude in the visual field caused by the rotation of the platform, and Mc is measured0，Mc1The polar coordinate value is taken into formula (4) to find θ:
Figure FDA0002835666320000021
wherein E ═ Ec1-Ec0；△A＝Ac1-Ac0。
2. A method of determining a change in attitude angle θ of an object in a field of view due to motion of a moving platform as claimed in claim 1, wherein: adding a horizontal azimuth offset angle epsilon in the step (4); ε is a sufficiently small variable, e.g. 0.01, to find the over-tracking point M in the geodetic coordinate system0Another point M on the horizontal line of1。
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