CN113671483A - Satellite-borne composite data fusion method based on pulse per second - Google Patents
Satellite-borne composite data fusion method based on pulse per second Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a satellite-borne composite data fusion method based on pulse per second, which is applied to a satellite-borne composite radar and aims to perform data fusion output on an optical angle, a microwave angle and a mechanism angle of the composite radar. The method specifically comprises the following steps: the satellite-borne composite data fusion method based on the pulse per second is provided, linear interpolation type fusion of data is carried out in a pulse per second calibration mode, and final target angle information is output. The method is easy to realize, has little influence on the scale, complexity and robustness of software, does not influence program design, coding and debugging, and can select the second pulse timing criterion according to the actual situation.
Description
Technical Field
The invention relates to the technical field of satellite data fusion application, in particular to a satellite-borne composite data fusion method based on pulse per second.
Background
The microwave radar technology measures and tracks the distance and speed of a target by using the phase amplitude relation of transmitted electromagnetic waves and received microwaves. The existing microwave radar technology is mature, however, the angle measurement precision of the satellite-borne microwave radar cannot reach a high level due to the limitation of a measurement system and hardware.
The optical radar technology is to image a target area by using an optical camera and extract angle information of a target from an optical image. Due to the influence of the background celestial body, the target is difficult to extract from the background celestial body by the satellite-borne optical radar, and the acting distance cannot be far due to the influence of the background celestial body.
The microwave and optical composite radar has the advantages of both the microwave radar and the optical radar, can make up the defects of the microwave radar and the optical radar, and can accurately measure and track a target.
At present, few documents mention specific satellite-borne microwave optical data fusion methods, and no more in-depth analysis of the time registration technique is performed.
Disclosure of Invention
The invention provides a complete set of satellite-borne composite data fusion method based on the second pulse based on an FPGA and an on-board system. Under the condition of not changing system hardware, the satellite-borne distributed data fusion method for updating high-speed data is provided. The method is easy to realize, has little influence on the scale, complexity and robustness of software, does not influence program design, coding and debugging, and can select the second pulse timing criterion according to the actual situation.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a satellite-borne composite data fusion method based on pulse per second is characterized in that the method is based on FPGA and a satellite-borne system; the method performs composite data fusion through pulse per second generation and timestamp timing, and outputs final target angle information.
Optionally, the method comprises:
scanning the microwave field by using the advantage that the field of view of the microwave system is wide and background celestial bodies do not need to be removed, and carrying out primary detection on a target to obtain the distance, direction and pitch angle information of the target;
calculating and configuring parameters such as exposure time, focal length and the like of the optical system according to the distance of the target measured by the microwave system and the satellite ephemeris information;
determining the angular direction of an optical system according to the azimuth and the pitching angle information of the target measured by the microwave system, and imaging an optical view field around the target;
and calculating the confidence coefficient of the target in the optical field, confirming the target with high confidence coefficient by microwave pointing, and tracking the target according to requirements after the confirmation is finished.
Optionally, before data fusion, target observation data from the optical system and the microwave system are converted and unified to the same time node, and the microwave data rate of lower data rate is aligned to the optical data of higher data rate, so as to retain higher positioning accuracy of the optical raw data.
Optionally, the time calibration is performed in a recursive manner; when the target is not maneuvering, interpolation or extrapolation is carried out on target data adopted by the microwave sensor, and the microwave data on low-precision observation time is aligned to the high-precision observation time point of the optical sensor.
Alternatively, only the linear extrapolation process is performed at the time alignment.
Optionally, the method comprises:
generating a time stamp;
calibrating time;
generating time-stamped data;
analyzing a threshold value;
and (6) linear interpolation.
Optionally, the generating the time stamp includes:
the time stamp is generated by adopting a mode of generating pulse per second and a counter by itself or is ensured by utilizing an external time stamp;
when the FPGA receives a synchronous pulse per second signal, adding 1 to the whole second time inside the software; at each pulse per second interval, a counter in the software times, and the time in seconds is calculated;
and when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as the new satellite whole second time in the software, so that the time is corrected.
Optionally, the calibration time includes:
each sensor time consists of whole second time and intra-second counting, wherein the whole second time takes the second as a unit, and the intra-second counting takes 100ns as a unit; starting each sensor to start counting, recording a local count value when a GNSS second pulse falling edge arrives, resetting the count within seconds, and adding one to the local whole second time; and after receiving the absolute time sent by the GNC subsystem, comparing the absolute time with the local whole second time, and if the absolute time is different from the local whole second time, updating the local whole second time.
Optionally, the generating time-stamped data comprises:
the DSP sends a timestamp to each sensor, each sensor performs algorithm calculation according to a system of the sensor to obtain an angle error value of a target, and the angle error value is fed back to a data volume with the timestamp in the data fusion center;
the threshold analysis comprises:
based on microwave and optical characteristics, the tracking method is guided and tracked by microwave, optics with higher angular precision is used as a main tracking mode, the DSP data fusion center stores all data volumes, time stamps are synchronously stored, whether the data volumes point to the same target or not is judged, and if the data volumes point to the same target, further time calibration is carried out.
Optionally, the linear interpolation includes:
interpolation and extrapolation are carried out on target data acquired by the microwave sensor, microwave data on low-precision observation time is aligned to a high-precision observation time point of the optical sensor, and only linear extrapolation processing is carried out during time alignment.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a satellite-borne composite data fusion method based on pulse per second, which can effectively solve the problem of satellite-borne data fusion;
2. the invention only uses software means and does not change hardware resources. The invention can be used especially when the hardware is not changeable in the late stage of the development of the payload product;
3. the invention provides a processing method based on pulse per second, which can autonomously select a calibration mode through parameter injection and task requirements and has self-adaptability;
4. the method has strong real-time performance and improves the target detection precision;
5. the invention adopts the external expansion method and the threshold value discrimination, can effectively predict the target track and improve the target detection capability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention patent, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a waveform diagram of a signal function simulation of a synchronous time processing module according to an embodiment of the present invention.
FIG. 2 is a waveform diagram of a signal timing simulation of the synchronous time processing module according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a time correction scheme of the spaceborne composite radar in the embodiment of the invention.
Fig. 4 is a flowchart of a method for generating spaceborne composite radar data according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of time stamping according to an embodiment of the present invention.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described with reference to the accompanying drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments," "one or more embodiments," which describe a subset of all possible embodiments, but it is understood that "some embodiments," "one or more embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.
In the following description, references to the terms "first \ second \ third" are used for respective similar objects only and do not denote a particular order or importance to the objects, it being understood that "first \ second \ third" may be interchanged under certain circumstances or sequences of events to enable embodiments of the application described herein to be practiced in other than those illustrated or described.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
The embodiment provides a satellite-borne composite data fusion method based on pulse per second, which is based on an FPGA and an on-board system; the method performs composite data fusion through pulse per second generation and timestamp timing, and outputs final target angle information. The FPGA generates pulse per second counting and performs data fusion calculation under the condition of time calibration, so that the aim of high-precision fusion of satellite-borne data is fulfilled. The specific implementation of the invention is described below by taking a satellite-borne composite radar of a certain type as an example. The specific implementation steps are as follows:
after the FPGA is powered up, the pulse-per-second counter starts to work. The pulse-per-second counter has three counting variables, namely counting in the current second, counting in the last second and counting in whole second. The three count variables are counted from 0 after the FPGA is powered on. Counting the second, adding 1 to every 0.1 mu s; adding 1 to the whole second count when the falling edge of the external second pulse is detected, giving the second count to the previous second count, and resetting the second count; when the counting time reaches 2s in the second, the counting time of the whole second is added with 2, the counting value in the last second is 10000000, and the counting time in the second is reset; when the DSP sends a timing instruction, the whole second counting is calibrated to a corresponding numerical value.
And setting and transmitting the whole second time of the upper computer by using the parameters, if the whole second time is the same, not sending time calibration to the FPGA, and if the whole second time is different, sending the whole second time and carrying out time calibration.
The method for calibrating the second pulse of the upper computer is transmitted by using parameter setting, the default is GNSS timing, and if the upper computer does not have the second pulse of the GNSS (global navigation satellite system), the second pulse of the upper computer is used for timing.
Each sensor calculates time stamp information T ═ Ts+N0/NlIn which N is0For the current count value of each unit, NlThe maximum count value of each single machine in the last second.
The measurement information of the microwave optical composite radar is 3 items, which are respectively as follows: optical angle measurement information, microwave measurement information and mechanical angle measurement information. As shown in fig. 5, tw0Time stamping of the information for the first microwave measurement, Dw0The measured value is the first microwave measurement information; t is tw1Time stamp for the second microwave measurement information, Dw1The measured value is the second microwave measurement information; t is tm0Time stamping of angle information for the first institution, Dm0Measuring the angle information of the first mechanism; t is tm1Time stamping of angular information for the second institution, Dm1The measured value of the angle information of the second mechanism is obtained; t is tpTime stamping of optical goniometric information, DpIs a measured value of optical goniometric information; t exposure is the exposure time of the optical camera; Δ tpmTime stamp deviations for the optical angle measurement information and the mechanical angle measurement information; Δ tpwTime stamp deviations for the optical goniometric information and the microwave measurement information; Δ twmTime stamp deviations of the mechanism angle measurement information and the microwave measurement information; Δ tmThe difference between the two time stamps of the angle information measured by the mechanism; Δ twThe difference between the Sydney timestamps is measured for two microwaves.
Under the working mode that only the mechanism angle measurement information, the optical angle measurement information and the microwave measurement information need to be output to be zero, the mechanism angle measurement information timestamp tm0Marked on the mechanism angle measurement information Dm0The moment of acquisition.
When only the microwave system stably tracks, only mechanism angle measurement information and microwave measurement information need to be output at this time, and a microwave measurement information timestamp is marked at the starting position of the repetition frequency period of the microwave center (that is, if one frame of data contains 64 repetition frequency periods, the microwave measurement information timestamp is marked at the starting position of the 33 th repetition frequency period). Measuring time stamp t of information by microwavew0Unifying the mechanical angle measurement information to t for referencew0At time, consider the mechanism at tm0To tm1At a constant speed, i.e. t is consideredw0The mechanism angle measurement information at the time is (D)m1-Dm0)/Δtm×Δtwm+Dm0。
When only the microwave system stably tracks, only mechanism angle measurement information and microwave measurement information need to be output at this time, and a microwave measurement information timestamp is marked at the starting position of the repetition frequency period of the microwave center (that is, if one frame of data contains 64 repetition frequency periods, the microwave measurement information timestamp is marked at the starting position of the 33 th repetition frequency period). Measuring the time stamp tw of the information with microwaves0Unifying the mechanical goniometry information to tw for reference0At time, consider the mechanism at tm0To tm1Between them is uniform motion, i.e. tw is considered0The mechanism angle measurement information at the time is (D)m1-Dm0)/Δtm×Δtwm+Dm0。
When only the optical system stably tracks, only the angular information of the mechanism and the optical angle measurement need to be output at the momentThe information, optical goniometric information timestamp, is marked at the center time of the exposure time. Time stamp t with optical goniometric informationpUnifying the mechanical angle measurement information to t for referencepAt time, consider the mechanism at tm0To tm1At a constant speed, i.e. t is consideredpThe mechanism angle measurement information at the time is (D)m1-Dm0)/Δtm×Δtpm+Dm0。
When the microwave system and the optical system stably track the target, mechanism angle measurement information, microwave measurement information and optical angle measurement information need to be output at the moment. In this case, the angular error Δ α of the optically tracked target needs to be determined firstLight (es)And angular error delta alpha of microwave trackingMicro-meterWhether or not within the threshold value Δ α, i.e. | Δ αLight (es)-ΔαMicro-meter|<Δα。
If the measured angle is within the same threshold value, the optical angle measurement information is used for time stamping tpUnifying mechanism angle measurement information and microwave measurement information to t for referencepAt time, consider the mechanism at tm0To tm1At a constant speed, i.e. t is consideredpThe mechanism angle measurement information at the time is (D)m1-Dm0)/Δtm×Δtpm+Dm0. Consider the target at tw0To tw1The speed, distance and the like between the two are uniform, i.e. t is considered to bepTemporal microwaveMeasuringThe quantity information is (D)w1-Dw0)/Δtw×Δtpw+Dw0。
In this embodiment, the method includes:
scanning the microwave field by using the advantage that the field of view of the microwave system is wide and background celestial bodies do not need to be removed, and carrying out primary detection on a target to obtain the distance, direction and pitch angle information of the target;
calculating and configuring parameters such as exposure time, focal length and the like of the optical system according to the distance of the target measured by the microwave system and the satellite ephemeris information;
determining the angular orientation of an optical system according to the azimuth and the pitching angle information of the target measured by the microwave system, and imaging an optical view field (namely a small view field) around the target;
and calculating the confidence coefficient of the target in the optical field, confirming the target with high confidence coefficient by microwave pointing, and tracking the target according to requirements after the confirmation is finished.
In this embodiment, data fusion can only be performed on data at the same time node, and due to the large difference between the sampling frequencies of the optical data and the microwave data, the sampling times of the target observation data obtained by the optical system and the microwave system are different in time when the same target is observed.
Target observation data from the optical system and the microwave system are converted and unified to the same time node before data fusion. The optical data rate is high, the microwave data rate is low, and the microwave data rate with the low data rate is aligned to the optical data with the high data rate, so that the high positioning accuracy of the optical original data is reserved.
In this embodiment, the time calibration is performed in a recursive manner; when the target is not mobile, in order to avoid the loss of high-data-rate optical information, the invention is to interpolate or extrapolate the target data adopted by the microwave sensor and align the microwave data on low-precision observation time to the high-precision observation time point of the optical sensor.
In this embodiment, only linear extrapolation processing is performed during time alignment in consideration of the real-time requirement of the composite system.
In this embodiment, the method includes:
generating a time stamp;
calibrating time;
generating time-stamped data;
analyzing a threshold value;
and (6) linear interpolation.
In this embodiment, the generating the timestamp includes:
the time stamp is generated by adopting a mode of generating pulse per second and a counter by itself or is ensured by utilizing an external time stamp; the time stamp generation modes of the two cases are respectively. As shown in fig. 1 and 2.
When the FPGA receives a synchronous pulse per second signal, adding 1 to the whole second time inside the software; at each pulse per second interval, a counter in the software times, and the time in seconds is calculated;
and when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as the new satellite whole second time in the software, so that the time is corrected.
In this embodiment, the calibrating time includes:
each sensor time consists of whole second time and intra-second counting, wherein the whole second time takes the second as a unit, and the intra-second counting takes 100ns as a unit; starting each sensor to start counting, recording a local count value when a GNSS second pulse falling edge arrives, resetting the count within seconds, and adding one to the local whole second time; after receiving the absolute time sent by the GNC subsystem, comparing the absolute time with the local whole second time, and if the absolute time and the local whole second time are different, updating the local whole second time; the timing scheme for each sensor data is shown in fig. 3.
In this embodiment, the generating the data with the time stamp includes:
and the DSP sends a time stamp to each sensor, each sensor performs algorithm calculation according to a system of the sensor to obtain an angle error value of a target, and the angle error value is fed back to the data volume with the time stamp in the data fusion center. The various sensor data generation schemes are shown in FIG. 4;
the threshold analysis comprises:
based on microwave and optical characteristics, the tracking method is guided and tracked by microwave, and the optical with higher angular precision is taken as a main tracking mode, as shown in fig. 4. And the DSP data fusion center stores each data volume, synchronously stores the time stamps, judges whether the data volumes point to the same target or not, and performs further time calibration if the data volumes point to the same target.
In this embodiment, the linear interpolation includes:
and interpolating and extrapolating target data acquired by the microwave sensor, and aligning the microwave data on low-precision observation time to the high-precision observation time point of the optical sensor. Considering the real-time requirement of the composite system, only linear extrapolation processing is carried out during time alignment;
for misalignment at initial momentIn this case, the first optical data is considered to belong to the same time as the microwave data at the latest previous time, so that a certain error is also introduced, but the error is within the allowable range. The specific processing mode is as follows: suppose Xr1For radar sensors at t1Measured values obtained at the moment, Xr2For this purpose, the radar sensor is at t2The measured values obtained at the moment; xr3For the optical sensor at t3Measured value obtained by measurement of time of day, and t1＜t2＜t3. Then by making a pair Xr1And Xr2Linear extrapolation is carried out to obtain the value of the radar sensor at t3A measured value of time of day;
the above description is only an example of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, and improvement made within the spirit and scope of the present application are included in the protection scope of the present application.
Claims (10)
1. A satellite-borne composite data fusion method based on pulse per second is characterized in that the method is based on FPGA and a satellite-borne system; the method performs composite data fusion through pulse per second generation and timestamp timing, and outputs final target angle information.
2. The pulse-per-second-based spaceborne composite data fusion method according to claim 1, which comprises the following steps:
scanning the microwave field by using the advantage that the field of view of the microwave system is wide and background celestial bodies do not need to be removed, and carrying out primary detection on a target to obtain the distance, direction and pitch angle information of the target;
calculating and configuring parameters such as exposure time, focal length and the like of the optical system according to the distance of the target measured by the microwave system and the satellite ephemeris information;
determining the angular direction of an optical system according to the azimuth and the pitching angle information of the target measured by the microwave system, and imaging an optical view field around the target;
and calculating the confidence coefficient of the target in the optical field, confirming the target with high confidence coefficient by microwave pointing, and tracking the target according to requirements after the confirmation is finished.
3. The method as claimed in claim 2, wherein the target observation data from the optical system and the microwave system are transformed and unified to the same time node before the data fusion, and the microwave data rate of the lower data rate is aligned to the optical data of the higher data rate to retain the higher positioning accuracy of the optical raw data.
4. The pulse-per-second-based spaceborne composite data fusion method according to claim 3, characterized in that time calibration is performed in a recursion mode; when the target is not maneuvering, interpolation or extrapolation is carried out on target data adopted by the microwave sensor, and the microwave data on low-precision observation time is aligned to the high-precision observation time point of the optical sensor.
5. The pulse-per-second-based spaceborne composite data fusion method according to claim 4, characterized in that only linear extrapolation processing is performed during time alignment.
6. The pulse-per-second-based spaceborne composite data fusion method according to claim 5, which is characterized by comprising the following steps of:
generating a time stamp;
calibrating time;
generating time-stamped data;
analyzing a threshold value;
and (6) linear interpolation.
7. The pulse-per-second based on-board compound data fusion method according to claim 6, wherein the generating of the time stamp comprises:
the time stamp is generated by adopting a mode of generating pulse per second and a counter by itself or is ensured by utilizing an external time stamp;
when the FPGA receives a synchronous pulse per second signal, adding 1 to the whole second time inside the software; at each pulse per second interval, a counter in the software times, and the time in seconds is calculated;
and when the satellite whole second time sent by the DSP is received, the satellite whole second time is used as the new satellite whole second time in the software, so that the time is corrected.
8. The pulse-per-second-based spaceborne composite data fusion method according to claim 6, wherein the calibrating time comprises:
each sensor time consists of whole second time and intra-second counting, wherein the whole second time takes the second as a unit, and the intra-second counting takes 100ns as a unit; starting each sensor to start counting, recording a local count value when a GNSS second pulse falling edge arrives, resetting the count within seconds, and adding one to the local whole second time; and after receiving the absolute time sent by the GNC subsystem, comparing the absolute time with the local whole second time, and if the absolute time is different from the local whole second time, updating the local whole second time.
9. The pulse-per-second based on-board compound data fusion method according to claim 6, wherein the generating time-stamped data comprises:
the DSP sends a timestamp to each sensor, each sensor performs algorithm calculation according to a system of the sensor to obtain an angle error value of a target, and the angle error value is fed back to a data volume with the timestamp in the data fusion center;
the threshold analysis comprises:
based on microwave and optical characteristics, the tracking method is guided and tracked by microwave, optics with higher angular precision is used as a main tracking mode, the DSP data fusion center stores all data volumes, time stamps are synchronously stored, whether the data volumes point to the same target or not is judged, and if the data volumes point to the same target, further time calibration is carried out.
10. The pulse-per-second-based spaceborne composite data fusion method according to claim 1, wherein the linear interpolation comprises the following steps:
interpolation and extrapolation are carried out on target data acquired by the microwave sensor, microwave data on low-precision observation time is aligned to a high-precision observation time point of the optical sensor, and only linear extrapolation processing is carried out during time alignment.
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| CN116107765A (en) * | 2023-04-14 | 2023-05-12 | 中国科学院长春光学精密机械与物理研究所 | Target range data processing system |
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| CN116107765A (en) * | 2023-04-14 | 2023-05-12 | 中国科学院长春光学精密机械与物理研究所 | Target range data processing system |
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