CN114353740A - Imaging method and system for flight attitude of aircraft taking earth as target - Google Patents
Imaging method and system for flight attitude of aircraft taking earth as target Download PDFInfo
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Abstract
The invention provides an imaging method and system for flight attitudes of an aircraft taking the earth as a target, which comprises a central view field lens group, a peripheral view field prism group, a view field fusion lens group and a detector, wherein the view field fusion lens group is used for imaging light rays entering the central view field lens group and light rays entering the peripheral view field prism group at different positions on the same image plane, the detector is used for imaging light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group, and then the imaging image is analyzed to judge three attitudes of pitching, rolling and yawing of the aircraft, so that the complexity and power consumption of lenses are reduced, the weight of equipment is reduced, and the reliability of the equipment is improved.
Description
Technical Field
The invention belongs to the field of optical system design, and particularly relates to an imaging method and system for flight attitude of an aircraft taking the earth as a target.
Background
An aircraft flying around the earth needs to determine three postures of pitching, rolling and yawing of the aircraft in real time in the flying process to keep a correct flying posture, a common method at present is a horizon finding method, and a common device for looking at the horizon is an infrared horizon finder. The infrared horizon sensor is mainly divided into a dynamic state and a static state according to the working mode. The main principle of the dynamic horizon sensor is that a moving mechanical part drives the instantaneous field of view of one or a few detection elements to sweep across the horizon circle, so that the radiation image in spatial distribution is converted into an approximate square wave in time distribution to determine the postures of two axes. The operation mode of the static horizon finder is the application of a typical focal plane technology, a plurality of detection elements are placed on a focal plane of an optical system, and the orientation of the earth is calculated through the response of the detectors to an earth infrared image projected on the focal plane.
The realization mode of the device with the visible light wave band similar to the infrared horizon instrument mainly comprises the following forms: a panoramic imager adopting an annular catadioptric mirror is adopted, and a horizon line imaging area obtained by the method is annular; a full-frame short-focus large-view field staring camera form for imaging the whole earth; the edge imaging objective lens is formed by matching a catadioptric dove prism with a plane mirror. The edge imaging objective lens used by the short-focus staring camera for full-frame imaging and the catadioptric dove prism matched with the plane reflector is not specifically implemented.
The dynamic horizon sensor adopts a mechanical scanning structure, so that the service life and the reliability of the horizon sensor can be greatly reduced, and the size, the weight and the power consumption of the dynamic horizon sensor are larger. The static horizon finder needs to use a plurality of optical systems, and has a complex structure and needs to carry out electronic processing on a plurality of detectors.
The full-frame imaging staring camera with short focus and large field of view is limited by the size of the detector and the height of a target track, the field angle of the system is large, the angular resolution and the line resolution of the system are low, the accuracy is low, the measurement and observation of three postures are not facilitated, and the distortion of the system is large. The panoramic imager adopting the annular catadioptric mirror has the advantages that the imaging area is circular after imaging, the horizon image is circular after imaging the whole circular horizon, pitching and rolling postures of an aircraft cannot be accurately determined when the whole annular image is interpreted, and the annular catadioptric mirror has strict requirements on film coating and is high in processing precision and not beneficial to implementation. The edge imaging objective lens adopting the catadioptric dove prism and the plane reflector for matching use cannot realize the imaging of the sub-satellite point target due to the use of the plane reflector, the measurement function of the yaw attitude cannot be realized due to the structural characteristics, the plane reflector needs to be matched with a plurality of dove prisms for use, the requirement on the consistency of processing and mounting of the prisms is higher, and the position deviation of a view field can occur when the prisms are not mounted consistently.
The horizon sensor mainly determines two postures of pitching and rolling of the aircraft, the yaw posture cannot be determined, and an infrared band imaging image is inconsistent with a visible band image adapted to human eyes. The equipment in other forms has the defects of inconsistent imaging form and measurement requirement, complex element processing difficulty, incapability of realizing yaw attitude measurement, and low measurement precision and resolution.
Disclosure of Invention
The invention provides an imaging method and an imaging system for flight attitudes of an aircraft taking the earth as a target, aiming at overcoming the defects in the prior art, and solving the problem that the aircraft flying around the earth cannot simultaneously determine three attitudes of pitching, rolling and yawing in the flight process.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
in a first aspect, the present invention provides an imaging system for the attitude of an aircraft targeting the earth, the system comprising, in order along the propagation direction of the optical path:
the central view field lens group is used for receiving light rays of an earth central area of a sub-satellite point under the aircraft;
the peripheral field-of-view prism group is used for receiving light rays from m symmetrical directions at the junction of the earth edge and the space, which takes the right center below the aircraft as a symmetrical axis; m is a positive even number;
the field fusion lens group is used for imaging the light rays entering the central field lens group and the light rays entering the peripheral field prism group at different positions on the same image plane;
and the detector is used for imaging the light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
As an alternative embodiment, the method further comprises:
the display unit is used for receiving the image imaged by the detector; the image imaged by the detector comprises m edge position images and an earth center area image of the directly-below subsatellite point.
And the processing unit is used for judging and recording the pitching attitude, the rolling attitude and the yawing attitude of the aircraft according to the positions of the boundary lines of the earth and the space in the m edge position images in the corresponding display areas and the moving direction of the image of the earth center area of the directly-below subsatellite point.
As an alternative embodiment, the central field lens group includes a first positive lens, a first negative lens and a second negative lens; the first negative lens is arranged between the first positive lens and the second negative lens, and the position distance between the first negative lens and the second negative lens is larger than the position distance between the first positive lens and the first negative lens.
As an alternative embodiment, the peripheral field prism group comprises m special-shaped prisms symmetrically and circumferentially arranged around the optical axis, and each special-shaped prism is in a half-pentagonal prism-like shape; the special-shaped prism comprises an incident transmission surface, a reflection surface, an emergent transmission surface, a first reference surface, a second reference surface, a left side surface, a right side surface and a bottom surface; the incident transmission surface of the special-shaped prism is perpendicular to the incident light in the central area of the peripheral field target, the included angle alpha between the reflection surface and the emergent transmission surface is 24 degrees, the included angle beta between the incident transmission surface and the emergent transmission surface is 48 degrees, the included angle gamma between the bottom surface and the emergent transmission surface is 97 degrees, and the included angle theta between the left side surface and the right side surface is 38 degrees.
As an alternative embodiment, the incident transmission surface of the special-shaped prism is coated with an antireflection film, the reflection surface is coated with a reflection film in the visible light band, and the emergent transmission surface is coated with an antireflection film.
As an alternative embodiment, the first reference surface and/or the second reference surface and/or the left side surface and/or the right side surface and/or the bottom surface of the profiled prism are frosted and coated with black paint.
As an alternative embodiment, m has a value of 8.
As an optional embodiment, the field-of-view fused lens group sequentially includes, along the optical axis direction, a first negative meniscus lens, a first positive meniscus lens, a second negative meniscus lens, a second positive meniscus lens, a third negative meniscus lens, a first double convex positive meniscus lens, a third positive meniscus lens, a second double convex positive meniscus lens, a fourth negative meniscus lens, and a third double convex positive lens.
As an alternative embodiment, the central field of view lens group and the field of view fusion lens group are combined to form a central system, and the focal length of the central system is not less than 2.2 times the focal length of the field of view fusion lens group.
In a second aspect, the invention provides a method of imaging the attitude of an earth-targeted aircraft, the method being applied to an imaging system of the attitude of an earth-targeted aircraft as in the first aspect of the invention;
the method comprises the following steps:
the central view field lens group receives light rays of an earth central area of a sub-satellite point under the aircraft;
the peripheral field prism group receives light rays from m symmetrical directions at the junction of the earth edge and the space by taking the right center below the aircraft as a symmetrical axis; m is a positive even number;
the field fusion lens group images the light rays entering the central field lens group and the light rays entering the peripheral field prism group at different positions on the same image plane;
the detector images the light focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
The invention has the following beneficial effects:
the invention provides an imaging system of flight attitude of an aircraft taking the earth as a target, which comprises a central view field lens group, a peripheral view field prism group, a view field fusion lens group and a detector, wherein the view field fusion lens group is used for imaging light rays entering the central view field lens group and light rays entering the peripheral view field prism group at different positions on the same image plane, the detector is used for imaging light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group, and then analysis is carried out based on an imaging image so as to judge the pitching, rolling and yawing three attitudes of the aircraft, the complexity and power consumption of a lens are reduced, the weight of equipment is reduced, and the reliability of the equipment is improved.
Drawings
FIG. 1 is a schematic illustration of a field of view region of an earth-targeted aerial vehicle according to one embodiment of the present invention;
FIG. 2 is a schematic illustration of a field of view region of an earth-targeted aerial vehicle in accordance with another embodiment of the present invention;
FIG. 3 is a field of view area diagram of an earth-targeted aerial vehicle taken by a camera in accordance with one embodiment of the present invention;
FIG. 4 is a schematic block diagram of an imaging system for attitude of an earth-targeted aircraft in accordance with an embodiment of the present invention;
FIG. 5 is an optical path walk diagram of an imaging system for attitude of an earth-targeted aircraft according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a central field of view lens assembly according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of a peripheral field prism assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a shaped prism according to an embodiment of the present invention;
FIG. 9 is a schematic view of a field-of-view fused mirror array according to an embodiment of the present invention;
FIG. 10 is a flow chart of a method of imaging a flight attitude of an earth-targeted aircraft in accordance with an embodiment of the present invention;
FIG. 11 is a graph of MTF for a central field of view optical system according to an embodiment of the present invention;
FIG. 12 is a graph of MTF for a peripheral field of view optical system according to an embodiment of the present invention;
FIG. 13 is a distortion plot for a central field of view optical system according to one embodiment of the present invention;
fig. 14 is a distortion plot of a peripheral field optical system according to an embodiment of the present invention.
Reference numerals:
1. a central field of view lens group;
11. a first positive lens; 12. a first negative lens; 13. a second negative lens;
2. a peripheral field prism set;
21. a first profile prism; 22. a second profiled prism; 23. a third anamorphic prism; 24. a fourth special-shaped prism; 25. a fifth special-shaped prism; 26. a sixth special-shaped prism; 27. a seventh profile prism 27; 28. an eighth special-shaped prism;
211. an incident transmission surface; 212. a reflective surface; 213. an outgoing transmission surface; 214. a first reference plane; 215. a second reference plane; 216. a left side surface; 217. a right side surface; 218. a bottom surface;
3. a field-of-view fused lens group;
31. a first negative meniscus lens; 32. a first positive meniscus lens; 33. a second negative meniscus lens; 34. a second positive meniscus lens; 35. a third negative meniscus lens; 36. a first biconvex positive lens; 37. a third positive meniscus lens; 38. a second biconvex positive lens; 39. a fourth negative meniscus lens; 40. a third biconvex positive lens.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1 and fig. 2, which are schematic views of a field of view region of an earth-targeted aircraft according to another embodiment of the present invention, a camera is mounted on the earth-targeted aircraft, a shooting object of the camera is an earth surface, a shot image includes an edge region located at a periphery of a central field of view in addition to a circular region within the central field of view, and images of the central field of view and the peripheral field of view are shown in fig. 3. In fig. 3, the peripheral field-of-view image includes 8 edge image regions around the central field-of-view region, the 8 edge image regions being symmetrically distributed two by two. Along with the movement of the aircraft, images shot by the camera can also change, and the pitching, rolling and yawing three postures of the current aircraft can be obtained by analyzing based on the changed images.
Fig. 4 is a schematic structural diagram of an imaging system for the flight attitude of an earth-based aircraft according to an embodiment of the present invention. The system is provided with along the light path propagation direction in proper order:
the central view field lens group 1 is used for receiving light rays of an earth central area of a subsatellite point under the aircraft;
the peripheral field-of-view prism group 2 is used for receiving light rays from m symmetrical directions at the junction of the earth edge and the space, which takes the right center below the aircraft as a symmetrical axis;
the field fusion lens group 3 is used for imaging the light rays entering the central field lens group and the light rays entering the peripheral field prism group at different positions on the same image plane;
and the detector 4 is used for imaging the light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
In the present embodiment, m is a positive even number. Preferably, m has a value of 8, so that 8 symmetrical light imaging at the boundary of the earth edge and the space can be realized. Of course, in other embodiments, the value of m may be a positive even number of other values.
In this embodiment, the central region of the earth is a circular region within a 15 ° field of view directly below the aircraft. Of course, in other embodiments, the center region of the earth may be adjusted according to different camera shooting parameters on the aircraft, such as a circular region within a field of view of 10 ° or 20 ° directly below the aircraft.
In this embodiment, the detector 4 is located at the focal plane position of the optical system, i.e. the image plane position, and at the rear end of the field-of-view fused mirror group, and the detector may be a CCD or CMOS detector. The field fusion lens group 3 images the light entering from the central field lens group 1 and the light entering from the peripheral field prism group 2 at different positions on the same image plane, and the purpose of imaging on the same image plane is as follows: on one hand, the three postures of pitching, rolling and yawing of the aircraft can be observed simultaneously from the same image, and the other purpose is that the images of different fields of view are imaged on the same detector simultaneously, so that the use of the detector can be reduced, the complexity of the system is reduced, and the volume of the system is reduced. The light path of the light after passing through the central field lens group, the peripheral field prism group and the field fusion lens group and being imaged on the detector is shown in fig. 5.
The invention provides an imaging system of flight attitude of an aircraft taking the earth as a target, which comprises a central view field lens group, a peripheral view field prism group, a view field fusion lens group and a detector, wherein the view field fusion lens group is used for imaging light rays entering the central view field lens group and light rays entering the peripheral view field prism group at different positions on the same image plane, the detector is used for imaging light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group, and then analysis is carried out based on an imaging image so as to judge the pitching, rolling and yawing three attitudes of the aircraft, the complexity and power consumption of a lens are reduced, the weight of equipment is reduced, and the reliability of the equipment is improved.
In certain embodiments, the system of the present invention further comprises a display unit for receiving the image imaged by the detector; the image imaged by the detector comprises m edge position images and an earth central area image; and the processing unit is used for judging and recording the pitching attitude, the rolling attitude and the yawing attitude of the aircraft according to the positions of the boundary lines of the earth and the space in the m edge position images in the corresponding display areas and the moving direction of the image of the earth center area of the directly-below subsatellite point. Preferably, the image imaged by the detector is a visible light image.
For example, the proportion of the black image of the space background of the left image in two symmetrical visual fields in the horizontal direction is greater than that of the light image of the earth, and the proportion of the black image of the space background of the right image is less than that of the light image of the earth, so that the airship rolls to the left in the flying process; the yaw state of the aircraft can be determined by identifying and determining the moving direction of the image in the central region of the image displayed in the display unit. Through the design of the scheme, the interpretation precision is high, and three flight attitudes of pitching, rolling and yawing can be determined simultaneously by one instrument.
As shown in fig. 6, the central field lens group 1 includes a first positive lens 11, a first negative lens 12, and a second negative lens 13; the first negative lens 12 is disposed between the first positive lens 11 and the second negative lens 13, and a positional interval between the first negative lens 12 and the second negative lens 13 is larger than a positional interval between the first positive lens 11 and the first negative lens 12.
In the present invention, the structural parameters of the optical elements of the central field lens group are shown in table 1 below, and the serial numbers of the lenses and the characteristics of the optical elements in table 1 are arranged from top to bottom according to the beam propagation sequence.
TABLE 1 structural parameters of optical elements of central field lens group
As shown in fig. 8, in some embodiments, the peripheral field prism group includes m shaped prisms symmetrically arranged circumferentially around the optical axis, each shaped prism being in a half-pentagonal prism-like shape; the shaped prism includes an incident transmission surface 211, a reflection surface 212, an exit transmission surface 213, a first reference surface 214, a second reference surface 215, a left side surface 216, a right side surface 217, and a bottom surface 218; the incident transmission surface of the special-shaped prism is perpendicular to the incident light in the central area of the peripheral field target, the included angle alpha between the reflection surface and the emergent transmission surface is 24 degrees, the included angle beta between the incident transmission surface and the emergent transmission surface is 48 degrees, the included angle gamma between the bottom surface and the emergent transmission surface is 97 degrees, and the included angle theta between the left side surface and the right side surface is 38 degrees. Preferably, m has a value of 8, and as shown in fig. 7, the peripheral field prism group includes a first profile prism 21, a second profile prism 22, a third profile prism 23, a fourth profile prism 24, a fifth profile prism 25, a sixth profile prism 26, a seventh profile prism 27, and an eighth profile prism 28.
In some embodiments, the incident transmission surface of the special-shaped prism is coated with an antireflection film, the reflection surface is coated with a reflection film in a visible light wave band, and the emergent transmission surface is coated with an antireflection film. In other embodiments, the first reference surface and/or the second reference surface and/or the left side surface and/or the right side surface and/or the bottom surface of the profiled prism are frosted and coated with a black paint. The purpose of the frosted black coating on each surface is to reduce the transmission of stray light and prevent the stray light from interfering with each other in different visual fields. The special-shaped prism of the peripheral field of view adopts Schottky BK7 as a material.
In some embodiments, as shown in fig. 9, the field fused lens group includes, in order along the optical axis direction, a first negative meniscus lens 31, a first positive meniscus lens 32, a second negative meniscus lens 33, a second positive meniscus lens 34, a third negative meniscus lens 35, a first double convex positive lens 36, a third positive meniscus lens 37, a second double convex positive lens 38, a fourth negative meniscus lens 39, and a third double convex positive lens 40.
In some embodiments, the central field of view mirror group and the field of view fusion mirror group are combined to form a central system, and the focal length of the central system is not less than 2.2 times the focal length of the field of view fusion mirror group. The focal length of the central system is larger than that of the field fusion lens group, so that the imaging size of the central field target can be increased, and the resolution of the central field target is improved. The central field-of-view mirror group and the peripheral field-of-view prism group are respectively combined with the field-of-view fusion mirror group and the detector, so that the measurement functions of the optical lens on pitching, rolling and yawing three postures are realized, the requirement on the resolution ratio of a yawing measurement target is met, the complexity and the power consumption of the lens are reduced, the weight is reduced, and the reliability of the device is improved.
In the present invention, the structural parameters of the optical elements of the field fusion lens group 2 are shown in table 2 below, and the serial numbers of the lenses and the characteristics of the optical elements in table 2 are arranged from top to bottom according to the light beam propagation sequence.
TABLE 2 structural parameters of optical elements of field-of-view fused mirror group
In a second aspect, as shown in fig. 10, the invention also provides a method of imaging the attitude of an earth-targeted aircraft, the method being applied to an imaging system of the attitude of an earth-targeted aircraft as described in the first place of the invention;
the method comprises the following steps:
firstly, the central view field lens group in the step S1001 receives light rays of the earth central area of the subsatellite point under the aircraft;
synchronously, step S1002 may be entered for receiving light rays from m symmetrical directions at the boundary between the earth edge and the space, which takes the right center below the aircraft as a symmetrical axis; m is a positive even number;
step S1001 and step S1002 are followed by step S1003, the visual field fusion lens group images the light entering the central visual field lens group and the light entering the peripheral visual field prism group at different positions on the same image plane;
and then, in step S1004, the detector images the light focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
Fig. 11 is a comprehensive analysis of the structure of the central system and various aberrations by using optical software, as shown in fig. 11, each curve in the graph represents the optical transfer function of the full field of view, 0.7 field of view, 0.5 field of view, and 0 degree field of view, and the MTF value of the optical transfer function of the central system can be analyzed to be greater than 0.55 by each curve.
As shown in fig. 12, the peripheral field prism group and the field fusion lens group constitute a peripheral field optical system. As shown in fig. 12, the optical software is used to comprehensively analyze the structure of the peripheral field optical system and various aberrations, each curve in fig. 12 represents the optical transfer function of the full field, 0.7 field, 0.5 field, and 0 degree field, and the MTF value of the peripheral field system can be analyzed to be greater than 0.5 by each curve.
Fig. 13 is obtained by analyzing with optical software based on the structure of the central system and various aberrations, and as shown in fig. 13, each curve represents the magnitude of the optical relative distortion value of each field, and the distortion value of the central field optical system (i.e. the central system formed by combining the central field lens group and the field fused lens group) can be analyzed by the curve to be less than 1%.
Fig. 14 is obtained by analyzing various aberrations and the structure of the peripheral field optical system with optical software, and as shown in fig. 13, each curve represents the magnitude of the optical relative distortion value of each field, and the distortion value of the peripheral field optical system (formed by combining the peripheral field prism group and the field fused mirror group) can be analyzed to be less than 2% by the curve.
The invention realizes the function of imaging 9 different target areas by using one optical lens and imaging the target areas on the corresponding area of the same detector. The central field-of-view lens group images the central region of the earth, and the peripheral prism group receives eight symmetrical azimuth incident rays at the edge of the earth; the field fusion lens group focuses and images the light in the central area and the light in the peripheral area on the same detector. The optical transfer function MTF of the system is better than 0.5 when the spatial frequency is 100lp/mm, the distortion of a central system is less than 1%, the distortion of a peripheral system is less than 2%, and the resolving power is higher. The central view field lens group can enlarge the imaging size of a target on the detector to obtain higher resolution, and ensures that the details of the sub-satellite point image and the moving direction of the scenery in the image can be more easily distinguished to judge the yaw direction when the central view field target image is observed. An operator can simultaneously determine three postures of pitching, rolling and yawing of the aircraft by observing the images, the optical system and the detector select a wave band as a visible light wave band imaging image to be a color image, and the visual effect is more in line with the visual effect of human eyes than other wave bands. The device has the advantages that the measurement function of the optical lens for pitching, rolling and yawing three postures is realized, the resolution requirement for a yawing measurement target is ensured, the complexity and power consumption of the lens are reduced, the weight of the device is reduced, and the reliability of the device is improved.
The storage unit may be a storage medium, or may be an electronic device (such as a mobile terminal, an upper computer, etc.) including the storage medium. The storage medium has stored therein a computer program which, when executed by a processor, carries out the method steps according to any one of the first aspect of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An imaging system of the flight attitude of an aircraft targeting the earth, characterized in that it is provided in sequence along the propagation direction of an optical path:
the central view field lens group is used for receiving light rays of an earth central area of a sub-satellite point under the aircraft;
the peripheral field-of-view prism group is used for receiving light rays from m symmetrical directions at the junction of the earth edge and the space, which takes the right center below the aircraft as a symmetrical axis; m is a positive even number;
the field fusion lens group is used for imaging the light rays entering the central field lens group and the light rays entering the peripheral field prism group at different positions on the same image plane;
and the detector is used for imaging the light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
2. The imaging system of attitude of an earth-targeted aircraft of claim 1, further comprising:
the display unit is used for receiving the image imaged by the detector; the image imaged by the detector comprises m edge position images and an earth center area of a sub-satellite point right below the aircraft;
and the processing unit is used for judging and recording the pitching attitude, the rolling attitude and the yawing attitude of the aircraft according to the positions of the boundary lines of the earth and the space in the m edge position images in the corresponding display areas and the moving direction of the image of the earth center area of the directly-below subsatellite point.
3. The imaging system of attitude of an earth-targeted aircraft of claim 1,
the central visual field lens group comprises a first positive lens, a first negative lens and a second negative lens; the first negative lens is arranged between the first positive lens and the second negative lens, and the position distance between the first negative lens and the second negative lens is larger than the position distance between the first positive lens and the first negative lens.
4. The imaging system of attitude of an earth-targeted aircraft of claim 1,
the peripheral field prism group comprises m special-shaped prisms which are symmetrically and circumferentially arranged around an optical axis, and each special-shaped prism is in a half-pentagonal prism-like shape; the special-shaped prism comprises an incident transmission surface, a reflection surface, an emergent transmission surface, a first reference surface, a second reference surface, a left side surface, a right side surface and a bottom surface; the incident transmission surface of the special-shaped prism is perpendicular to the incident light in the central area of the peripheral field target, the included angle alpha between the reflection surface and the emergent transmission surface is 24 degrees, the included angle beta between the incident transmission surface and the emergent transmission surface is 48 degrees, the included angle gamma between the bottom surface and the emergent transmission surface is 97 degrees, and the included angle theta between the left side surface and the right side surface is 38 degrees.
5. The system of claim 4, wherein the transmission surface of the shaped prism is coated with an anti-reflection film, the reflection surface is coated with a reflection film of visible light band, and the transmission surface of the shaped prism is coated with an anti-reflection film.
6. The imaging system of the attitude of an earth-targeted aircraft according to claim 4 or 5, wherein the first reference surface and/or the second reference surface and/or the left side surface and/or the right side surface and/or the bottom surface of the shaped prism are frosted and coated with a black paint.
7. The imaging system of the attitude of an earth-targeted aircraft of claim 1, 2 or 4, wherein m has a value of 8.
8. The system of claim 1, wherein said field-of-view fused lens group comprises, in order along an optical axis, a first negative meniscus lens, a first positive meniscus lens, a second negative meniscus lens, a second positive meniscus lens, a third negative meniscus lens, a first double convex positive meniscus lens, a third positive meniscus lens, a second double convex positive lens, a fourth negative meniscus lens, and a third double convex positive lens.
9. The imaging system of attitude of an earth-targeted aircraft of claim 1,
the central viewing lens group and the viewing fusion lens group are combined to form a central system, and the focal length of the central system is not less than 2.2 times of that of the viewing fusion lens group.
10. A method for imaging the attitude of an earth-targeted craft, characterized in that it is applied to an imaging system of the attitude of an earth-targeted craft according to any one of claims 1 to 9;
the method comprises the following steps:
the central view field lens group receives light rays of an earth central area of a sub-satellite point under the aircraft;
the peripheral field prism group receives light rays from m symmetrical directions at the junction of the earth edge and the space by taking the right center below the aircraft as a symmetrical axis; m is a positive even number;
the field fusion lens group images the light rays entering the central field lens group and the light rays entering the peripheral field prism group at different positions on the same image plane;
and the detector images the light rays focused by the central view field lens group, the peripheral view field prism group and the view field fusion lens group.
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| CN101236297A (en) * | 2008-01-31 | 2008-08-06 | 北京控制工程研究所 | Ultraviolet moon sensor optical system |
| CN101770072A (en) * | 2009-12-30 | 2010-07-07 | 北京控制工程研究所 | Complex visual field sensor imaging system |
| CN103995343A (en) * | 2014-05-23 | 2014-08-20 | 北京理工大学 | Refractive-reflective splicing type wide-angle lens |
| CN105445933A (en) * | 2015-12-22 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | High-resolution ratio moon edge optical imaging objective lens |
| CN105511060A (en) * | 2015-12-22 | 2016-04-20 | 中国科学院长春光学精密机械与物理研究所 | Full sphere annular large visual field moon edge optical imaging object lens |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101236297A (en) * | 2008-01-31 | 2008-08-06 | 北京控制工程研究所 | Ultraviolet moon sensor optical system |
| CN101770072A (en) * | 2009-12-30 | 2010-07-07 | 北京控制工程研究所 | Complex visual field sensor imaging system |
| CN103995343A (en) * | 2014-05-23 | 2014-08-20 | 北京理工大学 | Refractive-reflective splicing type wide-angle lens |
| CN105445933A (en) * | 2015-12-22 | 2016-03-30 | 中国科学院长春光学精密机械与物理研究所 | High-resolution ratio moon edge optical imaging objective lens |
| CN105511060A (en) * | 2015-12-22 | 2016-04-20 | 中国科学院长春光学精密机械与物理研究所 | Full sphere annular large visual field moon edge optical imaging object lens |
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