CN114859960A - Method for continuously tracking and reconnaissance fixed-wing unmanned aerial vehicle photoelectric pod to fixed-point target - Google Patents

Method for continuously tracking and reconnaissance fixed-wing unmanned aerial vehicle photoelectric pod to fixed-point target Download PDF

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CN114859960A
CN114859960A CN202210314310.5A CN202210314310A CN114859960A CN 114859960 A CN114859960 A CN 114859960A CN 202210314310 A CN202210314310 A CN 202210314310A CN 114859960 A CN114859960 A CN 114859960A
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target
fixed
photoelectric pod
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赵丰
丁伟
丁祝顺
朱娜
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Beijign Institute of Aerospace Control Devices
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Abstract

The invention relates to a method for continuously tracking and reconnaissance of a fixed-wing unmanned aerial vehicle photoelectric pod on a fixed-point target, which comprises the following steps: step 1, carrying out power-on self-test on photoelectric pod equipment and initializing pod base inertial navigation; step 2, aiming at the detected fixed point target, the pod positions the ground target and calculates the longitude and latitude coordinate value of the target; and 3, acquiring the angular speed of the rotation target of the pod pitching frame and the azimuth frame according to the northeast speed of inertial navigation through the longitude and latitude coordinates of the ground target and the pod, and further driving the motor to rotate so that the visual axis always points to the fixed point target. When the fixed-wing unmanned aerial vehicle carries the photoelectric pod to cruise high altitude, the method realizes that the ground fixed-point target is always in the visible light visual field image, and achieves better reconnaissance effect on the target. When the visual axis of the pod stably points to the target for a long time, the operation frequency of personnel on the photoelectric pod can be directly reduced, and the reconnaissance efficiency of the target is improved.

Description

Method for continuously tracking and reconnaissance fixed-wing unmanned aerial vehicle photoelectric pod to fixed-point target
Technical Field
The invention relates to a method for continuously tracking and reconnaissance of a fixed-wing unmanned aerial vehicle photoelectric pod on a fixed-point target, and belongs to the technical field of photoelectric pod target reconnaissance and tracking.
Background
On a fixed wing unmanned aerial vehicle, the photoelectric reconnaissance nacelle can perform all-weather and all-time ground target reconnaissance and tracking tasks. The servo tracking control of the photoelectric pod generally comprises three control loops, namely a position loop, a speed loop and a current loop, and when the unmanned aerial vehicle navigates at high altitude, a special operator controls the photoelectric pod to scan and search. At present, for continuous tracking and reconnaissance of a ground fixed-point target, the following two methods are often adopted: one mode is that an operator adjusts a rocker in real time to control the center of a visual field of the photoelectric pod to point to a ground target; the other mode is that the target is manually entered into a target vision servo tracking state after the target is found, namely, the characteristics of the target are extracted through image processing, the target is locked, the pixel miss distance between the cross at the center of the image view field and the target is calculated and used as the input of a servo control speed ring, and then a motor is controlled to rotate so that the camera view axis always points to the ground target. For long-time stable reconnaissance, the mode of controlling the rocker easily causes fatigue of operators to cause the reduction of reconnaissance efficiency, and the operators are required to have higher operation proficiency on the pod; the target visual servo tracking mode is easily affected by factors such as illumination, atmospheric visibility and the like when the target features are extracted through image processing, so that the failure of ground target identification is caused, meanwhile, the loss of the servo tracking target is easily caused due to the existence of random vibration of an airplane carrier and the shortage of servo tracking control bandwidth, and the two modes can affect the effect of long-time stable reconnaissance of the photoelectric pod on the ground fixed point target.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method starts from aspects such as cruising speed of the fixed-wing unmanned aerial vehicle, relative spatial position of the photoelectric pod and the fixed-point target, and the like, and considers that if a camera visual axis always points to the ground fixed-point target, the target angular speed required by rotation of a frame of the photoelectric pod is calculated, the target angular speed is used as the input of a servo speed ring to further drive a motor to rotate, and the visual axis is ensured to always point to the fixed-point target.
The technical solution of the invention is as follows:
a method for continuously tracking and reconnaissance of a fixed-wing unmanned aerial vehicle photoelectric pod to a fixed-point target comprises the following steps:
electrifying the photoelectric pod equipment for self-checking, and electrifying the inertial navigation combination in the base electronic cabin for initialization alignment;
the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target;
and calculating the target angular speed of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination, and further driving the motor to enable the visual axis to always point to the ground fixed point target.
Further, the photoelectric pod comprises a base electronic cabin, a load cabin, a shock absorber, an orientation frame, a pitching frame, an inertial navigation combination, a visible light camera, a gyroscope and a thermal infrared imager;
the spherical load cabin is arranged below the base electronic cabin through the azimuth frame, and the base electronic cabin is arranged below the fixed-wing unmanned aerial vehicle through the shock absorber; the inertial navigation combination is arranged in the base electronic cabin, and the visible light camera, the gyroscope and the thermal infrared imager are arranged on the pitching frame in the load cabin;
the pitching frame is used for the visible light camera, the gyroscope and the thermal infrared imager to rotate along a pitching axis, and the azimuth frame is used for the load cabin to rotate along an azimuth axis.
Further, the photoelectric pod device is powered on for self-checking, and the inertial navigation combination in the base electronic cabin is powered on for initial alignment, and the method comprises the following steps:
(1.1) before the fixed-wing unmanned aerial vehicle takes off, the photoelectric pod is electrified to carry out self-detection initialization, and the pitching shaft and the azimuth shaft rotate according to a preset instruction and finally stop to respective zero positions;
(1.2) the inertial navigation combination completes initialization alignment according to the initial longitude and latitude coordinates of binding, and records the altitude h output by the GPS at the moment 0 。
Further, the photoelectric pod locates the ground fixed point target to be detected, and calculates longitude and latitude coordinate information of the ground fixed point target, including:
(2.1) altitude according to GPS outputHeight h 0 Judging whether the height of the fixed-wing unmanned aerial vehicle reaches a set value or not, aligning the center of the view field to a ground fixed point target through a ground station operating platform rocker after the height of the fixed-wing unmanned aerial vehicle reaches the set value, and entering a target positioning state according to a preset instruction;
(2.2) establishing a cylindrical coordinate system and a Cartesian coordinate system with the base electronic compartment as an origin, wherein the cylindrical coordinate system is expressed as: the azimuth frame angle alpha, the pitching frame angle beta and the relative ground height h of the airplane;
the ground fixed point target is defined by the coordinate (alpha) of a cylindrical coordinate system taking the base electronic cabin as a reference BT ,β BT ,h BT ) Conversion to coordinates (x) of a Cartesian coordinate System CT ,y CT ,z CT ) Represented by the formula:
Figure BDA0003568493070000031
Figure BDA0003568493070000032
z CT ＝h
euler rotation matrix R formed by inertial measurement attitude angles xyz The Cartesian coordinates (x) CT ,y CT ,z CT ) The coordinate system is converted into a coordinate system with the photoelectric pod as the origin in the inertial space, and the ground fixed point target coordinate is expressed as (x) ET ,y ET ,z ET ) (ii) a Longitude, latitude and elevation values (N) output at the target positioning moment by combining photoelectric pod inertial navigation combination 0 ,W 0 ,H 0 ) The longitude, latitude and elevation coordinates (N) of the ground fixed point target are calculated according to the following formula Tar ,W Tar ,H Tar ) The method specifically comprises the following steps:
Figure BDA0003568493070000033
Figure BDA0003568493070000034
H Tar ＝H 0 +z ET
wherein Re is the earth radius.
Further, the calculating of the target angular velocity of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination includes:
establishing a northeast coordinate system with the photoelectric pod as an origin, and updating longitude, latitude and elevation coordinates (N) in real time based on inertial navigation combination base ,W base ,H base ) Longitude, latitude, elevation coordinates (N) of ground fixed point target Tar ,W Tar ,H Tar ) Calculating the value (x) of the ground fixed point target in the coordinate system of the northeast T ,y T ,z T ) Combined inertial navigation data east velocity v x North velocity v y And velocity v z Calculating a target angular velocity of the nacelle pitch frame
Figure BDA0003568493070000041
Azimuth frame target angular velocity
Figure BDA0003568493070000042
Further, the pod pitch frame target angular velocity
Figure BDA0003568493070000043
Azimuth frame target angular velocity
Figure BDA0003568493070000044
Calculated according to the following formula:
Figure BDA0003568493070000045
Figure BDA0003568493070000046
furthermore, the invention also provides a system for continuously tracking and reconnaissance the fixed-wing unmanned aerial vehicle photoelectric pod to the fixed-point target, which comprises:
an initialization module: electrifying the photoelectric pod equipment for self-detection, and electrifying an inertial navigation combination in the electronic cabin of the base for initialization alignment;
the target longitude and latitude calculation module: the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target;
a target angular velocity calculation module: and calculating the target angular speed of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination, and further driving the motor to enable the visual axis to always point to the ground fixed point target.
Compared with the prior art, the invention has the beneficial effects that:
(1) in the invention, an operator only needs to control the visual axis of the pod to point to the ground fixed point target, and after the pod automatically completes target positioning and frame rotating speed calculation according to the steps, the ground fixed point target can be stably tracked and detected for a long time, the operation process is simple and quick, and a better detection effect is achieved.
(2) The method does not relate to camera load and image processing software, and the algorithm is simple and easy to implement; and the speed ring controlled by the frame rotating speed has higher response bandwidth than a position ring tracked by a visual servo, and has higher tracking and reconnaissance stability and reliability under the condition of airborne vibration.
(3) Compared with the position loop of visual servo tracking in the prior art, the speed loop adopting frame rotating speed control is not influenced by factors such as light, atmospheric visibility, shelters, extreme weather and the like, and is a more stable and reliable continuous tracking and reconnaissance method for the fixed-point target.
Drawings
FIG. 1 is a schematic diagram of a pod inertial measurement unit installation position;
FIG. 2 is a schematic diagram of the relative position of a photoelectric pod of a fixed-wing UAV to a ground fixed-point target space;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
When the photoelectric pod stably tracks and reconnaissance a fixed-point target for a long time, aiming at overcoming the defects that the reconnaissance efficiency of the existing rocker control mode is low, and the requirements of illumination and atmospheric visibility on camera hardware and image software algorithms in visual servo tracking are high, the invention provides the method for continuously tracking and reconnaissance the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target, which starts from the aspects of the cruising speed of the fixed-wing unmanned aerial vehicle, the relative spatial positions of the photoelectric pod and the fixed-point target and the like, and considers that if the visual axis of the camera always points to the ground fixed-point target, the target angular speed required by the rotation of the photoelectric pod frame is calculated, the target angular speed is used as the input of a servo speed ring to drive the motor to rotate, and the visual axis is ensured to always point to the fixed-point target. Therefore, adverse effects due to factors such as operator fatigue, image processing failures, and obstructions can be avoided.
The optoelectronic pod embodying the present invention has inertial devices mounted in its base, as shown in fig. 1.
The photoelectric pod comprises a base electronic cabin, a load cabin, a shock absorber, an orientation frame, a pitching frame, an inertial navigation combination, a visible light camera, a gyroscope and a thermal infrared imager;
the spherical load cabin is arranged below the base electronic cabin through the azimuth frame, and the base electronic cabin is arranged below the fixed-wing unmanned aerial vehicle through the shock absorber; the inertial navigation assembly is arranged in the base electronic cabin, and the visible light camera, the gyroscope and the thermal infrared imager are arranged on the pitching frame in the load cabin;
the pitching frame is used for the visible light camera, the gyroscope and the thermal infrared imager to rotate along a pitching axis, and the azimuth frame is used for the load cabin to rotate along an azimuth axis.
The method for continuously tracking and reconnaissance of the photoelectric pod on the fixed-point target comprises the following steps:
step 1, before the fixed-wing unmanned aerial vehicle takes off, the photoelectric pod is electrified and initialized.
(1.1) rotating the pitch shaft from the current position to a pitch upper limit, then reversely rotating to a pitch lower limit, and finally rotating to a horizontal zero position according to a preset instruction; and after the azimuth shaft rotates for a circle, the azimuth shaft rotates to the zero position of the machine head direction according to a preset instruction.
(1.2) the inertial navigation installed on the pod base completes initialization alignment according to the initial longitude and latitude coordinates of binding, and records the altitude h output by the GPS at the moment 0 。
Step 2, aiming at the detected fixed point target, the pod positions the ground target and calculates the latitude and longitude information of the target;
(2.1) altitude h according to GPS output 0 And judging whether the height of the fixed-wing unmanned aerial vehicle reaches a set value, aligning the center of the video view field to a ground fixed point target through a ground station operating platform rocker after the height of the fixed-wing unmanned aerial vehicle reaches the set value, and entering a target positioning state according to a preset instruction.
(2.2) establishing a cylindrical coordinate system (system B) and a cartesian coordinate system (system C) with the pod base (base electronics compartment) as the origin, wherein the ground object is represented in this cylindrical coordinate system as: azimuth frame angle alpha, pitch frame angle beta, aircraft relative ground height h. The ground target is defined by a cylindrical coordinate system (alpha) taking a base as a reference BT ,β BT ,h BT ) Conversion to Cartesian coordinate System (x) CT ,y CT ,z CT ) The formula is shown below.
Figure BDA0003568493070000061
Figure BDA0003568493070000062
z CT ＝h
The roll angle of the pod base inerter is γ, the pitch attitude angle is θ, the azimuth attitude angle is ψ, and the euler rotation matrix Rxyz is as follows:
Figure BDA0003568493070000071
then, the Cartesian coordinates (x) are calculated CT ,y CT ,z CT ) By Euler rotation matrix R xyz Converting into ground target coordinate (x) with pod as origin in inertial space Cartesian coordinate system ET ,y ET ,z ET ) The conversion relationship is shown in the following formula.
Figure BDA0003568493070000072
Longitude, latitude and elevation (N) output at target positioning time by combining photoelectric pod base inertial navigation 0 ,W 0 ,H 0 ) The longitude, latitude, elevation coordinates (N) of the ground target are calculated according to the following formula Tar ,W Tar ,H Tar ) Comprises the following steps:
Figure BDA0003568493070000073
Figure BDA0003568493070000074
H Tar ＝H 0 +z ET
wherein Re is the earth radius.
And 3, calculating the target angular velocity of the pod pitching and the azimuth frame according to the northeast speed of inertial navigation by positioning the ground target position and the longitude and latitude coordinates of the pod, and compensating the pod visual axis offset caused by the target position change of the unmanned aerial vehicle cruise relative to the ground fixed point.
Establishing a northeast coordinate system with the pod as an origin, and updating longitude, latitude and elevation coordinates (N) in real time based on the base inertial navigation base ,W base ,H base ) Longitude, latitude, elevation coordinates (N) of ground fixed point target Tar ,W Tar ,H Tar ) The value (x) of the ground fixed point target in the northeast coordinate system can be calculated T ,y T ,z T ) Cylindrical coordinates (α) of the target in this northeast coordinate system ET ,β ET ,h ET ) Can be expressed as:
Figure BDA0003568493070000075
Figure BDA0003568493070000081
h ET ＝z T
navigation data east velocity v combined with base inertial measurement unit x North velocity v y And velocity v z And the pod pitching frame target angle and the pod azimuth frame target angle are derived, and the pitching and azimuth frame angular velocities are obtained as follows:
Figure BDA0003568493070000082
Figure BDA0003568493070000083
the pitching and azimuth angle speeds of the pod obtained by calculation are used as input target values of a servo control speed ring, and then the motor is driven to rotate, so that the visual axis of the pod always points to a ground fixed point target.
Based on the method, the invention also provides a system for continuously tracking and reconnaissance the fixed-wing unmanned aerial vehicle photoelectric pod to the fixed-point target, which comprises the following steps:
an initialization module: electrifying the photoelectric pod equipment for self-checking, and electrifying the inertial navigation combination in the base electronic cabin for initialization alignment;
the target longitude and latitude calculation module: the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target;
a target angular velocity calculation module: and calculating the target angular speed of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination, and further driving the motor to enable the visual axis to always point to the ground fixed point target.
When the fixed-wing unmanned aerial vehicle carries the photoelectric pod to cruise high altitude, the method realizes that the ground fixed-point target is always in the visible light visual field image, and achieves better reconnaissance effect on the target. When the visual axis of the pod stably points to the target for a long time, the operation frequency of personnel on the photoelectric pod can be directly reduced, and the reconnaissance efficiency of the target is improved.
Example (b):
longitude of an airplane at time t: 110.2725102, latitude: 41.6316426, flying height to ground 1000 m; aircraft pitch attitude angle: 1.2 degrees, a transverse rolling angle of 0.5 degrees, a heading angle of 175 degrees, an eastern speed of the airplane of 0.5m/s, a northern speed of-35 m/s and a daily speed of 0 m/s.
If the pitch frame angle of the photoelectric pod is-20 degrees at the moment, the ground target with the azimuth frame angle of 160 degrees is detected by the fixed-point target, and at the moment of t +1, the longitude of the airplane is: 110.2725112, latitude: 41.6315789, flying height to ground 1000 m;
according to the calculation steps of the invention, the rotating speed of the pitching frame to be implemented at the moment is obtained as follows: -0.21 °/s, azimuth frame rotation speed: the continuous tracking and reconnaissance of the ground fixed point target can be satisfied at-0.32 DEG/s.
Compared with an image recognition servo tracking mode, the algorithm is simple and easy to implement, is not influenced by weather and illumination, and has higher tracking and reconnaissance stability and reliability under the condition of airborne vibration.
The invention is not described in detail and is within the knowledge of a person skilled in the art.

Claims (10)

1. A method for continuously tracking and reconnaissance of a fixed-wing unmanned aerial vehicle photoelectric pod to a fixed-point target is characterized by comprising the following steps:
electrifying the photoelectric pod equipment for self-checking, and electrifying the inertial navigation combination in the base electronic cabin for initialization alignment;
the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target;
and calculating the target angular speed of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination, and further driving the motor to enable the visual axis to always point to the ground fixed point target.
2. The method for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target according to claim 1, wherein the method comprises the following steps: the photoelectric pod comprises a base electronic cabin, a load cabin, a shock absorber, an orientation frame, a pitching frame, an inertial navigation combination, a visible light camera, a gyroscope and a thermal infrared imager;
the spherical load cabin is arranged below the base electronic cabin through the azimuth frame, and the base electronic cabin is arranged below the fixed-wing unmanned aerial vehicle through the shock absorber; the inertial navigation assembly is arranged in the base electronic cabin, and the visible light camera, the gyroscope and the thermal infrared imager are arranged on the pitching frame in the load cabin;
the pitching frame is used for the visible light camera, the gyroscope and the thermal infrared imager to rotate along a pitching axis, and the azimuth frame is used for the load cabin to rotate along an azimuth axis.
3. The method for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target according to claim 1, wherein the method comprises the following steps: the photoelectric pod equipment is electrified for self-checking, and the inertial navigation combination in the base electronic cabin is electrified for initialization alignment, and the method comprises the following steps:
before the fixed-wing unmanned aerial vehicle takes off, the photoelectric pod is electrified to carry out self-checking initialization, and the pitching shaft and the azimuth shaft rotate according to a preset instruction and finally stop to respective zero positions;
the inertial navigation combination completes the initialization alignment according to the initial longitude and latitude coordinates of the binding, and records the altitude h output by the GPS at the moment 0 。
4. The method for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target according to claim 3, wherein the method comprises the following steps: the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target, and the method comprises the following steps:
altitude h according to GPS output 0 Judging whether the height of the fixed-wing unmanned aerial vehicle reaches a set value or not, aligning the center of the view field to a ground fixed point target through a ground station operating platform rocker after the height of the fixed-wing unmanned aerial vehicle reaches the set value, and entering a target positioning state according to a preset instruction;
establishing a cylindrical coordinate system and a Cartesian coordinate system by taking the base electronic cabin as an original point, wherein the cylindrical coordinate system is expressed as follows: the azimuth frame angle alpha, the pitching frame angle beta and the relative ground height h of the airplane;
the ground fixed point target is defined by the coordinate (alpha) of a cylindrical coordinate system taking the base electronic cabin as a reference BT ,β BT ,h BT ) Conversion to coordinates (x) of a Cartesian coordinate System CT ,y CT ,z CT ) Represented by the formula:
Figure FDA0003568493060000021
Figure FDA0003568493060000022
z CT ＝h
euler rotation matrix R formed by inertial measurement attitude angles xyz The Cartesian coordinates (x) CT ,y CT ,z CT ) The coordinate system is converted into a coordinate system with the photoelectric pod as the origin in the inertial space, and the ground fixed point target coordinate is expressed as (x) ET ,y ET ,z ET ) (ii) a Longitude, latitude and elevation values (N) output at the target positioning moment by combining photoelectric pod inertial navigation combination 0 ,W 0 ,H 0 ) The longitude, latitude and elevation coordinates (N) of the ground fixed point target are calculated according to the following formula Tar ,W Tar ,H Tar ) The method specifically comprises the following steps:
Figure FDA0003568493060000023
Figure FDA0003568493060000024
H Tar ＝H 0 +z ET
wherein Re is the earth radius.
5. The method for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target according to claim 4, wherein the method comprises the following steps: the method for calculating the target angular speed of the rotation of the pitching frame and the azimuth frame of the photoelectric pod through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination comprises the following steps:
establishing a northeast coordinate system with the photoelectric pod as an origin, and updating longitude, latitude and elevation coordinates (N) in real time based on inertial navigation combination base ,W base ,H base ) Longitude, latitude, elevation coordinates (N) of ground fixed point target Tar ,W Tar ,H Tar ) Calculating the value (x) of the ground fixed point target in the northeast coordinate system T ,y T ,z T ) Combined inertial navigation data east velocity v x North velocity v y And velocity v z Calculating a target angular velocity of the nacelle pitch frame
Figure FDA0003568493060000031
Azimuth frame target angular velocity
Figure FDA0003568493060000032
6. The method for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod on the fixed-point target according to claim 5, wherein the method comprises the following steps: pod pitch frame target angular velocity
Figure FDA0003568493060000033
Azimuth frame target angular velocity
Figure FDA0003568493060000034
Calculated according to the following formula:
Figure FDA0003568493060000035
Figure FDA0003568493060000036
7. a continuous tracking reconnaissance system of a photoelectric pod of a fixed-wing unmanned aerial vehicle for a fixed-point target based on the continuous tracking reconnaissance method of claim 1, characterized by comprising:
an initialization module: electrifying the photoelectric pod equipment for self-checking, and electrifying the inertial navigation combination in the base electronic cabin for initialization alignment;
the target longitude and latitude calculation module: the photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target;
a target angular velocity calculation module: and calculating the target angular speed of the rotation of the photoelectric pod pitching frame and the azimuth frame through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination, and further driving the motor to enable the visual axis to always point to the ground fixed point target.
8. The system for continuously tracking and reconnaissance of the fixed-wing unmanned aerial vehicle photoelectric pod to the fixed-point target according to claim 7, wherein: the photoelectric pod equipment is electrified for self-checking, and the inertial navigation combination in the base electronic cabin is electrified for initialization alignment, and the method comprises the following steps:
before the fixed-wing unmanned aerial vehicle takes off, the photoelectric pod is electrified to carry out self-checking initialization, and the pitching shaft and the azimuth shaft rotate according to a preset instruction and finally stop to respective zero positions;
the inertial navigation combination completes the initialization alignment according to the initial longitude and latitude coordinates of the binding, and records the altitude h output by the GPS at the moment 0 ；
The photoelectric pod positions the ground fixed point target to be detected and calculates longitude and latitude coordinate information of the ground fixed point target, and the method comprises the following steps:
altitude h according to GPS output 0 Judging whether the height of the fixed-wing unmanned aerial vehicle reaches a set value or not, aligning the center of the view field to a ground fixed point target through a ground station operating platform rocker after the height of the fixed-wing unmanned aerial vehicle reaches the set value, and entering a target positioning state according to a preset instruction;
establishing a cylindrical coordinate system and a Cartesian coordinate system with the base electronic compartment as an origin, wherein the ground fixed point target is expressed in the cylindrical coordinate system as: the azimuth frame angle alpha, the pitching frame angle beta and the relative ground height h of the airplane;
the ground fixed point target is defined by the coordinate (alpha) of a cylindrical coordinate system taking the base electronic cabin as a reference BT ,β BT ,h BT ) Conversion to coordinates (x) of a Cartesian coordinate System CT ,y CT ,z CT ) Represented by the formula:
Figure FDA0003568493060000041
Figure FDA0003568493060000042
z CT ＝h
euler rotation matrix R formed by inertial measurement attitude angles xyz The Cartesian coordinates (x) CT ,y CT ,z CT ) The transformation is carried out, and the transformation is carried out,the coordinate system is converted into a coordinate system with the photoelectric pod as the origin in the inertial space, and the ground fixed point target coordinate is expressed as (x) ET ,y ET ,z ET ) (ii) a Longitude, latitude and elevation values (N) output at the target positioning moment by combining photoelectric pod inertial navigation combination 0 ,W 0 ,H 0 ) The longitude, latitude and elevation coordinates (N) of the ground fixed point target are calculated according to the following formula Tar ,W Tar ,H Tar ) The method specifically comprises the following steps:
Figure FDA0003568493060000051
Figure FDA0003568493060000052
H Tar ＝H 0 +z ET
wherein Re is the earth radius.
9. The system of claim 8, wherein the system comprises: the method for calculating the target angular speed of the rotation of the pitching frame and the azimuth frame of the photoelectric pod through the longitude and latitude coordinates of the ground target and the photoelectric pod and the northeast speed of the inertial navigation combination comprises the following steps:
establishing a northeast coordinate system with the photoelectric pod as an origin, and updating longitude, latitude and elevation coordinates (N) in real time based on inertial navigation combination base ,W base ,H base ) Longitude, latitude, elevation coordinates (N) of the target pointing to the ground Tar ,W Tar ,H Tar ) Calculating the value (x) of the ground fixed point target in the northeast coordinate system T ,y T ,z T ) Combined inertial navigation data east velocity v x North velocity v y And speed of day v z Calculating a target angular velocity of the nacelle pitch frame
Figure FDA0003568493060000053
Azimuth frame target angular velocity
Figure FDA0003568493060000054
10. The system for continuously tracking and reconnaissance of the fixed-wing drone optoelectronic pod on the fixed-point target according to claim 9, wherein: pod pitch frame target angular velocity
Figure FDA0003568493060000055
Azimuth frame target angular velocity
Figure FDA0003568493060000056
Calculated according to the following formula:
Figure FDA0003568493060000057
Figure FDA0003568493060000058
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