CN115077560A - Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system - Google Patents
Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system Download PDFInfo
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Abstract
The invention relates to a dynamic detection method for parallelism of an optical axis of a shipborne visible light and medium wave infrared system, which comprises the following steps: firstly, the visual axis of the shipborne theodolite is self-stabilized based on inertial navigation information; secondly, establishing a visible light and medium wave infrared public observable star chart; and thirdly, dynamically detecting and compensating the parallelism of the optical axis. The invention establishes a dynamic rapid detection method for the parallelism of the optical axes of a visible light and a medium wave infrared system, and solves the problem of rapid detection on the sea of the unevenness of the optical axes of a shipborne multi-optical system. The method is simple and convenient to operate, high in automation degree and detection precision and has a high engineering application value.
Description
Technical Field
The invention belongs to the technical field of optical measurement, and particularly relates to a dynamic detection method for parallelism of an optical axis of a shipborne visible light and medium wave infrared system.
Background
The photoelectric measuring equipment is a comprehensive optical measuring instrument integrating optical, mechanical, electronic, servo control, information and computer multidisciplinary technologies, and is widely developed and applied in the fields of national defense, aviation, aerospace and the like. At present, a photoelectric theodolite system of a measuring ship is provided with a plurality of optical sensors such as visible light sensors, medium wave infrared sensors and the like, and optical axes of optical systems of the sensors are strictly parallel to keep consistent pointing. The parallelism of the optical axes of optical systems is one of the important criteria of multi-optical-axis systems.
The optical axis parallelism detection of the theodolite equipment of the survey ship is generally carried out in the dock, and the whole detection process is time-consuming and labor-consuming and has low automation degree. The parallelism between the optical axes of the optical systems can still change due to the influence of environmental factors such as temperature, hull vibration and the like during the process of the transition of the ship. Therefore, in order to ensure the measurement accuracy and consistency, the optical axes of the optical systems need to be dynamically detected before a task, and necessary data support is provided for analyzing the measurement accuracy afterwards.
Common optical axis parallelism detection methods include a parallel light tube method, a star finder method, and a projection target plate method. However, the collimator method is difficult to process and adjust, and is not convenient for use on the sea. The star aiming method is limited by sea conditions, needs to be carried out at night without wind and surge and with small ship shaking amplitude, needs manual visual star aiming, and has low detection efficiency and low speed. The projection target plate method also has the problems that the target plate is not easy to erect and the operation is complicated.
Disclosure of Invention
The invention aims to solve the technical problem of providing a dynamic detection method for the parallelism of the optical axis of a shipborne visible light and medium wave infrared system based on inertial navigation information in the prior art. The method utilizes the existing inertial navigation information of a measuring ship to carry out the isolation of the ship from the optical theodolite. Meanwhile, by utilizing the principle that the position difference of the visual axis can be ignored when the target is at infinity, a fixed star which can be simultaneously locked by the visible light and the medium wave infrared system is selected as the target, and the detection of the parallelism of the optical axis is realized by analyzing the difference value of the miss distance of the visible light and the medium wave infrared system in the stable tracking process.
The technical scheme adopted by the invention for solving the problems is as follows: a dynamic detection method for parallelism of optical axes of a shipborne visible light and medium wave infrared system comprises the following steps:
step one, self-stabilization of visual axis of shipborne theodolite based on inertial navigation information
The theodolite servo system consists of an azimuth system, a high system and a low system which work independently and are matched with each other, is a position follow-up system and consists of a position loop and a speed loop. In order to isolate ship swing influence, the control scheme of the visual axis self-stabilization method is that position loop input adopts digital guide television two-dimensional composite control, and a speed loop introduces ship swing feedforward control. The computer is used for guiding the star-capturing to complete the self-stabilization function, and the television is used for correcting the star-guiding error caused by the changes of the ship position and the ship posture, so that the effect of high-precision star measurement can be achieved even under severe sea conditions. Taking tracking stars as an example, the calculation process of the feedforward signal guiding value is shown in fig. 1, and the detailed calculation process is as follows.
1. And calculating the theoretical position of the star. The original star chart only gives parameters such as star numbers, stars and the like, flat right ascension, flat declination, right ascension self-motion, declination self-motion, radial velocity, parallax, spectrum and the like, and the theoretical position of the stars of the observation epoch is calculated according to the parameters. The main process comprises fixed star self-correction, time error correction, nutation correction, optical aberration correction, Mongolian aberration correction and the like, and finally the theoretical azimuth angle A and the pitch angle E are obtained. Further, the theoretical position of the star in the inertial navigation horizon system can be calculated as follows:
wherein D is the distance from the star to the origin of coordinates.
2. And (5) predicting and filtering ship shaking data. The ship shaking data given by the measurement ship inertial navigation system is ship attitude angle data with certain output frequency. Time delay is generated in the process of transmitting the ship swing data measured by inertial navigation to the theodolite system, and the ship swing speed is not given by the inertial navigation, so that the ship swing data needs to be predicted and filtered. Here, the most adoptedThe implementation of the multiplication by two is omitted. The filtered course angle, longitudinal rocking angle and transverse rocking angle are respectively marked as K c 、ψ c 、θ c Are each paired with K c 、ψ c 、θ c Obtaining course angular velocity omega by derivation K Angular velocity ω of pitch and roll ψ And roll angular velocity ω θ 。
3. The deck is taken down and the ship-rocking angular speed is calculated. The theoretical position of the star under the deck coordinate system is calculated as follows:
according to the definition of a theodolite measurement coordinate system, the azimuth angle A of a star body under a deck system c And a pitch angle E c The following can be calculated:
the formula (1), (2) and (3) are combined to obtain:
according to the principle of superposition of rotation sequence and angular velocity vector, the deck system is taken down to roll the angular velocity vector (omega) xc ,ω yc ,ω zc ) The angular velocity vector stack that can correspond to three rotations can be calculated as follows:
in the formula (I), the compound is shown in the specification,
the ship rocking angular velocity under the inertial navigation horizon system.
Further, the theodolite visual axis disturbance angular velocity E cv 、A cv Can be calculated as follows：
Step two, establishing a visible light and medium wave infrared public observable star catalogue
In order to facilitate the detection of the parallelism of the optical axes of the visible light system and the medium wave infrared system, a common star chart of the visible light system and the medium wave infrared system needs to be established. The visible star table built in the system is established based on a fifth basic star table (FK5), and parameters such as serial numbers, star numbers, stars and the like, horizontal right ascension, horizontal declination, annual parallax, radial velocity, spectrum and the like of stars are given according to rows, and specific formats and examples are shown in Table 1. The quantity of the infrared standard star tables known in China at present is limited, and matching among different star tables is difficult. Therefore, the invention establishes a public star catalogue based on the existing built-in star catalogue: in the daily star following process, fixed stars which can be observed by a medium wave infrared system in a built-in star watch of the system are gradually accumulated, and a public star watch is established according to the built-in star watch format so as to facilitate parallelism detection.
TABLE 1 built-in Star Table Format and examples for the System
Step three, detecting and compensating the parallelism of the optical axis
The visual axis of the medium wave infrared system of the photoelectric theodolite should be kept parallel to the visual axis of the visible light primary mirror theoretically. Directional deviation due to horizontal shift of the visual axis can be ignored when the target distance is long. When the two visual axes have an included angle, namely the two visual axes are not parallel, the positions of the target image in the visual fields of the visible light system and the medium wave infrared system are inconsistent. The size of the visual axis deviation of the medium wave infrared miss distance and the visible light miss distance in the transverse direction and the longitudinal direction can be obtained by calculating the difference value of the medium wave infrared miss distance and the visible light miss distance. The miss distance is the angular distance of the center of mass of the gray distribution of the target deviating from the center of the visual field of the theodolite visible light system, and the angular distance is projected to the azimuth and the pitching direction to obtain miss distance components in two directions. The extraction of the target gray distribution centroid is realized by adopting a centroid detection method, the image is subjected to denoising pretreatment, threshold segmentation and centroid extraction are carried out, and the centroid coordinates (x, y) can be calculated as follows:
in the formula, G ij The gray value is the pixel coordinate (i, j) (i 1.. M; j 1.. N) in the imaging area. Furthermore, the visible light and medium wave infrared miss distance can be calculated by comparing the centroid coordinate with the image center coordinate. Finally, the deviation of the parallelism of the visual axes is obtained. After the size of the visual axis deviation is obtained, the compensation can be carried out in the subsequent data processing. If the deviation is too large, the mechanical angle of the medium wave infrared visual axis is adjusted.
Compared with the prior art, the invention has the advantages that:
the invention establishes a dynamic rapid detection method for the parallelism of the optical axes of a visible light and a medium wave infrared system, and solves the problem of rapid detection on the sea of the unevenness of the optical axes of a shipborne multi-optical system. The method is simple and convenient to operate, high in automation degree and detection precision and has a high engineering application value.
Drawings
FIG. 1 shows a theodolite ship roll self-stabilization algorithm implementation flow.
FIG. 2 is a schematic diagram of the relationship between theodolite and inertial navigation.
FIG. 3 is a graph of the difference between the miss distance for the mid-wave infrared and visible light systems.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The embodiment is a dynamic detection method for parallelism of an optical axis of a shipborne visible light and medium wave infrared system, which comprises the following steps: firstly, the self-stabilization of the ship rocking of the visual axis of the theodolite based on the inertial navigation information; secondly, establishing a common observable star chart of medium wave infrared and visible light; and thirdly, detecting and compensating the non-parallelism of the optical axes of the medium wave infrared light and the visible light.
Example (b):
1. the existing two sets of platform inertial navigation systems and one set of strapdown inertial navigation system of the survey vessel are fixedly connected with a base of the photoelectric theodolite, as shown in the attached figure 2. In implementation, strapdown inertial navigation is used for providing information for self-stabilization of the visual axis of the theodolite.
2. The common observable star watch for the medium wave infrared and visible light is established based on the existing visible star watch and daily observation, and currently, 25 medium wave infrared and visible light common observable stars are accumulated. The tracking time of each star in the implementation process is 10 s.
3. In a certain target tracking process, the imaging position of the medium wave infrared system and the imaging position of the visible light system have larger deviation. Then, the method is adopted to carry out a plurality of tests under different times and different sea conditions, and the test results are shown in table 1. Wherein, the curve of the difference of the miss distance measured at a time is shown in figure 3. In order to verify the correctness of the algorithm, the parallelism of the medium wave infrared and visible light main mirror is detected by a parallel light tube method and a projection target plate method respectively under the ship berthing state, and the detection result is basically consistent with the result given by the algorithm.
TABLE 1 results of the non-parallelism of the mid-wave infrared and visible light
After the parallelism is adjusted by erecting a collimator, the parallelism is rechecked by the method and the projection target plate method respectively. The two methods have good consistency and meet the index requirements.
Although preferred embodiments of the present invention have been described in detail hereinabove, it should be clearly understood that modifications and variations of the present invention are possible to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A dynamic detection method for parallelism of optical axes of a ship-borne visible light and medium wave infrared system is characterized by comprising the following steps: the method comprises the following steps:
step one, self-stabilization of visual axis of shipborne theodolite based on inertial navigation information
The theodolite servo system consists of an azimuth system, a high system and a low system which work independently and are matched with each other, is a position follow-up system and consists of a position loop and a speed loop, the control scheme of the visual axis self-stabilization method is that the position loop input adopts digital guide television two-dimensional composite control, the speed loop introduces ship shaking feedforward control, the satellite is captured by the guidance of a computer, the self-stabilization function is completed, and satellite guide errors generated by the changes of ship positions and ship postures are corrected by a television;
step two, establishing a visible light and medium wave infrared public observable star catalogue
Establishing a common star catalogue of optical axes of visible light and medium wave infrared systems, establishing the common star catalogue based on the existing visible light star catalogue, gradually accumulating fixed stars which can be observed by medium wave infrared in the existing star catalogue in the daily star following process, and establishing the star catalogue according to the original format so as to facilitate parallelism detection;
step three, optical axis parallelism detection and compensation
The method comprises the steps of obtaining the visual axis deviation magnitude of the infrared miss amount of the medium wave and the visual light in the transverse direction and the longitudinal direction by calculating the difference value of the infrared miss amount of the medium wave and the miss amount of the visible light, achieving the miss amount calculation by adopting a mass center detection method, carrying out threshold segmentation and mass center extraction on an image after denoising pretreatment, calculating the visual light and the infrared miss amount of the medium wave by using mass center coordinates, obtaining the visual axis parallelism deviation of the visible light and the infrared miss amount of the medium wave, compensating in post data processing after obtaining the visual axis deviation magnitude, and adjusting the mechanical angle of the infrared visual axis of the medium wave if the deviation is overlarge.
2. The dynamic detection method for the parallelism of the optical axes of the shipborne visible light and medium wave infrared system according to claim 1, characterized in that: the visual axis self-stabilizing method comprises the following steps:
1) calculation of theoretical position of star
Calculating the theoretical position of the fixed star of the observation epoch according to the parameters of the original ephemeris, and finally obtaining a theoretical azimuth angle A and a pitch angle E under an inertial navigation horizon system, wherein the theoretical position of the star under the inertial navigation horizon system is calculated according to the following formula:
wherein D is the distance from the star body to the origin of coordinates;
2) ship shake data predictive filtering
The ship rolling data prediction filtering is realized by adopting a least square method, and the course angle, the pitch angle and the roll angle after filtering are respectively recorded as K c 、ψ c 、θ c Each pair of K c 、ψ c 、θ c Obtaining course angular velocity omega by derivation K Angular velocity ω of pitch and roll ψ And roll angular velocity ω θ ；
3) Deck system roll and roll angular velocity calculation
The theoretical position of the star under the deck coordinate system is calculated as follows:
according to the definition of a theodolite measurement coordinate system, the azimuth angle A of a star body under a deck system c And a pitch angle E c The following can be calculated:
the formula (1), (2) and (3) are combined to obtain:
according to the principle of superposition of rotation sequence and angular velocity vector, the deck system is taken down to roll the angular velocity vector (omega) xc ,ω yc ,ω zc ) The angular velocity vector that can correspond from three rotations can be calculated as follows:
in the formula (I), the compound is shown in the specification,
the ship rocking angular velocity under the inertial navigation horizon system is obtained according to the following formula to obtain the disturbance angular velocity E of the theodolite visual axis cv 、A cv ：
3. The dynamic detection method for the parallelism of the optical axes of the shipborne visible light and medium wave infrared system according to claim 1, characterized in that: and the miss distance in the third step is the angle of the target gray distribution centroid deviating from the center of the visual field of the theodolite visible light system, the angle is projected to the azimuth and the pitch direction to obtain miss distance components in two directions, and the miss distance of the visible light and the medium wave infrared is calculated by comparing the centroid coordinate with the image center coordinate.
4. The dynamic detection method for the parallelism of the optical axes of the shipborne visible light and medium wave infrared system according to claim 3, characterized in that: the centroid coordinates (x, y) can be calculated according to the following formula:
in the formula, G ij The gray value is the pixel coordinate (i, j) (i 1.. M; j 1.. N) in the imaging area.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115342838A (en) * | 2022-10-20 | 2022-11-15 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting ship-shaking isolation degree of photoelectric theodolite |
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| CN106500731A (en) * | 2016-12-20 | 2017-03-15 | 中国人民解放军63680部队 | A kind of Calibration Method of the boat-carrying theodolite based on fixed star analog systemss |
| CN107976169A (en) * | 2017-11-08 | 2018-05-01 | 中国人民解放军63686部队 | A kind of boat-carrying inertial navigation attitude angle time-series rules method based on star observation |
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| WO2000057131A1 (en) * | 1999-03-22 | 2000-09-28 | Arc Second, Inc. | Method for establishing a coordinate system |
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| CN106500731A (en) * | 2016-12-20 | 2017-03-15 | 中国人民解放军63680部队 | A kind of Calibration Method of the boat-carrying theodolite based on fixed star analog systemss |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115342838A (en) * | 2022-10-20 | 2022-11-15 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting ship-shaking isolation degree of photoelectric theodolite |
| CN115342838B (en) * | 2022-10-20 | 2022-12-27 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting ship-shaking isolation degree of photoelectric theodolite |
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