CN115134477A - Synchronous positioning method for photoelectric system - Google Patents
Synchronous positioning method for photoelectric system Download PDFInfo
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- CN115134477A CN115134477A CN202210474890.4A CN202210474890A CN115134477A CN 115134477 A CN115134477 A CN 115134477A CN 202210474890 A CN202210474890 A CN 202210474890A CN 115134477 A CN115134477 A CN 115134477A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 17
- 230000005693 optoelectronics Effects 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 238000004132 cross linking Methods 0.000 claims description 2
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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Abstract
The invention discloses a synchronous positioning method of an optoelectronic system.A carrier flies along a preset track in the air of a working area, the optoelectronic system scans at a certain speed in a roll direction and compensates the flying speed of an airplane in a pitching manner, thereby realizing seamless coverage of a specific area in a mountainous area, simultaneously calculating the geographic coordinates of each frame of image point, and transmitting the images to the ground in real time for image splicing to form a single comprehensive image in a large range. The invention can reduce the frame positioning error caused by the asynchronous data images, greatly reduce the positioning precision error and improve the positioning precision.
Description
Technical Field
The invention belongs to the technical field of synchronous positioning, mainly relates to a target positioning technology of an airborne photoelectric stable platform, and particularly relates to a photoelectric system synchronous positioning method capable of improving target positioning precision through time sequence consistency.
Background
The airborne photoelectric stabilized platform researched by the applicant requires the capability of executing a large-scale search on the target and generating accurate geographic coordinates of the target. These requirements require precise target positioning, and typically in such a system, a television camera, a high precision stable gyro platform, a high precision inertial navigation, a fast scanning mirror, an image processing board, and the like are required. According to the traditional photoelectric stabilized platform, a television camera is used for collecting a target video image, parameters such as longitude and latitude height and attitude value of a current carrier are collected through high-precision inertial navigation, angle pointing information of a gyro stabilized platform is collected to calculate geographical positioning information of a target, the collection and the cross connection of the information are transmitted to a central computer through system communication and are processed and completed, uncontrollable factors such as time delay exist in the system communication transmission, meanwhile, the longitude and latitude height and platform attitude value output by the high-precision inertial navigation are periodically output, inertial navigation parameters at the shooting moment of the television camera cannot be obtained, calculated positioning precision is poor, and the system positioning requirement cannot be met.
At present, domestic airborne equipment does not participate in control of a reverse scanning mirror relative to a target positioning system, time sequence control is mostly absent, a target positioning value is only obtained roughly according to longitude and latitude height, angle direction and distance value of airborne inertial navigation, the error is large, and the requirements of large-range searching and monitoring and long-distance target accurate positioning cannot be met.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: aiming at the requirements that an airborne photoelectric stabilized platform carries out large-scale search and generates accurate geographic coordinate information for a mountainous area target in real time, a video image of the target is collected through a television camera, the longitude and latitude height and attitude value of the current airborne aircraft are collected through high-precision inertial navigation, and meanwhile the problem that the geographic positioning information of the target is not synchronous is solved by collecting the angle pointing information of a gyro stabilized platform, the method for synchronously positioning the photoelectric system solves the positioning accuracy of the system in a time sequence.
(II) technical scheme
In order to solve the technical problems, the invention provides a synchronous positioning method of an optoelectronic system, which is used for positioning a working target by an airborne optoelectronic stabilization platform, wherein the airborne optoelectronic stabilization platform comprises a central computer, a television camera, an angle resolving plate, inertial navigation, a fast reflecting mirror and an image processing plate; a time keeping circuit is arranged in the central computer, the television camera and the angle resolving plate, inertial navigation second pulse signals are respectively sent to the central computer, the television camera and the angle resolving plate, meanwhile, the central computer, the television camera and the angle resolving plate respectively receive UTC time in RS422 communication data of inertial navigation, when the second pulse signals are received, UTC +1 time in RS422 communication is written in, meanwhile, the central computer, the television camera and the angle resolving plate mark the time to be 0 second, and timing is started according to the time.
The fast reflection mirror outputs pulse level at the zero-crossing moment, triggers the television camera to synchronously expose at the moment through the pulse level, and simultaneously superposes the time of the exposure moment of the television camera on the output video data.
Storing each frame of data output by inertial navigation in a register, inquiring three frames of data near the zero-crossing time when receiving the zero-crossing pulse, performing mathematical trajectory algorithm processing, obtaining one frame of fitting inertial navigation data at the zero-crossing time through fitting, and storing the fitting inertial navigation data in the register.
When receiving the fast reverse zero-crossing time, the angle resolving board collects the angular pointing information of the time, packs the time of collection and the angular pointing information of the time, sends the time and the angular pointing information of the time to the central computer, and stores the time and the angular pointing information of the time in a register.
And the central computer receives the fast reverse zero-crossing time, calibrates the accurate time value of the time, and meanwhile, searches corresponding fitting inertial navigation data and angle pointing information in the register according to the time to obtain the geographic positioning value of the target.
And determining an image of the target positioning information at the moment according to the time of the exposure moment superposed on the video data output by the television camera, and completing the matching of the video data and the target geographic positioning value.
(III) advantageous effects
According to the photoelectric system synchronous positioning method provided by the technical scheme, by utilizing the synchronous positioning technology, the positioning error caused by the asynchronous data images can be reduced, the positioning precision error is greatly reduced, and the positioning precision is improved.
Drawings
FIG. 1 is a timing diagram of a system real-time positioning.
FIG. 2 is a schematic diagram of a system time service principle.
FIG. 3 is a system zero crossing timing diagram.
Fig. 4 is a functional block diagram of frame alignment parameters.
Fig. 5 is a schematic block diagram of frame alignment parameter and video matching.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The preferred embodiment of the invention provides a method for solving the real-time positioning accuracy of a system for a certain large-range airborne photoelectric stable platform, which is currently researched. The aerial carrier flies along a preset track above a working area, the photoelectric system scans at a certain speed in a rolling direction, the flying speed of the aerial carrier is compensated in a pitching mode, seamless coverage of a specific area of a mountain area in a mountainous area is achieved, geographic coordinates of image points of each frame are calculated, the images are transmitted to the ground in real time to be spliced, and a single comprehensive image in a large range is formed.
Considering that data exchange among a fast reflection mirror, high-precision inertial navigation, a television camera, an angle resolving plate and the like in an airborne photoelectric stable platform is carried out through RS422 communication, the television camera is exposed at the time of fast reflection zero crossing, target positioning parameters of the frame image are collected at the time, a central computer firstly carries out RS422 communication crosslinking with inertial navigation data to receive inertial navigation data such as longitude and latitude height, attitude and the like of a carrier, the central computer then receives aiming line angle information through RS422 of the angle resolving plate, the transmission period of the inertial navigation data is 3ms, the transmission period of the aiming line angle information is 1ms, as the two communication systems are relatively independent and have delay errors of the communication period, the inertial navigation data and the aiming line angle information data received by the central computer cannot be guaranteed to be real-time data, the transmission delay of one frame of video data is 40ms in the embodiment, and the transmission delay of the inertial navigation data and the angle pointing information to the image processing plate and the television received by the plate at the time cannot be guaranteed The frame of video data exposed by the camera is data at the same moment. If the real-time problem of the system is solved without time sequence design, the problems that the positioning parameters and the angle pointing parameters do not have the same timeliness, the matching of the video and the positioning parameters is poor, the positioning data and the angle pointing parameters cannot be aligned at the moment, the overlapped images are matched to be the images at the previous moment, and the like can occur; the specific implementation sequence diagram is shown in fig. 1.
The core technology of the invention is to collect angle pointing information, inertial navigation data and image data at the moment when the fast reflecting mirror passes zero. The data alignment mainly takes the zero crossing of a fast-reflecting mirror as a reference time, the time is recorded and respectively sent to a central computer, because no unified timing reference exists, firstly, a second pulse output by high-precision inertial navigation is used for time service for a computer board, a television camera and an angle resolving board, and meanwhile, the internal clock of the three components is kept in time by combining the UTC time transmitted by the high-precision inertial navigation at the moment, so that the consistency of the internal time of the three components is realized, and a specific implementation block diagram is shown in figure 2.
The fast-reversal zero-crossing time is the core time of the whole time sequence, zero-crossing pulse is output at the time, and the central computer collects the pulse and records the time of the zero-crossing time according to the clock in the computer board; the zero-crossing pulse is simultaneously sent to an angle resolving board, the angle pointing information of the zero-crossing moment is collected, and the angle pointing information and the collection moment are packaged; acquiring the zero-crossing pulse to trigger the television camera to expose, packaging the exposed video data and the exposure time, and sending the video data and the exposure time to an image processing board; the specific implementation block diagram is shown in fig. 3.
The high-precision inertial navigation transmits inertial navigation data such as longitude and latitude height and attitude of the aircraft collected once every 3ms and UTC time at the moment to a central computer, the computer receives a plurality of groups of inertial navigation data and puts the inertial navigation data into a cache, three groups of inertial navigation data which are closest to the moment are searched according to zero-crossing time 1 recorded by the central computer in the figure 3, and mathematical trajectory fitting operation processing is carried out to obtain the inertial navigation data at the zero-crossing moment; meanwhile, packing and outputting the angle pointing information of the zero-crossing time and the zero-crossing time sent by the angle resolving board in the figure 3 to a central computer, and searching the angle pointing information corresponding to the zero-crossing time 1 by the central computer; then according to the inertial navigation data of the same zero-crossing time 1, the angle pointing information is resolved into a target positioning parameter at the zero-crossing time in the central computer, meanwhile, the zero-crossing time 1 is packed, and the packet data is sent to an image processing board; the specific implementation block diagram is shown in fig. 4.
According to a series of positioning data with zero-crossing time identification received by the image processing board in FIG. 4 and cached in the board, according to the exposure time packaged on the video data received by the image processing board in FIG. 3, the target positioning data at the same moment is searched in the cache of the image processing board, and then the packaged target positioning data is matched with the video data, thus completing the alignment of the image and the positioning parameters; the specific implementation block diagram is shown in fig. 5.
According to the content, the fast-return zero-crossing time is taken as a time reference, the time alignment is carried out through a time keeping circuit in a central computer, a television camera and an angle resolving plate through second pulse, the angle pointing information is collected at the fast-return zero-crossing time, the video exposure is carried out at the fast-return zero-crossing time, the longitude and latitude height and the attitude parameters of the carrier at the zero-crossing time are calculated through the parameter fitting collected by multiple groups of inertial navigation, and the video frame positioning completed by carrying out the zero-crossing time data alignment can completely meet the requirements.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A synchronous positioning method of an optoelectronic system is characterized in that the method is used for positioning a working target by an airborne photoelectric stabilization platform, and the airborne photoelectric stabilization platform comprises a central computer, a television camera, an angle resolving plate, inertial navigation, a fast reflecting mirror and an image processing plate; setting a timekeeping circuit in the central computer, the television camera and the angle resolving plate, respectively sending the inertial navigation second pulse signals to the central computer, the television camera and the angle resolving plate, simultaneously respectively receiving UTC time in inertial navigation communication data by the central computer, the television camera and the angle resolving plate, writing UTC +1 time in the received communication data when the second pulse signals are received, simultaneously calibrating the time to be 0 second by the central computer, the television camera and the angle resolving plate, and starting timing according to the time;
the fast reflection mirror outputs a pulse level at the zero-crossing moment, triggers the television camera to synchronously expose at the moment through the pulse level, and simultaneously superposes the time of the exposure moment of the television camera on the output video data;
storing each frame of data output by inertial navigation in a register, inquiring three frames of data near the zero-crossing time when receiving the zero-crossing pulse, performing mathematical trajectory algorithm processing, obtaining one frame of fitting inertial navigation data at the zero-crossing time through fitting, and storing the fitting inertial navigation data in the register;
when receiving the fast reverse zero crossing time, the angle resolving board collects the angular pointing information of the time, packs the time of collection and the angular pointing information of the time, sends the time and the angular pointing information of the time to the central computer and stores the time and the angular pointing information of the time in a register;
receiving the fast reverse zero-crossing time at the central computer, calibrating the accurate time value of the time, and searching corresponding fitting inertial navigation data and angle pointing information in a register according to the time to obtain the geographic positioning value of the target;
and determining an image of the target positioning information at the moment according to the time of the exposure moment superposed on the video data output by the television camera, and completing the matching of the video data and the target geographic positioning value.
2. The optoelectronic system synchronous positioning method of claim 1, wherein the data exchange among the fast reflection mirror, the inertial navigation system, the television camera and the angle resolving plate is performed through RS422 communication.
3. The method as claimed in claim 2, wherein the video camera is exposed when the fast-reflection mirror passes through zero, and the target positioning parameters of the frame image are acquired.
4. The synchronous positioning method for the optoelectronic system according to claim 3, wherein at the zero-crossing time of the fast-reflection mirror, the central computer firstly performs RS422 communication and cross-linking with inertial navigation data to receive longitude and latitude height and attitude inertial navigation data of the aerial carrier, and then receives angle pointing information through RS422 of the angle resolving board.
5. The optoelectronic system synchronous positioning method of claim 4, wherein the fast reverse zero crossing time, the central computer collects the zero crossing pulse and records the time of the zero crossing time; the zero-crossing pulse is simultaneously sent to an angle resolving board, the angle pointing information of the zero-crossing moment is collected, and the angle pointing information and the collection moment are packaged; the zero-crossing pulse is collected to trigger the television camera to expose, and the video data after exposure and the exposure time are packed and sent to an image processing board.
6. The optoelectronic system synchronous positioning method according to claim 5, wherein the transmission period of the inertial navigation data is 3ms, and the transmission period of the line-of-sight angle information is 1 ms.
7. The synchronous positioning method of the optoelectronic system according to claim 6, wherein the inertial navigation transmits the longitude and latitude height of the vehicle, the attitude inertial navigation data and the UTC time at the time acquired every 3ms to the central computer, the computer receives a plurality of sets of inertial navigation data and puts them into a cache, and performs mathematical trajectory fitting operation processing according to the zero-crossing time 1 recorded by the central computer and the three sets of inertial navigation data closest to the time, so as to obtain the inertial navigation data at the zero-crossing time.
8. The synchronous positioning method of the optoelectronic system according to claim 7, wherein the angle resolver packs and outputs the angle pointing information of the zero-crossing time and the zero-crossing time to the central computer, and the central computer searches the angle pointing information corresponding to the zero-crossing time 1 according to the zero-crossing time; and then, resolving a target positioning parameter at the zero-crossing moment in a central computer according to inertial navigation data and angle pointing information at the same zero-crossing moment 1, packaging the zero-crossing moment 1, and sending the packet data to an image processing board.
9. The method as claimed in claim 8, wherein the alignment between the image and the alignment parameters is accomplished by buffering a series of positioning data with zero-time mark received by the image processing board, looking up the object positioning data in the image processing board buffer at the same time according to the exposure time packed on the video data received by the image processing board, and matching the package of object positioning data with the video data.
10. Use of a method for the synchronous positioning of optoelectronic systems according to any one of claims 1 to 9 in the technical field of airborne photoelectric detection and positioning.
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