CN115876197A - Mooring lifting photoelectric imaging target positioning method - Google Patents
Mooring lifting photoelectric imaging target positioning method Download PDFInfo
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Abstract
The invention discloses a mooring levitation photoelectric imaging target positioning method, which comprises the steps of acquiring ground platform data (geodetic coordinates and attitude angles), levitation platform data (height, translation amount and attitude angles) and photoelectric pod data (target relative distance and attitude angle of a rotary table) at a uniform moment, resolving according to a model to obtain geodetic coordinates of a target and realize target positioning; the ground-based positioning navigation device and the video attitude measurement device acquire the position and direction reference of the lift-off platform and the target relative position and direction acquired by the photoelectric pod, and can calculate the accurate geodetic coordinates of the target. The invention solves the problems that the attitude control of the mooring floating platform is difficult to be immobilized, and how to obtain the reconnaissance positioning capability under the condition that the levitation platform is not loaded with the inertial navigation device.
Description
Technical Field
The invention belongs to the technical field of photoelectric imaging positioning systems, and relates to a mooring and lifting photoelectric imaging target positioning method.
Background
Photoelectric imaging is a reconnaissance means which has a large amount of information, is suitable for the characteristics of human eyes and is convenient for target identification and judgment, and is often used for military and police reconnaissance, monitoring, warning and evidence collection. In order to enable the observation range to be larger and the sight distance to be farther, shielding of ground buildings and trees can be effectively avoided by adopting a lift-off mode, the influence of the curvature of the earth on the sight distance is surpassed, and long-distance imaging detection and positioning are realized. The airplane or the unmanned aerial vehicle needs to consume energy, cannot continuously work in the air for a long time due to the limitation of bearing capacity, therefore, the ground power supply system continuously supplies power to the lift-off platform through cables in a mode of mooring power supply to form a development direction, and the moored lift-off photoelectric imaging positioning equipment can meet various application requirements.
The mooring and lifting photoelectric imaging positioning device generally comprises a mooring and lifting platform and a photoelectric pod carried by the mooring and lifting platform, a mooring cable, a power supply system, a control terminal or equipment with the same function. Because the lift-off platform needs to keep hovering in the air through the power consumption of the motor, reducing unnecessary loads as much as possible can effectively improve the reliability of the system and reduce the power of the system, and the method also becomes important work for equipment development.
Generally, the position (geodetic coordinates) of a system, the relative angle and the relative distance of a target relative to the position of the target need to be measured, so that sensors such as a positioning navigation device, a laser range finder, a photoelectric pod azimuth angle and pitch angle resolver and the like which provide north references are often needed.
The inertial navigation device with the north direction measuring precision of 1mrad (root mean square error) generally has the weight of about 5kg and can be borne by the lift-off platform, the inertial navigation device occupies 50% -20% of the effective load (detection and positioning type, the effective load is 10kg and 20 kg) of a general mooring lift-off system, and the method for measuring the position of the lift-off platform, which is described in the application number 202010165921.9 or similar other methods, can reduce the load of the lift-off platform by more than about 25% -50%. Under the condition, the system reliability is obviously improved, and the power consumption is reduced; however, how to realize accurate angle measurement and positioning of the target becomes an important problem for guaranteeing the performance of the equipment.
Application number 201810511325.4 describes a tethered fire fighting aerial reconnaissance platform which comprises a suspended unmanned aerial vehicle fire fighting reconnaissance platform, a tethered cable, an automatic mooring and releasing system, a high-voltage power supply system and a ground control center, and does not relate to a reconnaissance positioning scheme.
Application number 201611162336.3 describes a vehicle-mounted unmanned aerial vehicle mooring communication reconnaissance system, which comprises a mooring power supply and communication system and does not relate to a reconnaissance scheme.
Application number 201910070975.4 describes a multi-baseline GNSS attitude measurement device and method based on a floating platform, and the device comprises a positioning information resolving module, a navigation system position calculating module, a yaw angle and pitch angle calculating module and a roll angle calculating module, and aircraft attitude is calculated through satellite positioning equipment, and reconnaissance is not involved.
Application number 201910700894.8 describes an aerial reconnaissance positioning system and method, the system comprises an operating platform and a multi-rotor aircraft, the system is aircraft equipment based on mobile phone positioning and Bluetooth as a control channel, a tripod head carries monitoring equipment to shoot a target area geographic environment, image transmission equipment and flight control equipment are used for adjusting the height and the posture of the multi-rotor aircraft, a GSM mobile phone locator is used for positioning a target mobile phone, and the operating platform sends an instruction to the GSM mobile phone locator through a Bluetooth wireless module. The method comprises the following steps: acquiring the mobile phone number of a target mobile phone, and the cell number and public network dominant frequency of the area where the target mobile phone is located; sending a short message to a target mobile phone to confirm whether the target mobile phone is in a starting state; and positioning the target mobile phone in different gain modes, wherein the gain modes comprise a high gain mode, a medium gain mode and a low gain mode. The self-positioning of the scheme is limited by the communication positioning capability of the mobile phone, the precision is not high, and the positioning is difficult under the condition of weak coverage of a field communication base station; the system also does not involve mooring and positioning functions for the coordinates of the object.
The devices and methods respectively relate to optical measurement of the attitude of an elevated platform, satellite positioning device double-station measurement or describe a non-mooring aerial reconnaissance positioning system, and do not relate to a specific reconnaissance positioning method based on a mooring floating platform.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: the method is suitable for positioning the target by the mooring levitation photoelectric imaging target positioning system, and solves the problems that the attitude control of a mooring levitation platform is difficult to be immobilized, and how to obtain the reconnaissance positioning capability under the condition that the levitation platform is not loaded with an inertial navigation device.
(II) technical scheme
In order to solve the technical problems, the invention provides a mooring and lifting photoelectric imaging target positioning method, the positioning method is based on a mooring and lifting photoelectric imaging target positioning system to realize positioning, the target positioning system comprises a ground platform and a lifting platform, wherein the ground platform comprises a positioning navigation device, a video attitude measurement device, mooring equipment and a control terminal, the control terminal is operated by an operator, the positioning navigation device is used for measuring the attitude of a ground platform mounting base, the video attitude measurement device obtains the pixel coordinates of a mark point of the lifting platform through observation, the video attitude measurement device base is fixedly connected with the positioning navigation device, the mounting direction is ensured to be consistent with a positioning navigation device shaft system, the optical axis of the video attitude measurement device can be finely adjusted along the directions of a rolling shaft and a pitching shaft, and the optical axis is ensured to be vertical to the horizontal plane through the control of an inclination angle sensor, namely, the observation is carried out towards the upper part; through closed-loop control based on image position deviation, the lift-off platform can be kept in the visual field of the video attitude measurement device.
The target positioning method comprises the following steps:
step 1, determining time synchronization of each device of a system or a time tag of output data;
step 2, an operator executes operation through a handle key of the control terminal or a key of control software, searches and selects a target, presses a laser ranging key through automatic tracking or manual aiming, and triggers a system to acquire data of each device at the same time;
step 3, reading positioning navigation device data on the ground platform as a direction reference and a position reference of target positioning, wherein the direction reference and the position reference comprise local geodetic coordinates (horizontal position and height), and an included angle, an azimuth angle, a pitch angle and a roll angle between the ground platform and the north direction;
step 4, reading the data of the video attitude measuring device, including the pixel coordinates (x) of a plurality of mark points on the lift-off platform 1 ，y 1 ，x 2 ，y 2 ，x 3 ，y 4 …); reading the data of the lift-off platform, including the height h and the pitch angle beta of the lift-off platform A Transverse rolling angle omega A . According to the data, the transverse translation position (delta X) of the lift-off platform relative to the ground platform is calculated A0 ，ΔY A0 ) Azimuthal angle alpha A . Parameter (alpha) A ，β A ，ω A ，ΔX A0 ，ΔY A0 H) for the transformation calculation of the coordinate system;
step 5, reading the relative rotation angles of the azimuth turntable and the pitching turntable (for the photoelectric pod with a two-axis turntable structure) when the photoelectric pod sensor of the lift-off platform aims at the target, and obtaining a target relative distance value by the photoelectric pod ranging sensor; or the relative rotation angles of the azimuth turntable, the pitching turntable and the rolling turntable (for the photoelectric pod of the three-axis turntable structure) when the sensor aims at the target, and the target relative distance value obtained by the photoelectric pod ranging sensor is used as the relative position parameter of the target;
and 6, deploying a positioning module component in the control terminal, and calculating a target coordinate value by using the acquired data according to a mathematical model.
(III) advantageous effects
The method for positioning the mooring and lifting photoelectric imaging target has the following beneficial effects:
firstly, the imaging positioning can still be effectively carried out on the target under the condition that the lift-off platform does not have self attitude and positioning capabilities, and the accurate geodetic coordinates of the target can be obtained when the target image is obtained: horizontal position and height values;
secondly, when the mooring and lifting photoelectric imaging positioning system is fixed or stays on the ground for use, the positioning method is not influenced by zero drift of the inertial navigation device, position drift does not exist, and continuous positioning accuracy is high;
thirdly, when the positioning method is adopted, the mooring and lifting photoelectric imaging positioning system is used in a vehicle-mounted or ship-based mobile manner, the method can also effectively position the target and obtain the accurate geodetic coordinates of the target.
Drawings
FIG. 1 is a schematic diagram of a data acquisition distribution of a tethered airborne photoelectric imaging positioning system.
FIG. 2 is a schematic diagram of a tethered airborne optoelectronic imaging positioning system.
FIG. 3 is a schematic view of the positioning process of the tethered airborne optoelectronic imaging positioning system.
Fig. 4 is a positive direction definition of the rotation transformation according to the invention.
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.
As shown in fig. 1, 2 and 3, the implementation steps of the method for positioning a tethered elevated photoelectric imaging target in this embodiment are as follows:
step 1, taking a clock of a Beidou navigation satellite data receiver in a system positioning and navigation device as reference time, wherein the time service precision of the embodiment is 30ns, and determining that the time systems of all electronic equipment of the system are consistent, and all equipment of the system synchronously outputs data by taking the Beidou time as the reference, or outputs data with time tags;
step 2, operating the photoelectric pod by an operator through a handle button of the control terminal, searching for a target, selecting the target, and locking the target through automatic tracking; pressing the laser distance measuring key to trigger the control system to collect the consistent time (t) R ) Data of each device;
step 3, reading t by control software in the control terminal R Measuring data of a positioning navigation device on a time-ground platform, and measuring local longitude and latitude coordinates (L) of the ground platform by combined navigation including satellite and inertial navigation 0 ，B 0 ，h 0 )、t R Horizontal angle (alpha) between ground platform and north direction measured by time inertial navigation device 0 ) And azimuth, pitch and roll attitude angles (alpha) of the ground platform 0 ,β 0 ,ω 0 ) The geodetic coordinate precision of the positioning navigation device used in the embodiment is horizontal error 10m (CEP) and elevation error 10m (PE), the north seeking precision is 1mrad, and the attitude measurement error is 0.08mrad;
step 4, the video attitude measurement device on the ground platform is adjusted based on data feedback of the tilt sensor to enable the optical axis to be vertical to the horizontal plane, and the perpendicularity error of the embodiment is 0.1mrad;
control software in the control terminal reads t R The pixel coordinates of the mark points of the lift-off platform output by the video attitude detection device on the ground platform, the video area array pixel of the embodiment is 4088 multiplied by 4088, the corresponding relation of the mark points is determined based on the feature matching, and two mark points (x is the best in contrast and the largest in pixel distance) are selected i ，y i ，x j ，y j ) In the embodiment, two points with the pixel distance larger than 2044 are calculated according to the perspective projection relation and the relative position parameters of the marker points in the physical space
Azimuth angle alpha in attitude determination coordinate system ijv According to the azimuth deviation delta (delta is a small angle quantity because the two shaft systems can be ensured to be basically parallel by installation) of the attitude measuring coordinate system and the inertial coordinate system, the azimuth angle is converted into the inertial coordinate system and is marked as alpha ijg Azimuth angle alpha of the lift-off platform relative to the inertial frame AG ＝α ijg -α ij0 In the formula, α ij0 Is a mark point vector>
Azimuth declination relative to the azimuth zero position of the lift-off platform; reading t R Time-rising platformThe height h of the lift-off platform relative to the ground, which is measured by the output lift-off control component on the lift-off platform, is 50 m-300 m, the height error is 0.1m, and the transverse translation position (delta X) of the lift-off platform A0 ，ΔY A0 ) Calculated from the following formula:
in the formula, M x For the number of horizontal pixels of the video gesture-measuring device (4088 in the example), M y For the number of vertical pixels (4088 in the example) of the video gesture-measuring device, r i Vector formed from photoelectric load mounting position point o to mark point i of lift-off platform
Has a length of x A o A y A Projection on a plane, α i The direction angle of the projection is fov, and the field angle of the video attitude determination device is 5363;
reading t R Pitch angle beta output by time-lifting platform A Transverse rolling angle omega A The pitch angle and roll angle errors are 0.3mrad;
step 5, after the photoelectric pod on the lift-off platform aims at the target, the control software in the control terminal reads t R Relative rotation angle (alpha) of azimuth turntable and pitching turntable when photoelectric pod sensor of time-lifting platform aims at target P ,β P ) Or measuring an orientation turntable (alpha) P ) Pitching rotary table (beta) P ) And the relative rotation angle (alpha) of the traverse table P ,β P ,ω P ) (for a three-axis configuration of the electro-optic pod), the electro-optic pod of the embodiment is a two-axis inertially stabilized configuration (weight 18kg, azimuth and pitch angle measurement error 0.1 mrad); photoelectric pod ranging sensor t R The obtained target relative distance value (D) is obtained, the photoelectric pod of the embodiment adopts a laser range finder of 1.54 mu m, and the range error is 5m;
step 6, the parameter (L) 0 ，B 0 ，h 0 )、(α 0 )、h、(α AG ,β A ,ω A )、(ΔX A0 ，ΔY A0 )、(α P ,β P ) D, installation error angle (alpha) of photoelectric coordinate system relative to lift-off coordinate system e ,β e ,ω e ) Inputting the azimuth deviation delta between the attitude measuring coordinate system and the inertial coordinate system into a positioning software component of control software in the control terminal, and finishing target coordinate calculation according to mathematical models defined by formulas (2) to (11):
the calculation process of the rotation transformation matrix is as follows:
1) Calculating the coordinates of the target in the photoelectric coordinate system
2) Conversion of target coordinates to lift-off coordinate system
[x A ,y A ,z A ] T ＝A 1 -1 [x P ,y P ,z P ] T (3)
In the formula, A 1 Calculated by the rotation transformation formula (4), wherein alpha, beta, omega are respectively substituted into (alpha) e ,β e ,ω e )。
In the formula, α, β, ω are the azimuth, pitch, and roll of the euler angle defined by the zyx compliance, and the positive direction of the angle is shown in fig. 4.
3) Transferring the north reference of the inertial coordinate system to the levitation coordinate system
According to the following formula, the north reference of the inertial coordinate system is transmitted to the levitation coordinate system to obtain the Euler angle (alpha) of the levitation coordinate system relative to the North-West coordinate system A ,β A ,ω A )。
α A ＝α AG +α 0 (5)
4) Converting the target coordinate to the northwest coordinate system
[x N ,y N ,z N ] T ＝A 2 -1 [x A ,y A ,z A ] T (6)
A 1 Calculated from the formula (1), wherein α, β, ω are substituted into (α) respectively A ,β A ,ω A )。
5) Converting the target coordinate into a geocentric coordinate system
Will (L) 0 ，B 0 ，h 0 ) Respectively substituted into variables (L, B, h) of formula (8) to convert the coordinates of the ground platform into rectangular coordinate quantities (X) under the geocentric coordinate system 0 ,Y 0 ,Z 0 )。
In the formula (I), the compound is shown in the specification,
a＝6378137.0,e＝0.0066943800229
6) And determining the transformation relation between the North-West coordinate system and the geocentric coordinate system according to the following formula.
[x e ,y e ,z e ,1] T ＝A 3 -1 [z a ,-y a ,x a ,1] T (9)
In the formula, A 3 Is to (L) 0 ，B 0 ，X 0 ，Y 0 ，Z 0 ) Respectively substituting the variables (L, B, X, Y and Z) into the formula.
7) Converting geocentric coordinates of a target to latitude and longitude representations
Calculated according to the following formula:
wherein, the calculation of the latitude B adopts a recursive algorithm to solve.
Thus, target coordinates are obtained.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (10)
1. A mooring and lifting photoelectric imaging target positioning system is characterized by comprising a ground platform and a lifting platform, wherein the ground platform comprises a positioning navigation device, a video attitude measurement device, mooring equipment and a control terminal, the control terminal is operated by an operator, the positioning navigation device is used for measuring the pose of a ground platform mounting base, the video attitude measurement device obtains the pixel coordinates of a mark point of the lifting platform through observation, the video attitude measurement device base is fixedly connected with the positioning navigation device, the mounting direction is consistent with the shaft system of the positioning navigation device, the optical axis of the video attitude measurement device can be finely adjusted along the directions of a roll shaft and a pitch shaft, and the optical axis is perpendicular to the horizontal plane through the control of an inclination angle sensor, namely, the observation is carried out right above the horizontal plane; the lift-off platform is maintained within the field of view of the video attitude determination device by closed-loop control based on the image position deviation.
2. The tethered airborne optoelectronic imaging target positioning system of claim 1, wherein the airborne platform comprises an optoelectronic pod and flight control computer, the optoelectronic pod having disposed therein an optoelectronic turret angle-measuring sensor and an imaging and distance-measuring sensor.
3. A mooring levitation photoelectric imaging target positioning method, wherein target positioning is performed based on the target positioning system of claim 2, and the target positioning method comprises the following steps:
step 1, determining time synchronization of each device of a system or a time tag of output data;
step 2, an operator executes operation through operating the control terminal, searches and selects a target, presses a laser ranging key through automatic tracking or manual aiming, and triggers a system to acquire data of each device at the same time;
step 3, reading positioning navigation device data on the ground platform, taking the data as a direction reference and a position reference of target positioning, and including local geodetic coordinates: horizontal position and height, included angle, azimuth angle, pitch angle and roll attitude angle between the ground platform and the north direction;
step 4, reading the data of the video attitude measuring device, including the pixel coordinates (x) of a plurality of mark points on the lift-off platform 1 ，y 1 ，x 2 ，y 2 ，x 3 ，y 4 …); reading the data of the lift-off platform, including the height h and the pitch angle beta of the lift-off platform A Transverse rolling angle omega A (ii) a According to the data, the transverse translation position (delta X) of the lift-off platform relative to the ground platform is calculated A0 ，ΔY A0 ) Azimuthal angle alpha A (ii) a Parameter (alpha) A ，β A ，ω A ，ΔX A0 ，ΔY A0 H) for transformation calculation of the coordinate system;
step 5, reading a relative rotating angle of the rotary table when the photoelectric pod sensor of the lift-off platform aims at a target, and obtaining a target relative distance value by the photoelectric pod ranging sensor; the relative distance value of the target obtained by the photoelectric pod ranging sensor is used as the relative position parameter of the target;
and 6, deploying a positioning module component in the control terminal, and calculating the target coordinate value by using the acquired data according to the mathematical model.
4. The method as claimed in claim 3, wherein in step 5, for the electro-optical pod of the two-axis turret configuration, the relative rotation angle of the turret comprises: the relative rotation angles of the azimuth rotary table and the pitching rotary table; for a three axis turret structured electro-optical pod, the relative turret rotation angle includes: the relative angles of rotation of the azimuth turntable, the pitch turntable and the roll turntable.
5. The method as claimed in claim 4, wherein in step 1, the time system of each electronic device of the system is determined to be consistent by using the clock of the Beidou navigation satellite data receiver in the system positioning and navigation device as the reference time, and each electronic device of the system synchronously outputs data by using the Beidou time as the reference time or outputs data with time tags.
6. The method according to claim 5, wherein in step 3, the control terminal reads the consistent time t R Measuring data of a positioning navigation device on a time-ground platform, and measuring local longitude and latitude coordinates (L) of the ground platform by combined navigation including satellite and inertial navigation 0 ，B 0 ，h 0 )、t R The horizontal angle (alpha) between the ground platform and the north direction measured by the time inertial navigation device 0 ) And azimuth, pitch and roll attitude angles (alpha) of the ground platform 0 ,β 0 ,ω 0 )。
7. The method as claimed in claim 6, wherein in step 4, the correspondence relationship between the marker points is determined based on feature matching, and two marker points (x) with the best contrast and the largest pixel distance are selected i ，y i ，x j ，y j ) Calculating the marker point vector according to the perspective projection relation and the relative position parameters of the marker points in the physical space
Azimuth angle alpha in attitude determination coordinate system ijv Converting the azimuth angle into an inertial coordinate system according to the azimuth deviation delta between the attitude measuring coordinate system and the inertial coordinate system, and recording the converted azimuth angle as alpha ijg Azimuth angle alpha of the lift-off platform relative to the inertial frame AG ＝α ijg -α ij0 In the formula, α ij0 Is a mark point vector>
Azimuth declination relative to the azimuth zero position of the lift-off platform; reading t R Output from time-rising platformThe height h of the lift-off platform relative to the ground and the transverse translation position (delta X) of the lift-off platform measured by the flight control assembly on the lift-off platform A0 ，ΔY A0 ) Calculated from the following formula:
in the formula, M x For the number of horizontal pixels, M, of the video-gesture-measuring-device y For the number of vertical pixels, r, of the video pose-finding device i Vector formed from photoelectric load mounting position point o to mark point i of lift-off platform
Has a length of x A o A y A Projection on a plane, α i The direction angle of the projection is fov, and the field angle of the video attitude determination device is 5363; reading t R Pitch angle beta output by time-lifting platform A Transverse roll angle omega A 。
8. The method as claimed in claim 7, wherein in step 5, after the electro-optical pod on the lift-off platform aims at the target, the control terminal reads t R Relative rotation angle (alpha) of azimuth turntable and pitching turntable when photoelectric pod sensor of time-lifting platform aims at target P ,β P ) Or measuring the relative angles of rotation (alpha) of the azimuth turntable, the pitch turntable, and the roll turntable P ,β P ,ω P ) Photoelectric pod ranging sensor t R The obtained target relative distance value D.
9. The method for positioning a tethered airborne photoelectric imaging target of claim 8 wherein in step 6 the parameter (L) is determined 0 ，B 0 ，h 0 )、(α 0 )、h、(α AG ,β A ,ω A )、(ΔX A0 ，ΔY A0 )、(α P ,β P ) D, installation error angle (alpha) of photoelectric coordinate system relative to lift-off coordinate system e ,β e ,ω e ) Inputting the azimuth deviation delta between the attitude measuring coordinate system and the inertial coordinate system into a control terminal, and finishing the calculation of target coordinates according to mathematical models defined by formulas (2) to (11):
1) Calculating the coordinates of the target in the photoelectric coordinate system
2) Conversion of target coordinates to lift-off coordinate system
[x A ,y A ,z A ] T ＝A 1 -1 [x P ,y P ,z P ] T (3)
In the formula, A 1 Calculated by the rotation transformation formula (4), wherein α, β, ω are respectively substituted into (α) e ,β e ,ω e )。
Wherein alpha, beta and omega are the azimuth, the pitch and the roll of an Euler angle defined according to zyx compliant rules;
3) Transferring the north reference of the inertial coordinate system to the levitation coordinate system
According to the following formula, the north reference of the inertial coordinate system is transmitted to the lift-off coordinate system to obtain the Euler angle (alpha) of the lift-off coordinate system relative to the North-West coordinate system A ,β A ,ω A )；
α A ＝α AG +α 0 (5)
4) Conversion of target coordinates to northwest coordinate system
[x N ,y N ,z N ] T ＝A 2 -1 [x A ,y A ,z A ] T (6)
A 1 Calculated by formula (1), wherein α, β, ω are substituted into (α) respectively A ,β A ,ω A )；
5) Conversion of target coordinates to geocentric coordinate system
Will (L) 0 ，B 0 ，h 0 ) Respectively substituted into variables (L, B, h) of formula (8), and converting the coordinates of the ground platform into rectangular coordinate scalar (X) in geocentric coordinate system 0 ,Y 0 ,Z 0 )；
In the formula (I), the compound is shown in the specification,
a＝6378137.0,e＝0.0066943800229
6) Determining the transformation relation between the north-west coordinate system and the geocentric coordinate system according to the following formula;
[x e ,y e ,z e ,1] T ＝A 3 -1 [z a ,-y a ,x a ,1] T (9)
in the formula, A 3 Is to (L) 0 ，B 0 ，X 0 ，Y 0 ，Z 0 ) Respectively substituting into variables (L, B, X, Y, Z) of the formula;
7) Converting geocentric coordinates of a target to latitude and longitude representations
Calculated according to the following formula:
wherein, the calculation of the latitude B adopts a recursive algorithm to solve;
thus, target coordinates are obtained.
10. Use of a method for positioning a tethered airborne photoelectric imaging target according to any of claims 3 to 9 in the field of photoelectric imaging positioning systems.
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