CN115908158A - Laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system - Google Patents

Laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system Download PDF

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CN115908158A
CN115908158A CN202211178834.2A CN202211178834A CN115908158A CN 115908158 A CN115908158 A CN 115908158A CN 202211178834 A CN202211178834 A CN 202211178834A CN 115908158 A CN115908158 A CN 115908158A
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earth
target
laser ranging
laser
coordinate
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吴俊成
刘厦
宗茂
李思男
原璟
李润夏
林伟
张鹏飞
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CETC 54 Research Institute
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Abstract

The invention discloses a laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system, and relates to the field of photogrammetry. Which comprises the following steps: correcting the laser ranging value by utilizing nationwide distribution data of the laser path difference; calculating initial coordinates of a target by using airborne POS navigation data; and calculating the accurate coordinates of the target under the geocentric earth fixation system by using the multi-camera data. The invention considers the influence of atmospheric refraction on laser ranging, corrects the laser ranging value by using the laser path difference to eliminate the influence of atmospheric refraction, and performs positioning under the earth-centered earth fixation system, thereby avoiding the influence of earth curvature and length deformation, and finally performs positioning by using a distance intersection positioning method, thereby avoiding the influence of attitude error on a positioning result, and solving the problem of performing high-precision positioning on a target by using a photoelectric pod at a long distance.

Description

Laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system
Technical Field
The invention relates to the field of photogrammetry, in particular to a laser ranging intersection positioning method considering atmospheric refraction under the earth-centered earth-fixed system.
Background
The main equipment for positioning the ground target by the unmanned aerial vehicle is an airborne photoelectric pod. The photoelectric pod is generally integrated with a POS (Position and Orientation System), a visible light imaging device, an infrared imaging device, a laser ranging device, and the like, and can image a ground target, measure a Position and an attitude of the photoelectric pod by using the integrated POS System, measure a distance to the target by using the integrated laser ranging device, and provide a data source for rear-end positioning.
Based on optical image, POS information and laser range finding information that unmanned aerial vehicle photoelectric pod can provide, there are multiclass positioning method that can adopt, include:
1) The ground target positioning method based on the collinearity equation realizes positioning based on the collinearity equation and the bundle adjustment by utilizing the POS of the aerial carrier and the optical image;
2) The slant distance/azimuth positioning method is used for positioning a ground target by using a POS (point of sale) of a carrier and laser ranging;
3) The reference image matching (end matching) method realizes positioning by utilizing automatic matching of the photoelectric platform and reference data.
The method 1) requires a loaded image processing process and is low in real-time performance; the method 2) depends on the attitude measurement precision of the POS system, and the precision is obviously reduced under the remote condition; the method 3) has high requirements on visible conditions and reference data production conditions. Therefore, the three methods are all insufficient in the situation with high requirements on real-time performance and precision.
The positioning method based on the distance intersection can realize the positioning of the target only by relying on laser ranging, but the currently used distance intersection method usually ignores laser ranging errors introduced by atmospheric refraction; in addition, the current method usually completes target positioning under a projection coordinate system of a certain country, and at the moment, the positioning result is not ideal due to the factors such as earth curvature and distance deformation, and the high-precision positioning requirement cannot be met. Therefore, a targeted improvement measure for this method is required.
Disclosure of Invention
In order to solve the problems, the invention provides a laser ranging intersection positioning method considering atmospheric refraction under the earth-centered earth-fixed system. The method avoids the influence of the curvature and length deformation of the earth, avoids the influence of attitude errors on positioning results, and solves the problem of implementing high-precision positioning on a target by using the photoelectric pod at a long distance.
The technical scheme adopted by the invention is as follows:
a laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system comprises the following steps:
step 1, correcting a laser ranging value by using nationwide distribution data of laser range difference, wherein the specific mode is as follows:
step 1.1, obtaining the position of a shooting station at a measuring moment and the pitch angle of laser by using an airborne POS system;
step 1.2, searching for laser range difference by using the position of the camera station and the pitch angle of the laser, and correcting a laser ranging value;
step 2, calculating the initial coordinates of the target by using the position of the camera station and the pitch angle of the laser, wherein the specific method is as follows:
step 2.1, solving elements of external orientation by using the position of the camera station and the pitch angle of the laser;
2.2, calculating target initial coordinates by using the external orientation element of the first camera station and the corresponding corrected laser ranging value;
step 2.3, converting the initial coordinates of the target into a geocentric earth fixation system;
and 3, calculating the accurate coordinates of the target under the geocentric earth-fixed system by using the data of the multiple video stations, wherein the specific mode is as follows:
step 3.1, converting the geodetic coordinates of all the shooting stations into coordinates of a geocentric solid system;
3.2, establishing a residual equation under a geocentric geostationary system by using the coordinate of each camera station, the corrected laser ranging value and the initial target coordinate, connecting all the residual equations, performing distance intersection positioning, and solving the accurate coordinate of the target;
3.3, converting the accurate coordinate of the target from the geocentric earth fixed system to the geodetic coordinate system;
and completing target positioning.
Further, in step 1.2, the calculation formula of the corrected laser ranging value is as follows:
Figure BDA0003865640080000031
wherein L is i Laser range, Δ L, for camera i i In order to find the laser path difference,
Figure BDA0003865640080000032
and (4) correcting the laser ranging value for the camera station i.
Further, in step 2.1, the calculation formula for solving the external orientation element is as follows:
Figure BDA0003865640080000033
wherein, the corner mark E represents a geocentric rectangular coordinate system, the corner mark n represents a navigation coordinate system, the corner mark b represents an inertial measurement unit coordinate system, the corner mark c represents a camera coordinate system,
Figure BDA0003865640080000034
a rotation matrix constructed for an exterior orientation angle element, </or>
Figure BDA0003865640080000035
For measuring the eccentricity of the unit's visual axis by inertia(e x ,e y ,e z ) Formed by a rotation matrix, in which the number of pixels is greater than or equal to>
Figure BDA0003865640080000036
Inertial measurement unit position (X) for imaging time IMU ,Y IMU ,Z IMU ) A rotation matrix between the navigation coordinate system and the geocentric rectangular coordinate system is located, and the rotation matrix is selected>
Figure BDA0003865640080000037
Is a rotation matrix formed by attitude angles (r, p, y) of the inertial measurement unit, and (A, alpha and kappa v) are external orientation angle elements.
Further, in step 2.2, the manner of calculating the target initial coordinates is as follows:
Figure BDA0003865640080000038
wherein (X) T ,Y T ,Z T ) Is the coordinate of target T, (X) S ,Y S ,Z S ) And (4) obtaining the coordinate of the camera station measured by the POS, wherein A is a course angle in the element of the outside orientation of the camera station, and alpha is an inclination angle in the element of the outside orientation of the camera station.
Further, the specific manner of step 3.2 is as follows:
(1) Establishing a residual error equation for each camera station; let the coordinates of the current camera station i in the earth-centered earth-fixed system be
Figure BDA0003865640080000039
The corrected laser ranging value is->
Figure BDA00038656400800000310
The current coordinate of the target T is (X) T ,Y T ,Z T ) Then, the residual equation of the current camera i is:
Figure BDA0003865640080000041
(2) Using a least square method to carry out iterative solution on a residual error equation to obtain a correction number of the coordinate of the target T;
(3) Adding the correction number to the coordinate of the target T to obtain a new coordinate;
(4) And (4) repeating the steps (1) to (3) until the correction number of the coordinates of the target T is smaller than the threshold value or reaches a preset iteration number.
The invention has the beneficial effects that:
1. the invention corrects the laser ranging value by using nationwide distribution data of the laser path difference, searches the laser path difference and corrects the laser ranging error caused by atmospheric refraction on the premise of knowing the laser wavelength, the laser pitch angle and the laser height.
2. The invention realizes the positioning of the target by using a distance intersection method under a geocentric earth fixation system, and avoids the positioning error caused by the curvature and length deformation of a time sphere in the positioning under a projection coordinate system.
3. According to the method, the POS attitude parameters are only used when the initial coordinates of the target are calculated, and the distance intersection method is used in the subsequent positioning process, so that the problem that the positioning accuracy is remarkably reduced under the remote condition due to the dependence on the POS attitude is solved, and the ground positioning accuracy under the remote condition is improved.
4. The method considers the influence of atmospheric refraction on laser ranging, obtains the external orientation element of each single-sided array image by introducing model interpolation of which the internal orientation element and the external orientation element change along with time, and solves the problems of high-precision geometric processing and seamless splicing of the area array stepping images.
Drawings
FIG. 1 is a schematic diagram of calculating initial values of ground point coordinates using position, attitude and laser range measurements recorded by a POS system.
Detailed Description
A laser distance measurement intersection positioning method considering atmospheric refraction under an earth-centered earth-fixed system is a method for positioning a target under the earth-centered earth-fixed system by correcting atmospheric refraction errors and considering images generated by laser distance measurement through atmospheric refraction. Firstly, correcting a laser ranging value by using nationwide distribution data of laser path difference, and eliminating laser ranging errors generated by atmospheric refraction; secondly, calculating the initial coordinates of the target by using airborne POS navigation data; and finally, calculating the accurate coordinates of the target under the geocentric geostationary system by using the multi-camera data and the distance intersection positioning method.
The method comprises the following specific steps:
step 1, correcting a laser ranging value by using nationwide distribution data of laser path difference, comprising the following steps of:
and 1.1, obtaining the position of the shooting station at the measurement moment and the pitch angle of the laser by using an airborne POS system.
Step 1.2, searching for a laser range difference by using the position and the laser pitch angle obtained in the step 1.1, and correcting a laser ranging value, wherein the specific mode is as follows:
(1) Let the laser range finding value of the camera station i be L i The searched laser path difference is delta L i If so, the corrected laser ranging value of the camera station
Figure BDA0003865640080000051
Comprises the following steps:
Figure BDA0003865640080000052
(2) And repeating the process to correct the laser ranging values of all the camera stations.
Step 2, as shown in fig. 1, calculating the target initial coordinate by using the position and the laser pitch angle obtained in step 1.1, and comprising the following steps:
step 2.1, solving an external orientation element by using the position and the laser pitch angle, and firstly converting the attitude angle (r, p, y) of the inertial measurement unit IMU into the external orientation element (A, alpha, kappa v) according to the relation between the navigation coordinate system n and the geocentric geostationary coordinate system E, wherein the basic method comprises the following steps:
Figure BDA0003865640080000053
wherein, the corner mark E represents a geocentric rectangular coordinate system, the corner mark n represents a navigation coordinate system, the corner mark b represents an IMU coordinate system, the corner mark c represents a camera coordinate system,
Figure BDA0003865640080000054
a rotation matrix constructed for an exterior orientation angle element, </or>
Figure BDA0003865640080000055
For IMU apparent axis eccentricity angle (e) x ,e y ,e z ) Formed by a rotation matrix, in which the number of pixels is greater than or equal to>
Figure BDA0003865640080000061
A rotation matrix for the attitude angle (r, p, y) of the inertial measurement unit>
Figure BDA0003865640080000062
IMU position (X) for imaging time IMU ,Y IMU ,Z IMU ) And a rotation matrix between the navigation coordinate system n and the geocentric rectangular coordinate system E. Each rotation matrix can be determined by using the geocentric rectangular coordinates of the IMU center, the IMU attitude angle and the IMU placement angle, and further, the external orientation angle element (a, α, κ v) can be obtained.
Step 2.2, calculating target initial coordinates by using the external orientation element of the first camera station and the corresponding laser ranging value:
coordinates (X) of target point T according to imaging geometry T ,Y T ,Z T ) Can be calculated from the following formula:
Figure BDA0003865640080000063
wherein (X) S ,Y S ,Z S ) And the first camera coordinate obtained by POS measurement, A is the course angle in the element of the outside orientation of the camera, and alpha is the inclination angle in the element of the outside orientation of the camera.
And 2.3, converting the target initial coordinate into a geocentric earth fixation system, wherein the process can be obtained by adopting a formula or open source software for calculation.
Step 3, calculating the accurate coordinate of the target under the geocentric geostationary system by using the multi-camera data comprises the following steps:
and 3.1, converting the geodetic coordinates of all the shooting stations into coordinates of a geocentric solid system, wherein the process can be obtained by adopting a formula or open source software for calculation.
And 3.2, establishing a residual equation by using the coordinates of each camera station, the corrected laser ranging value and the initial coordinates of the target, and simultaneously performing distance intersection positioning on all the residual equations to solve the accurate coordinates of the target. The concrete method is as follows:
(1) Establishing a residual error equation for each camera station; let the coordinates of the current camera station i under the geocentric earth-fixed system be
Figure BDA0003865640080000064
The corrected laser ranging value is->
Figure BDA0003865640080000065
The current coordinate of the target is (X) T ,Y T ,Z T ) Then, the residual equation of the current camera is:
Figure BDA0003865640080000066
(2) Using a least square method to carry out iterative solution on a residual error equation to obtain a correction number of a target coordinate;
(3) Adding the correction number to the target coordinate to obtain a new coordinate;
(4) And (4) repeating the steps (1) to (3) until the correction number of the target coordinate is smaller than a certain threshold value or reaches a certain iteration number.
And 3.4, converting the target coordinate from the geocentric earth fixed system to the geodetic coordinate system, wherein the process can be obtained by adopting a formula or open source software for calculation.
And completing target positioning.
In a word, the method utilizes the position of the camera station and the laser pitch angle, and eliminates the laser ranging deviation caused by atmospheric refraction by searching the laser path difference and correcting the laser ranging value; solving exterior orientation elements by using POS navigation data, calculating initial coordinates of a target by using a laser ranging value on the basis, and converting the initial coordinates into a geocentric earth-fixed system; converting the geodetic coordinates of all the shooting stations into geocentric earth-fixed system coordinates, establishing a residual equation under the geocentric earth-fixed system, and solving the high-precision coordinates of the target under the geocentric earth-fixed system through distance intersection positioning.
The invention considers the influence of atmospheric refraction on laser ranging, corrects the laser ranging value by using laser path difference to eliminate the influence of atmospheric refraction, and performs positioning under the geocentric geostationary system, thereby avoiding the influence of curvature and length deformation of the earth.

Claims (5)

1. A laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system is characterized by comprising the following steps:
step 1, correcting a laser ranging value by using nationwide distribution data of laser range difference, wherein the specific mode is as follows:
step 1.1, obtaining the position of a shooting station at a measuring moment and the pitch angle of laser by using an airborne POS system;
step 1.2, searching for laser range difference by using the position of the camera station and the pitch angle of the laser, and correcting a laser ranging value;
step 2, calculating the initial coordinates of the target by using the position of the camera station and the pitch angle of the laser, wherein the specific method is as follows:
step 2.1, solving elements of external orientation by using the position of the camera station and the pitch angle of the laser;
2.2, calculating target initial coordinates by using the external orientation element of the first camera station and the corresponding corrected laser ranging value;
step 2.3, converting the initial coordinates of the target into a geocentric earth-fixed system;
and 3, calculating the accurate coordinate of the target under the geocentric geostationary system by using the multi-camera data, wherein the specific mode is as follows:
step 3.1, converting geodetic coordinates of all the shooting stations into coordinates of a geocentric solid system;
3.2, establishing a residual equation under a geocentric geostationary system by using the coordinate of each camera station, the corrected laser ranging value and the initial target coordinate, connecting all the residual equations, performing distance intersection positioning, and solving the accurate coordinate of the target;
3.3, converting the accurate coordinate of the target from the geocentric earth fixed system to the geodetic coordinate system;
and completing target positioning.
2. The laser ranging intersection positioning method considering atmospheric refraction in the earth-centered-earth-fixed system according to claim 1, wherein in step 1.2, the calculation formula for correcting the laser ranging value is as follows:
Figure FDA0003865640070000011
wherein L is i Laser range, Δ L, for camera i i In order to find the laser path difference,
Figure FDA0003865640070000012
and (4) correcting the laser ranging value for the camera station i.
3. The laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system according to claim 2, wherein in step 2.1, the calculation formula for solving the external orientation element is as follows:
Figure FDA0003865640070000021
wherein, the corner mark E represents a geocentric rectangular coordinate system, the corner mark n represents a navigation coordinate system, the corner mark b represents an inertial measurement unit coordinate system, the corner mark c represents a camera coordinate system,
Figure FDA0003865640070000022
a rotation matrix constructed for an exterior orientation angle element, </or>
Figure FDA0003865640070000023
For measuring the eccentricity of the unit's visual axis by inertia (e) x ,e y ,e z ) Formed rotation matrix, is greater or less>
Figure FDA0003865640070000024
Measuring the unit position (X) for the moment of imaging IMU ,Y IMU ,Z IMU ) A rotation matrix between the navigation coordinate system and the geocentric rectangular coordinate system is located, and the rotation matrix is selected>
Figure FDA0003865640070000025
Is a rotation matrix formed by attitude angles (r, p, y) of the inertial measurement unit, and (A, alpha and kappa v) are external orientation angle elements.
4. The laser ranging intersection positioning method considering atmospheric refraction in the earth-centered-earth-fixed system according to claim 3, wherein in step 2.2, the way of calculating the initial coordinates of the target is as follows:
Figure FDA0003865640070000026
wherein (X) T ,Y T ,Z T ) Is the coordinate of target T, (X) S ,Y S ,Z S ) And (4) obtaining the coordinate of the camera station measured by the POS, wherein A is a course angle in the element of the outside orientation of the camera station, and alpha is an inclination angle in the element of the outside orientation of the camera station.
5. The laser ranging intersection positioning method considering atmospheric refraction under geocentric geostationary system as claimed in claim 4, wherein the specific manner of step 3.2 is:
(1) Establishing a residual error equation for each camera station; let the coordinates of the current camera station i in the earth-centered earth-fixed system be
Figure FDA0003865640070000028
The corrected laser ranging value is->
Figure FDA0003865640070000029
The current coordinate of the target T is (X) T ,Y T ,Z T ) Then, the residual equation of the current camera i is:
Figure FDA0003865640070000027
(2) Using a least square method to carry out iterative solution on a residual error equation to obtain a correction number of the coordinate of the target T;
(3) Adding the correction number to the coordinate of the target T to obtain a new coordinate;
(4) And (4) repeating the steps (1) to (3) until the correction number of the coordinates of the target T is smaller than the threshold value or reaches a preset iteration number.
CN202211178834.2A 2022-09-27 2022-09-27 Laser ranging intersection positioning method considering atmospheric refraction under earth-centered earth-fixed system Pending CN115908158A (en)

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