CN116992575B - Space-time baseline-based air target single-star positioning method - Google Patents
Space-time baseline-based air target single-star positioning method Download PDFInfo
- Publication number
- CN116992575B CN116992575B CN202311246660.3A CN202311246660A CN116992575B CN 116992575 B CN116992575 B CN 116992575B CN 202311246660 A CN202311246660 A CN 202311246660A CN 116992575 B CN116992575 B CN 116992575B
- Authority
- CN
- China
- Prior art keywords
- target
- time
- moment
- aerial
- space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000010408 sweeping Methods 0.000 claims abstract description 34
- 239000013598 vector Substances 0.000 claims abstract description 33
- 230000002146 bilateral effect Effects 0.000 claims abstract description 30
- 238000004364 calculation method Methods 0.000 claims abstract description 16
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004836 empirical method Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 15
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Geometry (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an aerial target single-star positioning method based on space-time base line, which comprises the following steps: step S1, acquiring continuous bilateral sweeping observation data of an aerial target; s2, constructing a positioning model of the bidirectional swing system and resolving a target vision vector; s3, constructing an air target constraint relation based on a space-time base line; and S4, aerial target single-star positioning calculation based on an iterative optimization method. According to the space-time baseline-based single-star positioning method for the air target, provided by the invention, the space-time baseline constraint of multi-angle observation data of the space-base bilateral swing detection system and the real-time on-orbit positioning model of the sensor are used for acquiring the position information of the real-time on-orbit air target, so that the single-star instant positioning of the air target such as an airplane is realized.
Description
Technical Field
The invention belongs to the technical field of aerial remote sensing, and particularly relates to an aerial target single-star positioning method based on a space-time base line.
Background
High-precision detection, positioning and tracking of aerial targets such as airplanes are one of key technologies in the core fields of aerospace defense, air situation awareness and the like, and are also important research directions for world-wide world disputes.
However, the single-star observation of the traditional optical passive detection load can only acquire the observation vector of the target under a specific space-time, namely, the space angle measurement of the target is realized, and the single-star positioning of the aerial target cannot be directly realized. In order to solve the problem of positioning an aerial target, only a multi-star combined three-dimensional detection system can be constructed, and the problem of positioning the aerial target is solved through theoretical methods such as space line-of-sight intersection and the like. However, the method is complex in system, high in cost, immature in theory, limited by sensor measurement errors and the like, and difficult to guarantee in accuracy. Currently, real-time position acquisition of an aerial target is mainly achieved through radar detection means.
The research of the strapdown inertial-astronomical combined navigation algorithm discloses an astronomical positioning method by using an astronomical observation angle, is a mature positioning mode, has the characteristics of strong autonomy, high positioning precision and the like, and analyzes a single star-based combined navigation algorithm on the basis of the traditional strapdown inertial/starlight combined navigation algorithm. The method belongs to astronomical positioning, mainly realizes attitude calculation to be the right ascension and declination positioning of an astronomical body, is essentially angle positioning, has no distance concept, and adopts a positioning method that ground target positioning can be calculated through a sight intersection point, but can not realize aerial target positioning.
In the prior art, a single-row lateral positioning technology is available, which is used for determining the three-dimensional space position of an aerial target in an inertial system, and the positioning refers to the target orientation, namely, the two angles of the azimuth and the pitching of the locked target are locked, and the positioning can only be performed by the orientation, but not in a strict sense. Although the azimuth and position acquisition of the target can be realized based on a single radar satellite, the radar detection method faces the following two problems: firstly, limited by the power of a satellite radar transmitter, the detection distance of a current radar detection system is limited, the detection effect is obviously reduced when the orbit is higher, and when the orbit is lower, the radar detection is easily limited by the earth curvature and a long atmospheric path is easily caused by electromagnetic wave loss and absorption; secondly, for stealth fighters with smaller scattering cross-sectional areas, the traditional radar is difficult to realize effective detection, and radar signals are easy to find and lock.
Aiming at the problems, the multi-angle observation capability of the space-based bilateral sweeping detection system under different time and space is considered, and meanwhile, the single-star positioning of the aerial target can be realized based on the sensor positioning model. In summary, aiming at the practical and important application requirements of aerial target detection, positioning and tracking of aircrafts and the like, the method for positioning the single star of the aerial target based on the space-time base line is urgently needed to be researched, and the problem of positioning the single star of the aerial target is solved.
Disclosure of Invention
The invention aims to provide an air target single-star positioning method based on space-time base line, aiming at the problems in the prior art.
For this purpose, the above object of the present invention is achieved by the following technical solutions:
an aerial target single-star positioning method based on space-time base line is characterized in that: the method comprises the following steps:
step S1, acquiring continuous bilateral sweeping observation data of an aerial target;
s2, constructing a positioning model of the bidirectional swing system and resolving a target vision vector;
s3, constructing an air target constraint relation based on a space-time base line;
s4, aerial target single-star positioning calculation based on an iterative optimization method;
in step S2, a strict geometric positioning model of a satellite-borne bilateral sweeping system is constructed according to the geometric imaging principle of the bilateral sweeping camera, and a sight vector of an aerial target under a geocentric fixed coordinate system is calculated through the geometric positioning model of the bilateral sweeping system;
in the step S3, an aircraft target space-time constraint relation in a single sweep period is constructed according to the flight characteristics of an air target and the imaging characteristics of a bidirectional sweep load, namely, the aircraft is set to fly at a constant speed in a short time in the single period, and the aircraft height is unchanged in the period;
in step S4, the actual position of the aerial target, including the target position vector and its velocity at altitude, is calculated by iterative optimization through the constraint relationship in step S3.
The invention can also adopt or combine the following technical proposal when adopting the technical proposal:
as a preferable technical scheme of the invention: in step S1, continuous observation imaging of an air target is completed through carrying bilateral sweeping load by a low-orbit satellite, and t 1 The time bilateral sweeping system obtains first time normal sweeping observation data of an air target at a position D, and the air target is along the sight line directionThe projection point on the ground is G; t is t 2 The method comprises the steps that a moment bilateral sweeping system obtains first back-sweeping observation data of an air target at a position E, and a projection point of the air target on the ground along a sight line direction is J; similarly, t 3 The time bilateral sweeping system acquires second time normal sweeping observation data of an air target at a position F, and a projection point of the air target on the ground along a sight line direction is K.
As a preferable technical scheme of the invention: in the step S2 of the process,
the strict geometric positioning model of the satellite-borne bilateral swing system is constructed as follows:
（1）
wherein,the position vector of the object point corresponding to the image point (i, j) under the pixel coordinate system under the geocentric fixed coordinate system;
a position vector of a satellite projection center under the geocentric fixed coordinate system;
μ is a scale factor;
the plane reflection matrix corresponds to the swinging mirror angle;
θ is the scan mirror scan angle value;
is the conversion relation between the geocentric inertial coordinate system and the geocentric fixed coordinate system>UTC time;
the transformation matrix from the satellite body coordinate system to the earth center inertial coordinate system is usually the attitude angle of the satellite) Calculating;
three attitude angles for the satellite: pitch angle, roll angle, and yaw angle;
the method comprises the steps that a calibrated installation matrix of a camera in the satellite body coordinate system is used, and the installation matrix is calibrated accurately before satellite transmission;
（i 0 ，j 0 ) The coordinates of the main point of the camera under the pixel coordinate system;
offset error for the principal point;
an offset error of the image point on an image plane;
the dimensions of the pixel in the x and y directions;
a main distance for the camera;
is the amount of primary pitch error;
representing the normalized unit vector.
The preferable technical scheme of the invention is characterized in that: the line-of-sight vector of the aerial target under the geocentric fixed coordinate system is calculated by a geometric positioning model of the bidirectional swaying system as follows:
（2）
（3）
（4）
wherein,，/>is->Respectively t 1 Time t 2 Time t 3 Line-of-sight vectors of the aerial targets at the moment under a geocentric fixed coordinate system;
at t respectively for satellites 1 Moment pitch angle, roll angle and yaw angle, < ->At t respectively for satellites 2 Moment pitch angle, roll angle and yaw angle>At t respectively for satellites 3 Pitch angle, roll angle and yaw angle at moment;
θ 1 ，θ 2 and θ 3 At t respectively for satellites 1 Time t 2 Time t 3 Position angle of time swinging mirror；
（i 1 ,j 1 ），（i 2 ,j 2 ) (i) 3 ,j 3 ) At t for the sky 1 Time t 2 Time t 3 Position coordinates on the reverse scan and forward scan images at the moment.
As a preferable technical scheme of the invention: aerial target at t 1 The position on the normal scan image at the moment is (i) 1 ,j 1 ），t 2 The position on the reverse scan image at the moment is (i) 2 ,j 2 ），t 3 The position on the reverse scan image at the moment is (i) 3 ,j 3 ) Obtained by a gravity center extraction algorithm.
As a preferable technical scheme of the invention: in step S3, constructing a constraint relation of an aerial target based on a space-time baseline, and obtaining the following constraint relation based on small change of flying height of the aerial target in a short time:
（5）
that is to say,（6）
wherein the satellite orbit height is H; the length of the line segment AD is alpha, the length of the line segment BE is beta, and the length of the line segment CF is gamma; the targets have the same height h at D, E and F, where DG is t 1 The distance between the ground and the air target in the sight line direction at the moment AG is t 1 The length of the sight line where the aerial target is located at the moment EJ is t 2 The distance between the ground and the aerial target in the sight line direction at the moment, BJ is t 2 The length of the line of sight of the aerial target at the moment, EK is t 3 The distance between the ground and the aerial target in the sight line direction at the moment, CK is t 3 The length of the sight line of the aerial target at the moment;
based on small change of flying speed of the air target in a short time, the following constraint relation is obtained:
（7）
wherein DE is t 1 From time to t 2 The flying distance of the object in the air at the moment EF is t 2 From time to t 3 And the distance of flying the aerial target at the moment, v is the calculated flying speed of the aerial target.
As a preferable technical scheme of the invention: in step S4, based on the constraint relation, the actual position of the aerial target is calculated by an iterative method, which specifically includes the following steps:
step (1), according to the conventional flight altitude and speed parameters of an aerial target, giving a preliminary constraint range of the flight altitude and speed by an empirical method:wherein->And->Upper and lower constraint boundaries for velocity and altitude, respectively, where V a And h a The actual flight speed and the flight height of the aircraft;
step (2) for a specific height h a The target position vector at this altitude is calculated as follows:
（8）
and, in addition, the method comprises the steps of,（9）
wherein,respectively represent the aerial targets and the satellites at t 1 Time t 2 Time t 3 And calculating the position vector of the aerial target under the geocentric and geodetic fixed coordinate system according to the position vector, wherein the speed of the aerial target under the altitude is as follows:
（10）
step (3), according to the calculation result of step (2), firstly judgingWhether or not they are simultaneously established, if not, making h a =h a +Δh, returning to step (2); if so, the following calculation is performed:
（11）
wherein dv is 1 Is t 1 From time to t 2 Rate of time of day and t 2 From time to t 3 A difference in the rates of time; dv 2 Is t 1 From time to t 3 Rate of time of day and t 2 From time to t 3 A difference in the rates of time; dv 3 Is t 1 From time to t 2 Rate of time of day and t 1 From time to t 3 Determining the difference in time rateWhether or not to simultaneously hold; if so, the D, E, F position under the condition is the target position; if not, let h a =h a +Δh, returning to step (2) to perform iterative optimization calculation until the condition is satisfied, wherein +.>The threshold is constrained for short-time speed variation.
Compared with the prior art, the invention has the following beneficial effects: according to the space-time baseline-based single-star positioning method for the air target, the space-time baseline constraint of multi-angle observation data of the space-time baseline-based double-side swaying detection system and the real-time on-orbit positioning model of the sensor are used for acquiring the position information of the real-time on-orbit air target, so that the single-star instant positioning of the air target such as an airplane is realized. The invention can finally realize the space-based single-star positioning of the aerial targets such as airplanes and the like.
Drawings
FIG. 1 is a flow chart of an aerial target single-star positioning method based on space-time base line of the invention;
fig. 2 is a schematic diagram of space-borne bidirectional sweeping imaging of an aerial target single-star positioning method based on space-time base line.
Detailed Description
The invention will be described in further detail with reference to the drawings and specific embodiments.
Example 1
The invention provides an aerial target single-star positioning method based on a space-time baseline. Acquiring observation data of air targets such as airplanes and the like under different time-space and different angles through a bilateral swing scanning detection system; solving sight vectors of the aerial targets under different time spaces by a bilateral sweeping load strict geometric positioning model; and realizing single-star positioning of the aerial target according to the space-time constraint relation and the iterative optimization algorithm. The invention mainly comprises the following steps:
s1, acquiring continuous bilateral swing observation data of an aerial target:
as shown in fig. 1, the low-orbit satellite carries the bilateral sweeping load to complete continuous observation imaging of aerial targets such as airplanes and the like, and t 1 The moment bilateral sweeping system acquires first-time normal sweeping observation data (shown by a solid line frame in the figure) of an aerial target at a position D, and a projection point of an airplane on the ground along a sight line direction is G; t is t 2 The moment bilateral sweeping system obtains first-time back-sweeping observation data (shown by a dotted line frame in the figure) of an aerial target at a position E, and a projection point of an airplane on the ground along a sight line direction is J; similarly, t 3 The moment bilateral sweeping system acquires second-time normal sweeping observation data of an aerial target at a position F, and a projection point of an airplane on the ground along a sight line directionK is the number.
S2, constructing a positioning model of a bidirectional swaying system and resolving a target vision vector
According to the geometric imaging principle of the bilateral swing camera, a strict geometric positioning model of the satellite-borne bilateral swing system is constructed as follows:
（1）
wherein,the position vector of the object point corresponding to the image point (i, j) under the pixel coordinate system under the geocentric fixed coordinate system;
a position vector of a satellite projection center under the geocentric fixed coordinate system;
μ is a scale factor;
the plane reflection matrix corresponds to the swinging mirror angle;
θ is the scan mirror scan angle value;
is the conversion relation between the geocentric inertial coordinate system and the geocentric fixed coordinate system>UTC time;
the transformation matrix from the satellite body coordinate system to the earth center inertial coordinate system is usually the attitude angle of the satellite) Calculating;
three attitude angles for the satellite: pitch angle, roll angle, and yaw angle;
the method comprises the steps that a calibrated installation matrix of a camera in the satellite body coordinate system is used, and the installation matrix is calibrated accurately before satellite transmission;
（i 0 ，j 0 ) The coordinates of the main point of the camera under the pixel coordinate system;
offset error for the principal point;
an offset error of the image point on an image plane;
the dimensions of the pixel in the x and y directions;
a main distance for the camera;
is the amount of primary pitch error;
representing the normalized unit vector.
Thus, let the aircraft be at t 1 The position on the normal scan image at the moment is (i) 1 ,j 1 ），t 2 The position on the reverse scan image at the moment is (i) 2 ,j 2 ），t 3 The position on the reverse scan image at the moment is (i) 3 ,j 3 ) The line-of-sight vector of the air target in the geocentric fixed coordinate system can be calculated based on the geometric positioning model of the bidirectional swaying system as follows:
（2）
（3）
（4）
wherein,，/>is->Respectively t 1 Time t 2 Time t 3 Line-of-sight vectors of the aerial targets at the moment under a geocentric fixed coordinate system;
at t respectively for satellites 1 Moment pitch angle, roll angle and yaw angle, < ->At t respectively for satellites 1 Time t 2 Time t 3 Three attitude angles at the moment: pitch angle, roll angle, and yaw angle;
θ 1 ，θ 2 and θ 3 At t respectively for satellites 1 Time t 2 Time t 3 The position angle of the mirror is swung at any time;
（i 1 ,j 1 ），（i 2 ,j 2 ) (i) 3 ,j 3 ) At t for aircraft 1 Time t 2 Time of dayT 3 The position coordinates of the moment on the reverse scanning and the positive scanning images can be obtained by a gravity center extraction algorithm;
the definition of the other quantities is the same as in step 2.
S3, constructing a space-time base line constraint relation construction,
as shown in fig. 1, t 1 Time t 2 Time t 3 The time satellites are respectively positioned at the position A, the position B and the position C on the orbit, real-time position data of three times can be obtained by satellite orbit information, corresponding aerial targets are positioned at the position D, the position E and the position F, and the point G, the point J and the point K are projections of the aerial targets on the ground when the aerial targets are positioned at the position D, the position E and the position F. Considering that the flying height of the aerial target is less variable in a short time, the following constraint relation can be obtained:
（5）
that is to say,（6）
wherein the satellite orbit height is H; the lengths of the line segment AD, the line segment BE and the line segment CF are alpha, beta and gamma respectively; marked D, E and F have the same height h.
Meanwhile, the change of the flying speed of the aerial target is smaller in a short time, and the following constraint relation is obtained:
wherein DE is t 1 From time to t 2 The flying distance of the object in the air at the moment EF is t 2 From time to t 3 And the distance of flying the aerial target at the moment, v is the calculated flying speed of the aerial target.
S4, aerial target position calculation based on iterative optimization method
Based on the constraint relation, the actual position of the aircraft can be calculated by the following iterative method:
(1) According to the conventional flight height and speed parameters of an aerial target, a preliminary constraint range of the flight height and speed is given through an empirical method:
wherein->And->Respectively, the lower and upper constraint boundaries of speed and altitude. In the actual calculation, a constraint range can be set from a wide range so as to ensure that the target actual parameters are covered;
(2) For a particular altitude h=h+Δh, the target position vector at that altitude can be calculated as follows:
（8）
and, in addition, the method comprises the steps of,（9）
wherein,representing an aerial target and a satellite at t 1 Time t 2 Time t 3 Position vector at moment in earth fixation.
The speed of the target at that altitude can be calculated as:
（10）
(3) According to the calculation result of the step (2), firstly judgingIf not, making h=h+Δh, and returning to the step (2); if it meets->The following calculation is performed:
（11）
judgingWhether or not to simultaneously hold; if so, the D, E, F position under the condition is the target position; if not, making h=h+Δh, returning to the step (2) to perform iterative optimization calculation until the condition is satisfied, wherein +.>The threshold is constrained for short-time speed variation.
Based on the method, the space-time baseline constraint-based single-star positioning calculation of the aerial target can be realized. The single-star positioning accuracy of the aerial target can be further improved when more continuous observation data can be acquired.
The above detailed description is intended to illustrate the present invention by way of example only and not to limit the invention to the particular embodiments disclosed, but to limit the invention to the precise embodiments disclosed, and any modifications, equivalents, improvements, etc. that fall within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An aerial target single-star positioning method based on space-time base line is characterized in that: the method comprises the following steps:
step S1, acquiring continuous bilateral sweeping observation data of an aerial target;
s2, constructing a positioning model of the bidirectional swing system and resolving a target vision vector;
s3, constructing an air target constraint relation based on a space-time base line;
s4, aerial target single-star positioning calculation based on an iterative optimization method;
in step S2, a strict geometric positioning model of a satellite-borne bilateral sweeping system is constructed according to the geometric imaging principle of the bilateral sweeping camera, and a sight vector of an aerial target under a geocentric fixed coordinate system is calculated through the geometric positioning model of the bilateral sweeping system;
in the step S3, an aircraft target space-time constraint relation in a single sweep period is constructed according to the flight characteristics of an air target and the imaging characteristics of a bidirectional sweep load, namely, the aircraft is set to fly at a constant speed in a short time in the single period, and the aircraft height is unchanged in the period;
in step S4, calculating the actual position of the aerial target, including the target position vector and the speed thereof under the altitude, by an iterative optimization method through the constraint relation in step S3;
in step S3, a constraint relationship of an air target based on a space-time baseline is constructed, and the following constraint relationship is obtained based on a small change of the flying height of the air target in a short time:
（5）
that is to say,（6）
wherein the satellite orbit height is H; the length of the line segment AD is alpha, the length of the line segment BE is beta, and the length of the line segment CF is gamma; the targets have the same height h at D, E and F, where DG is t 1 The distance between the ground and the air target in the sight line direction at the moment AG is t 1 The length of the sight line where the aerial target is located at the moment EJ is t 2 The distance between the ground and the aerial target in the sight line direction at the moment, BJ is t 2 The length of the line of sight of the aerial target at moment, FK is t 3 The distance between the ground and the aerial target in the sight line direction at the moment, CK is t 3 The length of the sight line of the aerial target at the moment;
based on small change of flying speed of the air target in a short time, the following constraint relation is obtained:
（7）
wherein DE is t 1 From time to t 2 The flying distance of the object in the air at the moment EF is t 2 From time to t 3 The flying distance of the aerial target at the moment, v is the calculated flying speed of the aerial target;
in step S4, based on the constraint relation, the actual position of the aerial target is calculated by an iterative method, which specifically includes the following steps:
step (1), according to the conventional flight altitude and speed parameters of an aerial target, giving a preliminary constraint range of the flight altitude and speed by an empirical method:wherein->And->Respectively speed and altitude, upper constraint boundary, where V a And h a The actual flight speed and the flight height of the aircraft;
step (2) for a specific height h a The target position vector at this altitude is calculated as follows:
（8）
and, in addition, the method comprises the steps of,（9）
wherein,respectively represent the aerial targets and the satellites at t 1 Time t 2 Time t 3 And calculating the position vector of the aerial target under the geocentric and geodetic fixed coordinate system according to the position vector, wherein the speed of the aerial target under the altitude is as follows:
（10）
step (3), according to the calculation result of step (2), firstly judgingWhether or not they are simultaneously established, if not, making h a =h a +Δh, returning to step (2); if so, the following calculation is performed:
（11）
judgingWhether or not to simultaneously hold; if so, the D, E, F position under the condition is the target position; if not, let h a =h a +Δh, returning to step (2) to perform iterative optimization calculation until the condition is satisfied, wherein +.>The threshold is constrained for short-time speed variation.
2. An air target single star positioning method based on space-time base line as set forth in claim 1, wherein: in step S1, continuous observation imaging of an air target is completed through carrying bilateral sweeping load by a low-orbit satellite, and t 1 The method comprises the steps that a moment bilateral sweeping system obtains first-time normal sweeping observation data of an air target at a position D, and a projection point of the air target on the ground along a sight line direction is G; t is t 2 The method comprises the steps that a moment bilateral sweeping system obtains first back-sweeping observation data of an air target at a position E, and a projection point of the air target on the ground along a sight line direction is J; similarly, t 3 The time bilateral sweeping system acquires second time normal sweeping observation data of an air target at a position F, and a projection point of the air target on the ground along a sight line direction is K.
3. An air target single star positioning method based on space-time base line as set forth in claim 1, wherein:
in step S2, a strict geometric positioning model of the satellite-borne bilateral sweeping system is constructed as follows:
（1）
wherein,the position vector of the object point corresponding to the image point (i, j) under the pixel coordinate system under the geocentric fixed coordinate system;
a position vector of a satellite projection center under the geocentric fixed coordinate system;
μ is a scale factor;
the plane reflection matrix corresponds to the swinging mirror angle;
θ is the scan mirror scan angle value;
is the conversion relation between the geocentric inertial coordinate system and the geocentric fixed coordinate system>UTC time;
the transformation matrix from the satellite body coordinate system to the earth center inertial coordinate system is usually the attitude angle of the satellite) Calculating;
three attitude angles for the satellite: pitch angle, roll angle, and yaw angle;
the method comprises the steps that a calibrated installation matrix of a camera in the satellite body coordinate system is used, and the installation matrix is calibrated accurately before satellite transmission;
（i 0 ，j 0 ) The coordinates of the main point of the camera under the pixel coordinate system;
offset error for the principal point;
an offset error of the image point on an image plane;
the dimensions of the pixel in the x and y directions;
a main distance for the camera;
is the amount of primary pitch error;
representing the normalized unit vector.
4. A space-time baseline based method for locating a single star of an air target as defined in claim 3, wherein: the line-of-sight vector of the aerial target under the geocentric fixed coordinate system is calculated by a geometric positioning model of the bidirectional swaying system as follows:
（2）
（3）
（4）
wherein,，/>is->Respectively t 1 Time t 2 Time t 3 Line-of-sight vectors of the aerial targets at the moment under a geocentric fixed coordinate system;
at t respectively for satellites 1 Moment pitch angle, roll angle and yaw angle, < ->At t respectively for satellites 2 Moment pitch angle, roll angle and yaw angle>At t respectively for satellites 3 Pitch angle, roll angle and yaw angle at momentAngle of flight;
θ 1 ，θ 2 and θ 3 At t respectively for satellites 1 Time t 2 Time t 3 The position angle of the mirror is swung at any time;
（i 1 ,j 1 ），（i 2 ,j 2 ) (i) 3 ,j 3 ) At t for the sky 1 Time t 2 Time t 3 Position coordinates on the reverse scan and forward scan images at the moment.
5. An air target single star positioning method based on space-time base line as defined in claim 4, wherein: aerial target at t 1 The position on the normal scan image at the moment is (i) 1 ,j 1 ），t 2 The position on the reverse scan image at the moment is (i) 2 ,j 2 ），t 3 The position on the reverse scan image at the moment is (i) 3 ,j 3 ) Obtained by a gravity center extraction algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311246660.3A CN116992575B (en) | 2023-09-26 | 2023-09-26 | Space-time baseline-based air target single-star positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311246660.3A CN116992575B (en) | 2023-09-26 | 2023-09-26 | Space-time baseline-based air target single-star positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116992575A CN116992575A (en) | 2023-11-03 |
| CN116992575B true CN116992575B (en) | 2024-01-09 |
Family
ID=88525159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311246660.3A Active CN116992575B (en) | 2023-09-26 | 2023-09-26 | Space-time baseline-based air target single-star positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116992575B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111896009A (en) * | 2020-07-17 | 2020-11-06 | 武汉大学 | Method and system for correcting imaging sight line offset caused by satellite flight motion |
| CN113238225A (en) * | 2019-08-23 | 2021-08-10 | 长沙天仪空间科技研究院有限公司 | Radar for moving target detection |
| CN113985927A (en) * | 2021-10-28 | 2022-01-28 | 西北工业大学太仓长三角研究院 | Method for optimizing perching and stopping moving track of quad-rotor unmanned aerial vehicle |
| CN114967735A (en) * | 2022-05-12 | 2022-08-30 | 中国人民解放军空军工程大学 | Multi-UCAV collaborative real-time track planning method |
| CN115311365A (en) * | 2022-07-08 | 2022-11-08 | 中国科学院上海技术物理研究所 | High-precision on-orbit geometric positioning method for long-linear-array swinging camera |
| CN115343744A (en) * | 2022-07-22 | 2022-11-15 | 上海卫星工程研究所 | Optical single-double-star combined on-satellite positioning method and system for aerial moving target |
| CN116518941A (en) * | 2023-04-27 | 2023-08-01 | 国科大杭州高等研究院 | Aircraft target positioning method and system based on spaceborne bidirectional swing scanning imaging system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10909875B2 (en) * | 2018-03-29 | 2021-02-02 | Cae Inc. | Method and system for determining a recirculation effect from an obstacle on a main rotor induced velocity of a simulated rotorcraft |
-
2023
- 2023-09-26 CN CN202311246660.3A patent/CN116992575B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113238225A (en) * | 2019-08-23 | 2021-08-10 | 长沙天仪空间科技研究院有限公司 | Radar for moving target detection |
| CN111896009A (en) * | 2020-07-17 | 2020-11-06 | 武汉大学 | Method and system for correcting imaging sight line offset caused by satellite flight motion |
| CN113985927A (en) * | 2021-10-28 | 2022-01-28 | 西北工业大学太仓长三角研究院 | Method for optimizing perching and stopping moving track of quad-rotor unmanned aerial vehicle |
| CN114967735A (en) * | 2022-05-12 | 2022-08-30 | 中国人民解放军空军工程大学 | Multi-UCAV collaborative real-time track planning method |
| CN115311365A (en) * | 2022-07-08 | 2022-11-08 | 中国科学院上海技术物理研究所 | High-precision on-orbit geometric positioning method for long-linear-array swinging camera |
| CN115343744A (en) * | 2022-07-22 | 2022-11-15 | 上海卫星工程研究所 | Optical single-double-star combined on-satellite positioning method and system for aerial moving target |
| CN116518941A (en) * | 2023-04-27 | 2023-08-01 | 国科大杭州高等研究院 | Aircraft target positioning method and system based on spaceborne bidirectional swing scanning imaging system |
Non-Patent Citations (2)
| Title |
|---|
| Flatness-based Control of a Gimballed Fixed-Wing UAS;Hayden M. Morgan;2021 International Conference on Unmanned Aircraft Systems (ICUAS);全文 * |
| 基于双目视觉的非合作目标逼近控制系统设计与仿真;郭延宁;韩旭;郭增千;张瑶;马广富;;空间控制技术与应用(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116992575A (en) | 2023-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111077556B (en) | Airport luggage tractor positioning device and method integrating Beidou and multiple sensors | |
| CN107014380B (en) | Combined navigation method based on visual navigation and inertial navigation of aircraft | |
| CN101270993B (en) | Remote high-precision independent combined navigation locating method | |
| CN101893440B (en) | Celestial autonomous navigation method based on star sensors | |
| CN112197761B (en) | High-precision multi-gyroplane co-location method and system | |
| CN104833352B (en) | High-precision vision/inertia integrated navigation method under multimedium complex environment | |
| CN109827541B (en) | Method for improving mutual guide precision of multiple photoelectric theodolites working cooperatively | |
| US10254392B2 (en) | Reverse-ephemeris method for determining position, attitude, and time | |
| CN109709537A (en) | A kind of noncooperative target position and speed tracking based on satellites formation | |
| CN107132542B (en) | A kind of small feature loss soft landing autonomic air navigation aid based on optics and Doppler radar | |
| CN110887473B (en) | Bionic polarization autonomous combined navigation method based on polarization degree weighting | |
| CN104820434A (en) | Velocity measuring method of ground motion object by use of unmanned plane | |
| CN103675760B (en) | A kind of spaceborne geostationary orbit synthetic-aperture radar attitude guidance method | |
| CN103196443A (en) | Flight body posture measuring method and system based on light stream and additional information | |
| CN110146093A (en) | Binary asteroid detection independently cooperates with optical navigation method | |
| CN107831521A (en) | Low orbit satellite tracks the window calculation method of non-orbital flight high dynamic target | |
| CN113409400B (en) | Automatic tracking-based target geographic positioning method of airborne photoelectric system | |
| CN110887478A (en) | Autonomous navigation positioning method based on polarization/astronomical assistance | |
| Hill et al. | Ground-to-air flow visualization using Solar Calcium-K line Background-Oriented Schlieren | |
| CN111896009A (en) | Method and system for correcting imaging sight line offset caused by satellite flight motion | |
| CN117455960A (en) | Passive positioning filtering algorithm for airborne photoelectric system to ground under time-varying observation noise condition | |
| CN103823209B (en) | For low cost kinematic error measurement mechanism in small-sized polarization sensitive synthetic aperture radar system | |
| EP3430799A2 (en) | Image data capturing arrangement | |
| CN113670301A (en) | Airborne SAR motion compensation method based on inertial navigation system parameters | |
| CN116992575B (en) | Space-time baseline-based air target single-star positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |