CN118689249A - Photoelectric platform position guiding module system and position guiding method thereof - Google Patents
Photoelectric platform position guiding module system and position guiding method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of photoelectric platform design, in particular to a photoelectric platform position guiding module system and a position guiding method, wherein the photoelectric platform position guiding module system comprises a base judging module and a position guiding module, and the base judging module judges whether the position guiding module is a moving base alignment system or a static base alignment system; the position guiding module comprises a gesture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; the control and calculation unit receives the real-time navigation attitude data output by the attitude sensing unit and the longitude of the target acquired by the target position providing unitLatitude and longitudeHeight ofPerforming position operation to finally obtain azimuth angle of the execution unitAnd pitch angle. The invention solves the problems of design distinction and commonality of the position guiding module of the two alignment systems of the movable base and the static base in module composition and algorithm formula deduction.
Description
Technical Field
The invention relates to the technical field of photoelectric platform design, in particular to a photoelectric platform position guiding module system and a position guiding method thereof.
Background
The airborne photoelectric platform is hung below the aircraft and comprises a photoelectric detection imaging component which can be used for assisting imaging; the device also comprises a frame structure for driving the imaging component to rotate, and the functions of swing scanning imaging and the like are realized, wherein the visual axis coincides with the X axis of the rotation center. The position guiding module is a functional module of the photoelectric detection imaging component, and can complete quick searching and continuous tracking on a static or quasi-static target with any known geographic position. The position guiding module collects the navigation attitude information of the photoelectric platform, operates the algorithm to rotate the platform, finally leads the optical axis of the sensor to point to the target position, is used for assisting aiming and multi-turn and continuous remote sensing tasks, and has wide application prospect. The installation positions of the Inertial Measurement Units (IMU) are used for distinguishing, the Inertial Measurement Units (IMU) are installed on the photoelectric platform and set as a movable base alignment system, the inertial measurement units of the aircraft are reused, and the Inertial Measurement Units (IMU) are not additionally configured as a static base alignment system.
The current position guiding module design does not distinguish and share the position guiding function schemes of the two systems of the dynamic base and the static base when the module composition, parameter definition and algorithm derivation are carried out, and the problems of concept confusion and algorithm mixed use exist.
Disclosure of Invention
Therefore, the invention is directed to a photoelectric platform position guiding module system and a position guiding method thereof, which determine the system module composition and apply the corresponding method by judging the moving base alignment system or the static base alignment system, and finally obtain the azimuth angle of the execution unitAnd pitch angle。
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
The photoelectric platform position guide module system comprises a base judging module and a position guide module, wherein the base judging module is used for judging whether the position guide module is a moving base alignment system or a static base alignment system; the position guiding module comprises a gesture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; the gesture sensing unit is used for outputting real-time navigation gesture data of the photoelectric platform or the airplane.
Longitude of position data of target acquired by target position providing unitLatitude and longitudeAnd height of。
The control and calculation unit is used for receiving the real-time navigation attitude data and the longitude of the targetLatitude and longitudeHeight ofCalculating azimuth angle required by execution unitAnd pitch angle；
The execution unit turns according to the azimuthAnd pitch angleTracking the target.
Further, when the inertia measurement device is installed on the photoelectric platform, the base judgment module judges that the position guide module is a moving base alignment system; when the photoelectric platform is not provided with an inertial measurement device, the base judging module judges that the position guiding module is a static base standard body.
Further, when the position guiding module is a moving base alignment system, the real-time navigation posture data includes longitude of the photoelectric platform relative to a local horizontal coordinate systemLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
Further, the gesture sensing unit comprises an airplane navigation gesture reference system, an inertia measuring device and a data fusion calculating unit;
The aircraft attitude reference system is used for transmitting real-time attitude data of the aircraft to the inertia measurement device and the data fusion calculation unit;
The inertial measurement device completes initial calibration according to the received real-time navigation attitude data and measures the acceleration and angular velocity of the aircraft in real time;
The data fusion calculation unit performs data fusion calculation on the received real-time navigation attitude data, the acceleration and the angular velocity to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
Further, when the position guiding module is a static base alignment system, the state sensing unit is an aircraft attitude reference system, and the aircraft attitude reference system outputs real-time attitude data of the aircraft, wherein the real-time attitude data comprises the longitude of the aircraftLatitude and longitudeAnd height ofAnd aircraft heading anglePitch angleRoll angle。
The position guiding method of the electromechanical platform position guiding module is used for realizing the position guiding of the position guiding module when the movable base is aligned to the system, and is realized by the photoelectric platform position guiding module system, and comprises the following steps:
A1. The data fusion calculation unit performs data fusion calculation on the received aircraft real-time attitude data and the angular velocity and acceleration of the photoelectric platform measured by an Inertial Measurement Unit (IMU) in real time to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
A2. The target position providing unit obtains longitude of targetLatitude and longitudeAnd height of。
A3. the execution unit rotates the position rotation angleAnd pitch angleFeedback to the control and calculation unit.
A4. The control and calculation unit receives the longitude of the photoelectric platformLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofAzimuth angle fed back by execution unitAnd pitch anglePerforming formula derivation and operation to obtain azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
A41. Firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, a photoelectric platform inertial measurement device coordinate system P and a photoelectric platform base coordinate system B.
A42. under the earth rectangular coordinate system e, the directional vector of the photoelectric platform to the target is obtained, wherein the semi-long axis of the earth isTarget position mortise unitary circle radiusRadius of mortise circle at photoelectric platform。
Coordinate of photoelectric platform under ground rectangular coordinate system e：
；
Coordinates of the target in the rectangular coordinate system e of the earth：
；
Corresponding to the direction vector of the target pointed by the photoelectric platformExpressed as:
。
A43. Establishing an inertial measurement device coordinate system P, wherein an X axis points to the front side of a visual axis, a Z axis points to the sky, and a Y axis and two axes form a right-hand coordinate system; the unified coordinate system is finally obtained through a geodetic rectangular coordinate system e, a local horizontal coordinate system g and an inertial measurement device coordinate system P Turning to the platform base coordinate system B to obtain; Recalculating the pointing vector of the visual axis of the optoelectronic platform baseRotated toAzimuth angle of position execution unit to tracking targetAnd pitch angle β, calculated by the following four steps:
A431. The ground rectangular coordinate system e turns to a local horizontal coordinate system g; wherein,
The geodetic coordinate system e takes the center of an ellipsoid as an origin, the intersection line of the initial meridian plane and the equatorial plane is an X axis, the direction orthogonal to the X axis is a Y axis, and the Z axis points to the geographic north pole; the local horizontal coordinate system g takes the coordinate of the airplane as the origin, the Z axis is aligned with the ground vertical line, the X axis is aligned relative to the north direction, and the Y axis forms a right-hand coordinate system; the vector is turned from the ground rectangular coordinate system e to the local horizontal coordinate system g to obtainThis process is abstracted into a mathematical model of the rotation of the rigid axis: first rotate around Z axis+180°, And then rotated about the Y-axis by 90 ° -B 0; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
；
wherein, R is taken from the first letter R of the Rotation matrix english Rotation matrix, and is used as a reference letter to refer to a Rotation matrix as an intermediate variable.
A432. The local horizontal coordinate system g is turned to an inertial measurement device coordinate system P:
the difference between the local horizontal coordinate system g and the inertial measurement device coordinate system P is defined by the attitude angle of the photoelectric platform; the coordinate system between the two is converted and abstracted into a rigid body fixed-axis rotation model, the heading angle is firstly rotated around Z, then the pitch angle is rotated around Y, and finally the roll angle is rotated around X; the attitude angles are respectively recorded as heading, pitch and roll ; The corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
。
A433. the inertial measurement device coordinate system P turns to the photoelectric platform base coordinate system B:
Real-time azimuth angle of inertial measurement device position corresponding execution unit And pitch angleConverting the inertial measurement device system P into a platform base coordinate system B; the platform base coordinate system B is taken as a reference steering inertia measurement device coordinate system P, and abstracted into a rigid body fixed axis rotation model of which the pitching is firstly rotated and then the azimuth is rotated; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
=。
A434. Solving azimuth angle of execution unit And pitch angle：
The X-axis is directed towards the visual axis, vector of visual axisThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinates of the photoelectric platformThe vector should be equal to the target pointing direction vector under the base coordinates of the photoelectric platformOverlapping;
；
=；
namely: ；
According to vectors Calculating azimuth angle of rotation required by execution unitAnd pitch angleThe calculation formula is as follows:
；
。
A position guiding method of a position guiding module of an optoelectronic platform, for realizing position guiding when the position guiding module is a static base alignment system, realized by the optoelectronic platform position guiding module system according to claim 5, comprising the following steps:
B1. Aircraft attitude reference system for providing longitude of aircraft Latitude and longitudeAnd height ofCourse anglePitch angleRoll angle。
B2. The target position providing unit obtains longitude of targetLatitude and longitudeAnd height of。
B3. The control and calculation unit receives the longitude of the aircraftLatitude and longitudeAnd height ofCourse anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofPerforming position operation to finally obtain azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
B31. firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, an aircraft platform coordinate system P and an aircraft platform base coordinate system B.
B32. Solving direction vector of airplane pointing target under ground rectangular coordinate system eWherein the semi-long axis of the earth isTarget position mortise unitary circle radiusAirplane position mortise unitary circle radius；
Coordinates of aircraft under rectangular coordinate system e，，）：
；
Coordinates of the target in the rectangular coordinate system e，，）：
；
Corresponding to the direction of the target by the aircraftExpressed as:
。
B33: establishing an aircraft coordinate system, wherein a Y axis points to the front side of a visual axis, a Z axis points to the sky, and an X axis and two axes form a right-hand coordinate system, and finally the aircraft coordinate system is obtained through a ground rectangular coordinate system e, a local horizontal coordinate system g and an aircraft platform coordinate system P Turning to the coordinate system B of the aircraft platform base to obtain; Finally, calculating the pointing vector of the lower visual axis of the aircraft platform baseTurning toAzimuth angle of a target of a positionAnd pitch angle β; the calculation is performed according to the following four steps:
And B331: the geodetic rectangular coordinate system e is turned to the local horizontal coordinate system g:
Based on the coordinate system of the airplane, the local horizontal coordinate system can be regarded as Z-axis alignment geodetic vertical line in a static algorithm, Y-axis alignment relative north direction, X-axis forms right-hand rectangular coordinate system along with the Z-axis alignment relative north direction; converting the direction vector of the airplane pointing to the target from a ground rectangular coordinate system to a local horizontal coordinate system, abstracting the direction vector into a rigid axis rotation model, and rotating around a Z axis by 90+ And then rotate around the X-axis by 90-。
；
；
And (3) finishing to obtain:
。
and B332: local horizontal coordinate system g-system steering aircraft platform coordinate system P-system
The attitude angle of the aircraft platform coordinate system P compared with the local horizontal coordinate system g is a course anglePitch angleAnd roll angle；
；
；
And (3) finishing to obtain:
。
B333: plane platform coordinate system p-system steering platform base coordinate system B-system
The correction of the accuracy of the position guiding module is ensured by introducing the installation angle correction value of the installation angle correction value input unit in the aircraft and the photoelectric platform into the algorithm, and when the two are relatively static, the measured installation deviation angles are respectively heading installation error anglesPitch installation error angleAnd roll mounting error angle；
；
；
And (3) finishing to obtain:
=。
B334: solving azimuth angle of execution unit And pitch angle
In the static base algorithm, the Y-axis is directed toward the visual axis, so the basis vector needs to be setThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinatesThe vector should be aligned with the target pointing direction vector at the coordinates of the platform baseAnd (5) overlapping.
；
；
=；
Namely:；
According to Calculating the rotation azimuth angle of the execution unitAnd pitch angleThe calculation formula is as follows:
；
。
Compared with the prior art, the invention has the following beneficial effects: the standardized design flow is adopted, and the design distinction and commonality problems of two alignment systems of the movable base and the static base in module composition and algorithm formula derivation are clearly cleared.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of a system of optoelectronic platform position guide modules according to an embodiment of the present invention;
FIG. 2 is a diagram of the booting function of the motion base system and the data flow according to the embodiment of the present invention;
Fig. 3 is a diagram of the booting function of the static base system and a data flow chart according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to fig. 3, the system for guiding a position of an optoelectronic platform according to the embodiments of the present invention includes a base determining module and a position guiding module, where the base determining module is configured to determine that the position guiding module is a moving base alignment system or a static base alignment system; the position guiding module comprises a gesture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; the gesture sensing unit is used for outputting real-time navigation gesture data of the photoelectric platform or the airplane; longitude of position data of target acquired by target position providing unitLatitude and longitudeAnd height of; The control and calculation unit is used for receiving the real-time navigation attitude data and the longitude of the targetLatitude and longitudeHeight ofCalculating azimuth angle required by execution unitAnd pitch angle; The execution unit turns according to the azimuthAnd pitch angleTracking the target.
In this embodiment, the base determination module determines whether the system of the photoelectric platform position guiding module is a moving base system or a static base system according to whether there is an inertial measurement device on the photoelectric platform, and determines the composition of the position guiding module according to the determination. Different formula deductions and operations are performed according to the base alignment system or the static base alignment system.
Further, when the inertia measurement device is installed on the photoelectric platform, the base judgment module judges that the position guide module is a moving base alignment system; when the photoelectric platform is not provided with an inertial measurement device, the base judging module judges that the position guiding module is a static base standard body.
Further, when the position guiding module is a moving base alignment system, the real-time navigation posture data includes longitude of the photoelectric platform relative to a local horizontal coordinate systemLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
Further, the gesture sensing unit comprises an airplane navigation gesture reference system, an inertia measuring device and a data fusion calculating unit;
The aircraft attitude reference system is used for transmitting real-time attitude data of the aircraft to the inertia measurement device and the data fusion calculation unit;
The inertial measurement device completes initial calibration according to the received real-time navigation attitude data and measures the acceleration and angular velocity of the photoelectric platform in real time;
The data fusion calculation unit performs data fusion calculation on the received real-time navigation attitude data, the acceleration and the angular velocity to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
The inertial measurement unit is named IMU and is one device for measuring three-axis attitude angle and acceleration of the object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals of the object in the carrier coordinate system on three independent axes, and the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, measure angular velocity and acceleration of the object in three-dimensional space, and calculate the attitude of the object based on the angular velocity and acceleration.
The aircraft attitude reference system is named AHRS and is an attitude reference system [1], the system comprises a plurality of axial sensors and can provide heading, roll and side turn information for an aircraft, and the system is used for providing accurate and reliable attitude and navigation information for the aircraft. The attitude reference system comprises a triaxial gyroscope based on MEMS, an accelerometer and a magnetometer. The difference between the attitude reference system and the inertial measurement unit IMU is that the attitude reference system (AHRS) comprises an embedded attitude data calculation unit and heading information, and the Inertial Measurement Unit (IMU) only provides sensor data and does not have the function of providing accurate and reliable attitude data.
Further, when the position guiding module is a static base alignment system, the gesture sensing unit is an aircraft gesture reference system, and the aircraft gesture reference system outputs real-time gesture data of the aircraft, wherein the real-time gesture data comprises the longitude of the aircraftLatitude and longitudeAnd height ofAnd aircraft heading anglePitch angleRoll angle。
As shown in table 1, table 1 gives the symbols of the variables and their definitions referred to in the present invention.
The photoelectric platform position guide module system comprises a base judging module and a position guide module, wherein the base judging module is used for judging whether the position guide module is a moving base alignment system or a static base alignment system; the position guiding module comprises a gesture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; the gesture sensing unit is used for outputting real-time navigation gesture data of the photoelectric platform or the airplane.
Longitude of position data of target acquired by target position providing unitLatitude and longitudeAnd height of。
The control and calculation unit is used for receiving the real-time navigation attitude data and the longitude of the targetLatitude and longitudeHeight ofCalculating azimuth angle required by execution unitAnd pitch angle；
The execution unit turns according to the azimuthAnd pitch angleTracking the target.
Further, when the inertia measurement device is installed on the photoelectric platform, the base judgment module judges that the position guide module is a moving base alignment system; when the photoelectric platform is not provided with an inertial measurement device, the base judging module judges that the position guiding module is a static base standard body.
Further, when the position guiding module is a moving base alignment system, the real-time navigation posture data includes longitude of the photoelectric platform relative to a local horizontal coordinate systemLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
Further, the gesture sensing unit comprises an airplane navigation gesture reference system, an inertia measuring device and a data fusion calculating unit;
The aircraft attitude reference system is used for transmitting real-time attitude data of the aircraft to the inertia measurement device and the data fusion calculation unit;
The inertial measurement device completes initial calibration according to the received real-time navigation attitude data and measures the acceleration and angular velocity of the aircraft in real time;
The data fusion calculation unit performs data fusion calculation on the received real-time navigation attitude data, the acceleration and the angular velocity to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
Further, when the position guiding module is a static base alignment system, the state sensing unit is an aircraft attitude reference system, and the aircraft attitude reference system outputs real-time attitude data of the aircraft, wherein the real-time attitude data comprises the longitude of the aircraftLatitude and longitudeAnd height ofAnd aircraft heading anglePitch angleRoll angle。
The position guiding method of the electromechanical platform position guiding module is used for realizing the position guiding of the position guiding module when the movable base is aligned to the system, and is realized by the photoelectric platform position guiding module system, and comprises the following steps:
A1. The data fusion calculation unit performs data fusion calculation on the received aircraft real-time attitude data and the angular velocity and acceleration of the photoelectric platform measured by an Inertial Measurement Unit (IMU) in real time to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
A2. The target position providing unit obtains longitude of targetLatitude and longitudeAnd height of。
A3. the execution unit rotates the position rotation angleAnd pitch angleFeedback to the control and calculation unit.
A4. The control and calculation unit receives the longitude of the photoelectric platformLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofAzimuth angle fed back by execution unitAnd pitch anglePerforming formula derivation and operation to obtain azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
A41. Firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, a photoelectric platform inertial measurement device coordinate system P and a photoelectric platform base coordinate system B.
A42. under the earth rectangular coordinate system e, the directional vector of the photoelectric platform to the target is obtained, wherein the semi-long axis of the earth isTarget position mortise unitary circle radiusRadius of mortise circle at photoelectric platform。
Coordinate of photoelectric platform under ground rectangular coordinate system e：
；
Coordinates of the target in the rectangular coordinate system e of the earth：
；
Corresponding to the direction vector of the target pointed by the photoelectric platformExpressed as:
。
A43. Establishing an inertial measurement device coordinate system P, wherein an X axis points to the front side of a visual axis, a Z axis points to the sky, and a Y axis and two axes form a right-hand coordinate system; the unified coordinate system is finally obtained through a geodetic rectangular coordinate system e, a local horizontal coordinate system g and an inertial measurement device coordinate system P Turning to the platform base coordinate system B to obtain; Recalculating the pointing vector of the visual axis of the optoelectronic platform baseRotated toAzimuth angle of position execution unit to tracking targetAnd pitch angle β, calculated by the following four steps:
A431. The ground rectangular coordinate system e turns to a local horizontal coordinate system g; wherein,
The geodetic coordinate system e takes the center of an ellipsoid as an origin, the intersection line of the initial meridian plane and the equatorial plane is an X axis, the direction orthogonal to the X axis is a Y axis, and the Z axis points to the geographic north pole; the local horizontal coordinate system g takes the coordinate of the airplane as the origin, the Z axis is aligned with the ground vertical line, the X axis is aligned relative to the north direction, and the Y axis forms a right-hand coordinate system; the vector is turned from the ground rectangular coordinate system e to the local horizontal coordinate system g to obtainThis process is abstracted into a mathematical model of the rotation of the rigid axis: first rotate around Z axis+180°, And then rotated about the Y-axis by 90 ° -B 0; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
；
wherein, R is taken from the first letter R of the Rotation matrix english Rotation matrix, and is used as a reference letter to refer to a Rotation matrix as an intermediate variable.
A432. The local horizontal coordinate system g is turned to an inertial measurement device coordinate system P:
the difference between the local horizontal coordinate system g and the inertial measurement device coordinate system P is defined by the attitude angle of the photoelectric platform; the coordinate system between the two is converted and abstracted into a rigid body fixed-axis rotation model, the heading angle is firstly rotated around Z, then the pitch angle is rotated around Y, and finally the roll angle is rotated around X; the attitude angles are respectively recorded as heading, pitch and roll ; The corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
。
A433. the inertial measurement device coordinate system P turns to the photoelectric platform base coordinate system B:
Real-time azimuth angle of inertial measurement device position corresponding execution unit And pitch angleConverting the inertial measurement device system P into a platform base coordinate system B; the platform base coordinate system B is taken as a reference steering inertia measurement device coordinate system P, and abstracted into a rigid body fixed axis rotation model of which the pitching is firstly rotated and then the azimuth is rotated; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
=。
A434. Solving azimuth angle of execution unit And pitch angle：
The X-axis is directed towards the visual axis, vector of visual axisThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinates of the photoelectric platformThe vector should be equal to the target pointing direction vector under the base coordinates of the photoelectric platformOverlapping;
；
=；
namely: ；
According to vectors Calculating azimuth angle of rotation required by execution unitAnd pitch angleThe calculation formula is as follows:
；
。
A position guiding method of a position guiding module of an optoelectronic platform, for realizing position guiding when the position guiding module is a static base alignment system, realized by the optoelectronic platform position guiding module system according to claim 5, comprising the following steps:
B1. Aircraft attitude reference system for providing longitude of aircraft Latitude and longitudeAnd height ofCourse anglePitch angleRoll angle。
B2. The target position providing unit obtains longitude of targetLatitude and longitudeAnd height of。
B3. The control and calculation unit receives the longitude of the aircraftLatitude and longitudeAnd height ofCourse anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofPerforming position operation to finally obtain azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
B31. firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, an aircraft platform coordinate system P and an aircraft platform base coordinate system B.
B32. Solving direction vector of airplane pointing target under ground rectangular coordinate system eWherein the semi-long axis of the earth isTarget position mortise unitary circle radiusAirplane position mortise unitary circle radius；
Coordinates of aircraft under rectangular coordinate system e，，）：
；
Coordinates of the target in the rectangular coordinate system e，，）：
；
Corresponding to the direction of the target by the aircraftExpressed as:
。
B33: establishing an aircraft coordinate system, wherein a Y axis points to the front side of a visual axis, a Z axis points to the sky, and an X axis and two axes form a right-hand coordinate system, and finally the aircraft coordinate system is obtained through a ground rectangular coordinate system e, a local horizontal coordinate system g and an aircraft platform coordinate system P Turning to the coordinate system B of the aircraft platform base to obtain; Finally, calculating the pointing vector of the lower visual axis of the aircraft platform baseTurning toAzimuth angle of a target of a positionAnd pitch angle β; the calculation is performed according to the following four steps:
And B331: the geodetic rectangular coordinate system e is turned to the local horizontal coordinate system g:
Based on the coordinate system of the airplane, the local horizontal coordinate system can be regarded as Z-axis alignment geodetic vertical line in a static algorithm, Y-axis alignment relative north direction, X-axis forms right-hand rectangular coordinate system along with the Z-axis alignment relative north direction; converting the direction vector of the airplane pointing to the target from a ground rectangular coordinate system to a local horizontal coordinate system, abstracting the direction vector into a rigid axis rotation model, and rotating around a Z axis by 90+ And then rotate around the X-axis by 90-。
；
；
And (3) finishing to obtain:
。
and B332: local horizontal coordinate system g-system steering aircraft platform coordinate system P-system
The attitude angle of the aircraft platform coordinate system P compared with the local horizontal coordinate system g is a course anglePitch angleAnd roll angle；
；
；
And (3) finishing to obtain:
。
B333: plane platform coordinate system p-system steering platform base coordinate system B-system
The correction of the accuracy of the position guiding module is ensured by introducing the installation angle correction value of the installation angle correction value input unit in the aircraft and the photoelectric platform into the algorithm, and when the two are relatively static, the measured installation deviation angles are respectively heading installation error anglesPitch installation error angleAnd roll mounting error angle；
；
；
And (3) finishing to obtain:
=。
B334: solving azimuth angle of execution unit And pitch angle
In the static base algorithm, the Y-axis is directed toward the visual axis, so the basis vector needs to be setThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinatesThe vector should be aligned with the target pointing direction vector at the coordinates of the platform baseAnd (5) overlapping.
；
；
=；
Namely:；
According to Calculating the rotation azimuth angle of the execution unitAnd pitch angleThe calculation formula is as follows:
；
。
the azimuth angle of the execution unit is completed according to the steps And pitch angleIs calculated by the computer.
TABLE 1 sign and definition of variables
The simulation analysis method provided by the invention is described below with reference to a specific embodiment.
As shown in table 2, table 2 shows the input parameters and results under the motion base system of the present invention.
The example results are shown in Table 2, with an MX-20 photovoltaic platform as an example, the maximum field of view of the tele is 0.92 DEG x 0.61 DEG, and the angle of view is no more than 1 deg. To ensure that the target is accurately guided into the field of view, the maximum error angle of position guidance should be ensured not to exceed half the field of view, namely 0.5 DEG, and corresponding azimuth angle is calculatedAnd pitch angle。
TABLE 2 input parameters and results under moving base System
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. The photoelectric platform position guide module system is characterized by comprising a base judging module and a position guide module, wherein the base judging module is used for judging whether the position guide module is a moving base alignment system or a static base alignment system; the position guiding module comprises a gesture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; wherein,
The gesture sensing unit is used for outputting real-time navigation gesture data of the photoelectric platform or the airplane;
the target position providing unit obtains longitude of position data of the target Latitude and longitudeAnd height of；
The control and calculation unit is used for receiving the real-time navigation attitude data and the longitude of the targetLatitude and longitudeHeight ofCalculating the azimuth angle required by the execution unitAnd pitch angle；
The execution unit turns according to the azimuth angleAnd pitch angleTracking the target.
2. The optoelectronic platform position guide module system of claim 1, wherein the base determination module determines that the position guide module is a moving base alignment regime when an inertial measurement device is mounted on the optoelectronic platform; when the photoelectric platform is not provided with an inertial measurement device, the base judging module judges that the position guiding module is a static base standard body.
3. The optoelectronic platform position guide module system as recited in claim 2, wherein the real-time attitude data includes longitude of the optoelectronic platform relative to a local horizontal coordinate system when the position guide module is a moving base alignment regimeLatitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
4. The optoelectronic platform position guidance module system of claim 3, wherein the attitude sensing unit comprises an aircraft attitude reference system, an inertial measurement device, a data fusion calculation unit;
The aircraft attitude reference system is used for transmitting real-time attitude data of the aircraft to the inertia measurement device and the data fusion calculation unit;
The inertial measurement device completes initial calibration according to the received real-time navigation attitude data and measures acceleration and angular velocity of the photoelectric platform in real time;
the data fusion calculation unit performs data fusion calculation on the received real-time navigation attitude data, the acceleration and the angular velocity to finally obtain the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle。
5. The optoelectronic platform position guidance module system of claim 2, wherein when the position guidance module is a static base alignment system, the attitude sensing unit is an aircraft attitude reference system that outputs real-time attitude data of the aircraft, the real-time attitude data including a longitude of the aircraftLatitude and longitudeAnd height ofAnd aircraft heading anglePitch angleRoll angle。
6. A position guiding method of an optoelectronic platform position guiding module, for realizing position guiding when the position guiding module is a moving base alignment system, implemented by using the optoelectronic platform position guiding module system as set forth in any one of claims 1-4, comprising the steps of:
A1. The data fusion calculation unit performs data fusion calculation on the angular velocity and the acceleration of the photoelectric platform, which are received by the real-time attitude data of the aircraft and the real-time measurement of the inertia measurement device, and finally obtains the longitude of the photoelectric platform relative to a local horizontal coordinate system Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angle；
A2. The target position providing unit obtains the longitude of the targetLatitude and longitudeAnd height of；
A3. The execution unit rotates the execution unit to rotate the azimuth angle in real timeAnd pitch angleFeedback to the control and calculation unit;
A4. the control and calculation unit receives the longitude of the photoelectric platform Latitude and longitudeAnd height ofAnd real-time heading anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofAzimuth angle fed back by execution unitAnd pitch anglePerforming formula derivation and operation to obtain the azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
A41. Firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, an inertial measurement device coordinate system P and a photoelectric platform base coordinate system B respectively;
A42. Solving a direction vector of the photoelectric platform pointing to a target under the geodetic rectangular coordinate system e, wherein the semi-long axis of the earth is Target position mortise unitary circle radiusRadius of mortise circle at photoelectric platform；
Coordinate of photoelectric platform under ground rectangular coordinate system e：
；
Coordinates of the target in the rectangular coordinate system e of the earth：
；
Corresponding to the direction vector of the target pointed by the photoelectric platformExpressed as:
；
A43. establishing an inertial measurement device coordinate system P, wherein an X axis points to the front side of a visual axis, a Z axis points to the sky, and a Y axis and two axes form a right-hand coordinate system; a unified coordinate system, which is finally obtained through the geodetic rectangular coordinate system e, the local horizontal coordinate system g and the inertial measurement device coordinate system P Turning to the platform base coordinate system B to obtain; Recalculating the pointing vector of the visual axis of the optoelectronic platform baseRotated toAzimuth angle of the execution unit of the position to the tracking targetAnd pitch angle β, calculated by the following four steps:
A431. The ground rectangular coordinate system e turns to a local horizontal coordinate system g; wherein,
The geodetic coordinate system e takes the center of an ellipsoid as an origin, the intersection line of the initial meridian plane and the equatorial plane is an X axis, the direction orthogonal to the X axis is a Y axis, and the Z axis points to the geographic north pole; the local horizontal coordinate system g takes the coordinate of the airplane as an origin, the Z axis is aligned with the ground vertical line, the X axis is aligned relative to the north direction, and the Y axis forms a right-hand coordinate system along with the Z axis; turning vectors from the ground rectangular coordinate system e to the local horizontal coordinate system g to obtainThis process is abstracted into a mathematical model of the rotation of the rigid axis: first rotate around Z axis+180°, And then rotated about the Y-axis by 90 ° -B 0; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
；
wherein, R is taken from the first letter R of the Rotation matrix english Rotation matrix, and is used as a reference letter to refer to a Rotation matrix as an intermediate variable.
A432. The local horizontal coordinate system g is turned to an inertial measurement device coordinate system P:
the difference between the local horizontal coordinate system g and the inertial measurement device coordinate system P is defined by the attitude angle of the photoelectric platform; the coordinate system between the two is converted and abstracted into a rigid body fixed-axis rotation model, the heading angle is firstly rotated around Z, then the pitch angle is rotated around Y, and finally the roll angle is rotated around X; the attitude angles are respectively recorded as heading, pitch and roll ; The corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
；
A433. the inertial measurement device coordinate system P turns to the photoelectric platform base coordinate system B:
the position of the inertial measurement device corresponds to the real-time azimuth angle of the execution unit And pitch angleConverting the inertial measurement device system P into the platform base coordinate system B; turning to the inertial measurement device coordinate system P by taking the platform base coordinate system B as a reference, and abstracting the inertial measurement device coordinate system P into a rigid body fixed-axis rotation model which rotates and pitching firstly and then rotates the azimuth; the corresponding formula of the rotation matrix is as follows:
；
；
and (3) finishing to obtain:
=；
A434. Solving azimuth angle of execution unit And pitch angle：
The X-axis is directed towards the visual axis, vector of visual axisThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinates of the photoelectric platformThe vector should be equal to the target pointing direction vector under the base coordinates of the photoelectric platformOverlapping;
；
=；
namely: ；
According to vectors Calculating the azimuth angle of the rotation required by the execution unitAnd pitch angleThe calculation formula is as follows:
；
。
7. A position guiding method of an optoelectronic platform position guiding module, for realizing position guiding when the position guiding module is a static base alignment system, implemented by using the optoelectronic platform position guiding module system as claimed in claim 5, comprising the following steps:
B1. The aircraft attitude reference system provides the longitude of the aircraft Latitude and longitudeAnd height ofCourse anglePitch angleRoll angle；
B2. the target position providing unit obtains the longitude of the targetLatitude and longitudeAnd height of；
B3. the control and calculation unit receives the longitude of the aircraftLatitude and longitudeAnd height ofCourse anglePitch angleRoll angleLongitude of targetLatitude and longitudeAnd height ofPerforming position operation to finally obtain the azimuth angle of the execution unitAnd pitch angle; Azimuth angleAnd pitch angleThe calculation process of (2) is as follows:
B31. Firstly, establishing a coordinate system which is a geodetic rectangular coordinate system e, a local horizontal coordinate system g, an aircraft platform coordinate system P and an aircraft platform base coordinate system B respectively;
B32. solving a direction vector of the airplane pointing target under the ground rectangular coordinate system e Wherein the semi-long axis of the earth isTarget position mortise unitary circle radiusAirplane position mortise unitary circle radius；
Coordinates of aircraft under rectangular coordinate system e，，）：
；
Coordinates of the target in the rectangular coordinate system e，，）：
；
Corresponding to the direction of the target by the aircraftExpressed as:
；
b33: establishing an aircraft coordinate system, wherein a Y axis points to the front side of a visual axis, a Z axis points to the sky, an X axis and two axes form a right-hand coordinate system, and the aircraft coordinate system P, the ground rectangular coordinate system e, the local horizontal coordinate system g and the aircraft platform coordinate system P are finally obtained Turning to the coordinate system B of the aircraft platform base to obtain; Finally, calculating the pointing vector of the lower visual axis of the aircraft platform baseTurning toAzimuth angle of a target of a positionAnd pitch angle β; the calculation is performed according to the following four steps:
And B331: the geodetic rectangular coordinate system e is turned to the local horizontal coordinate system g:
Based on the coordinate system of the aircraft, the local horizontal coordinate system can be regarded as a Z-axis aligned with a ground vertical line in a static algorithm, a Y-axis aligned with relative north, and an X-axis forms a right-hand rectangular coordinate system; converting the direction vector of the airplane pointing target from the ground rectangular coordinate system to the local horizontal coordinate system, abstracting the direction vector into a moving axis rotation model of a rigid body, and rotating the moving axis rotation model around a Z axis by 90+ And then rotate around the X-axis by 90-。
；
；
And (3) finishing to obtain:
；
and B332: local horizontal coordinate system g-system steering aircraft platform coordinate system P-system
The attitude angle of the aircraft platform coordinate system P compared with the local horizontal coordinate system g is a course anglePitch angleAnd roll angle；
；
；
And (3) finishing to obtain:
；
B333: plane platform coordinate system p-system steering platform base coordinate system B-system
The correction of the precision of the position guiding module is ensured by the correction value of the installation angle, which is introduced into the installation angle correction value input unit in both the airplane and the photoelectric platform, in the algorithm, and when the two are relatively static, the measured installation deviation angles are respectively heading installation error anglesPitch installation error angleAnd roll mounting error angle；
；
；
And (3) finishing to obtain:
=；
B334: solving the azimuth angle of the execution unit And pitch angle
In the static base algorithm, the Y-axis is directed toward the visual axis, so the basis vector needs to be setThe execution unit rotates corresponding to the azimuth angleAnd pitch angleObtaining the representation of the corresponding visual axis pointing vector under the base coordinatesThe vector should be aligned with the target pointing direction vector at the coordinates of the platform baseAnd (5) overlapping.
；
；
=；
Namely:；
According to Calculating the rotation azimuth angle of the execution unitAnd pitch angleThe calculation formula is as follows:
；
。
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