CN118689249A - Optoelectronic platform position guidance module system and position guidance method thereof - Google Patents

Optoelectronic platform position guidance module system and position guidance method thereof Download PDF

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CN118689249A
CN118689249A CN202410861005.7A CN202410861005A CN118689249A CN 118689249 A CN118689249 A CN 118689249A CN 202410861005 A CN202410861005 A CN 202410861005A CN 118689249 A CN118689249 A CN 118689249A
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axis
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黄思嘉
王增发
黄小帅
祃卓荦
王国华
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • 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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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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

光电平台位置引导模块系统及其位置引导方法Optoelectronic platform position guidance module system and position guidance method thereof

技术领域Technical Field

本发明涉及光电平台设计技术领域，尤其涉及一种光电平台位置引导模块系统及其位置引导方法。The present invention relates to the technical field of optoelectronic platform design, and in particular to an optoelectronic platform position guidance module system and a position guidance method thereof.

背景技术Background Art

机载光电平台挂载于飞机下方，包含光电探测成像部件，可用于辅助成像；还包含带动成像部件转动的框架结构，实现摆扫成像等功能，其中视轴与转动中心的X轴重合。位置引导模块为光电探测成像部件的功能模块，对任一地理位置已知的静态或准静态目标，完成快速搜寻和持续跟踪。位置引导模块收集光电平台航姿信息，运行算法令平台转动，最终使传感器的光轴指向目标位置，用于辅助瞄准和多轮次、持续性遥感任务，具有广阔的应用前景。以惯性测量器件（IMU）的安装位置做区分，惯性测量器件（IMU）安装于光电平台上设定为动基座对准体制，复用飞机的惯性测量单元，不额外配置惯性测量器件（IMU）的为静基座对准体制。The airborne optoelectronic platform is mounted under the aircraft and includes an optoelectronic detection and imaging component that can be used to assist imaging. It also includes a frame structure that drives the imaging component to rotate to achieve functions such as swing scanning imaging, in which the visual axis coincides with the X-axis of the rotation center. The position guidance module is a functional module of the optoelectronic detection and imaging component, which completes rapid search and continuous tracking of any static or quasi-static target with a known geographical location. The position guidance module collects the heading information of the optoelectronic platform, runs an algorithm to rotate the platform, and finally points the optical axis of the sensor to the target position. It is used to assist aiming and multi-round, continuous remote sensing tasks, and has broad application prospects. Based on the installation position of the inertial measurement unit (IMU), the inertial measurement unit (IMU) installed on the optoelectronic platform is set as a dynamic base alignment system, reusing the aircraft's inertial measurement unit, and the static base alignment system without an additional inertial measurement unit (IMU) is used.

当前位置引导模块设计在模块组成、参量定义以及算法推导时没有厘清动基座和静基座两种体制的位置引导功能方案的区别和共性，存在概念混淆，算法混用的问题。The current position guidance module design does not clarify the differences and commonalities between the position guidance functional solutions of the dynamic base and the static base in terms of module composition, parameter definition and algorithm derivation, resulting in conceptual confusion and mixed use of algorithms.

发明内容Summary of the invention

有鉴于此，本发明创造旨在一种光电平台位置引导模块系统及其位置引导方法，通过判断动基座对准体制还是静基座对准体制，确定系统模块组成并应用对应方法，最终得到执行单元的方位转角和俯仰转角。In view of this, the invention aims to provide an optoelectronic platform position guidance module system and a position guidance method thereof, by judging whether the dynamic base alignment system or the static base alignment system is used, determining the system module composition and applying the corresponding method, and finally obtaining the azimuth angle of the execution unit. and pitch angle .

为达到上述目的，本发明创造的技术方案是这样实现的：To achieve the above object, the technical solution created by the present invention is implemented as follows:

一种光电平台位置引导模块系统，包括基座判定模块和位置引导模块，基座判定模块用于判定位置引导模块为动基座对准体制或静基座对准体制；位置引导模块包括姿态感知单元、目标位置提供单元、控制与计算单元以及执行单元；其中，姿态感知单元用于输出光电平台或飞机的实时航姿数据。A photoelectric platform position guidance module system comprises a base determination module and a position guidance module, wherein the base determination module is used to determine whether the position guidance module is a dynamic base alignment system or a static base alignment system; the position guidance module comprises a posture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; wherein the posture sensing unit is used to output real-time heading data of the photoelectric platform or the aircraft.

目标位置提供单元获取目标的位置数据的经度、纬度和高度。The target location providing unit obtains the longitude of the target location data ,latitude and height .

控制与计算单元用于接收实时航姿数据和目标的经度、纬度、高度，计算执行单元所需的方位转角和俯仰转角；The control and computing unit is used to receive real-time heading data and the longitude of the target. ,latitude ,high , calculate the azimuth angle required for the execution unit and pitch angle ;

执行单元根据方位转角和俯仰转角对目标进行跟踪。The execution unit rotates according to the azimuth angle and pitch angle Track the target.

进一步的，当光电平台上安装有惯性测量器件时，基座判定模块判断位置引导模块为动基座对准体制；当光电平台上没有安装惯性测量器件时，基座判定模块判断位置引导模块为静基座准体制。Furthermore, when an inertial measurement device is installed on the optoelectronic platform, the base determination module determines that the position guidance module is a dynamic base alignment system; when an inertial measurement device is not installed on the optoelectronic platform, the base determination module determines that the position guidance module is a static base alignment system.

进一步的，当位置引导模块为动基座对准体制时，实时航姿数据包括光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a dynamic base alignment system, the real-time heading data includes the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

进一步的，姿态感知单元包括飞机航姿基准系统、惯性测量器件、数据融合计算单元；Furthermore, the attitude sensing unit includes an aircraft attitude reference system, an inertial measurement device, and a data fusion calculation unit;

飞机航姿基准系统用于向惯性测量器件和数据融合计算单元传输飞机的实时航姿数据；The aircraft attitude reference system is used to transmit the aircraft's real-time attitude data to the inertial measurement device and data fusion calculation unit;

惯性测量器件根据接收的实时航姿数据完成初始校准，并实时测量飞机的加速度和角速度；The inertial measurement device completes initial calibration based on the received real-time heading and attitude data, and measures the acceleration and angular velocity of the aircraft in real time;

数据融合计算单元对接收到实时航姿数据以及加速度和角速度进行数据融合计算，最终得到光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。The data fusion calculation unit performs data fusion calculation on the received real-time attitude data, acceleration and angular velocity, and finally obtains the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

进一步的，当位置引导模块为静基座对准体制时，态感知单元为飞机航姿基准系统，飞机航姿基准系统输出飞机的实时航姿数据，实时航姿数据包括飞机的经度、纬度和高度和飞机航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a static base alignment system, the state perception unit is an aircraft attitude reference system, and the aircraft attitude reference system outputs the real-time attitude data of the aircraft, and the real-time attitude data includes the longitude of the aircraft. ,latitude and height and the aircraft heading angle , Pitch angle , Roll Angle .

一种机电平台位置引导模块的位置引导方法，用于实现位置引导模块为动基座对准体制时的位置引导，利用上述的光电平台位置引导模块系统实现，包括以下步骤：A method for guiding a position of an electromechanical platform position guiding module is used to guide the position of the position guiding module when aligning a moving base, and is implemented by using the above-mentioned optoelectronic platform position guiding module system, comprising the following steps:

A1.数据融合计算单元对接收飞机实时航姿数据以及惯性测量器件（IMU）实时测量的光电平台的角速度和加速度进行数据融合计算，最终得到光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。A1. The data fusion calculation unit performs data fusion calculation on the real-time attitude data of the received aircraft and the angular velocity and acceleration of the optoelectronic platform measured in real time by the inertial measurement unit (IMU), and finally obtains the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

A2.目标位置提供单元获取目标的经度、纬度和高度。A2. The target location providing unit obtains the longitude of the target ,latitude and height .

A3.执行单元将自身转动的方位转角和俯仰转角反馈至控制与计算单元。A3. The actuator rotates itself to the desired angle and pitch angle Feedback to the control and computing unit.

A4.控制与计算单元接收光电平台的经度、纬度和高度和实时的航向角、俯仰角、横滚角，目标的经度、纬度和高度以及执行单元反馈的方位角和俯仰角进行公式推导及运算，得到执行单元的方位转角和俯仰转角；方位转角和俯仰转角的计算过程如下：A4. The control and computing unit receives the longitude of the optoelectronic platform ,latitude and height and real-time heading angle , Pitch angle , Roll Angle , the longitude of the target ,latitude and height And the azimuth angle of the execution unit feedback and pitch angle Perform formula derivation and calculation to obtain the azimuth angle of the execution unit and pitch angle ; Azimuth angle and pitch angle The calculation process is as follows:

A41.先建立坐标系，分别为大地直角坐标系e、当地水平坐标系g、光电平台惯性测量器件坐标系P以及光电平台基座坐标系B。A41. First establish the coordinate systems, namely the earth rectangular coordinate system e, the local horizontal coordinate system g, the optoelectronic platform inertial measurement device coordinate system P and the optoelectronic platform base coordinate system B.

A42.在大地直角坐标系e下求取光电平台指向目标的方向向量，其中地球半长轴为，目标处卯酉圈半径，光电平台处卯酉圈半径。A42. Obtain the direction vector of the photoelectric platform pointing to the target in the rectangular coordinate system e, where the semi-major axis of the earth is , the radius of the target circle , the radius of the optical circle at the photoelectric platform .

光电平台在大地直角坐标系e下的坐标：The coordinates of the photoelectric platform in the geodetic rectangular coordinate system e :

； ;

目标在大地直角坐标系e下的坐标：The coordinates of the target in the geodetic rectangular coordinate system e :

； ;

对应由光电平台指向目标的方向向量表示为：Corresponding to the direction vector from the optoelectronic platform to the target It is expressed as:

。 .

A43.建立惯性测量器件坐标系P，X轴指向视轴前侧，Z轴指向天空，Y轴与两轴构成右手坐标系；统一坐标系，经大地直角坐标系e、当地水平坐标系g以及惯性测量器件坐标系P，最终将转到平台基座坐标系B下，得到；再计算光电平台基座的视轴的指向向量旋转至位置的执行单元对跟踪目标的方位转角和俯仰转角β，按以下四个步骤展开计算：A43. Establish the inertial measurement device coordinate system P, with the X axis pointing to the front of the visual axis, the Z axis pointing to the sky, and the Y axis and the two axes forming a right-handed coordinate system; unify the coordinate system, through the earth rectangular coordinate system e, the local horizontal coordinate system g and the inertial measurement device coordinate system P, and finally Switch to the platform base coordinate system B and get ; Then calculate the pointing vector of the optical axis of the photoelectric platform base Rotate to The azimuth angle of the position execution unit to the tracking target and the pitch angle β, are calculated in the following four steps:

A431.大地直角坐标系e转向当地水平坐标系g；其中，A431. The earth's rectangular coordinate system e is transformed into the local horizontal coordinate system g; where:

大地坐标系e以椭球中心为原点，起始子午面与赤道面交线为X轴，赤道面与X轴正交的方向为Y轴，Z轴指向地理北极；当地水平坐标系g以飞机的坐标为原点，Z 轴与大地垂线对准，X轴相对北向对准，Y轴随之构成右手坐标系；将向量由大地直角坐标系e转向当地水平坐标系g，得到，此过程抽象为刚体动轴转动的数学模型：先绕Z轴旋转+180°，再绕Y轴旋转90°－B0；旋转矩阵的对应公式如下：The geodetic coordinate system e takes the center of the ellipsoid as its origin, the intersection of the starting meridian plane and the equatorial plane as the X-axis, the direction perpendicular to the equatorial plane and the X-axis as the Y-axis, and the Z-axis points to the geographic North Pole; the local horizontal coordinate system g takes the coordinates of the aircraft as its origin, the Z-axis is aligned with the vertical line of the earth, the X-axis is aligned relative to the north, and the Y-axis forms a right-handed coordinate system; transforming the vector from the geodetic rectangular coordinate system e to the local horizontal coordinate system g, we get This process is abstracted into a mathematical model of the rotation of a rigid body moving axis: first rotate around the Z axis +180°, then rotate 90° around the Y axis - B 0 ; the corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

； ;

其中，R取自旋转矩阵英文Rotation matrix的首字母R，用于作为指代字母，指代某一作为中间变量的旋转矩阵。Among them, R is taken from the first letter R of the rotation matrix in English, and is used as a reference letter to refer to a rotation matrix that serves as an intermediate variable.

A432.当地水平坐标系g转向惯性测量器件坐标系P：A432. Local horizontal coordinate system g turns to inertial measurement device coordinate system P:

当地水平坐标系g和惯性测量器件坐标系P间的差距以光电平台的姿态角定义；两者之间的坐标系转换抽象为刚体的定轴转动模型，先绕Z旋转航向角，再绕Y旋转俯仰角，最后绕X旋转横滚角；姿态角以航向、俯仰和横滚来记分别为；旋转矩阵的对应公式如下：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 optoelectronic platform; the coordinate system transformation between the two is abstracted as a fixed-axis rotation model of a rigid body, first rotating the heading angle around Z, then rotating the pitch angle around Y, and finally rotating the roll angle around X; the attitude angles are recorded in heading, pitch, and roll, respectively ; The corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

。 .

A433.惯性测量器件坐标系P转向光电平台基座坐标系B：A433. Inertial measurement device coordinate system P turns to optoelectronic platform base coordinate system B:

惯性测量器件位置对应执行单元的实时的方位转角和俯仰转角，将惯性测量器件系P转为平台基座坐标系B；以平台基座坐标系B为基准转向惯性测量器件坐标系P，抽象为先转动俯仰，再转动方位的刚体定轴转动模型；旋转矩阵的对应公式如下：The position of the inertial measurement device corresponds to the real-time azimuth angle of the execution unit and pitch angle , transform the inertial measurement device system P into the platform base coordinate system B; take the platform base coordinate system B as the reference to turn to the inertial measurement device coordinate system P, which is abstracted as a rigid body fixed-axis rotation model that rotates pitch first and then rotates azimuth; the corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

=。 = .

A434.求执行单元的方位角和俯仰角：A434. Find the azimuth of the execution unit and pitch angle :

X轴指向视轴，将视轴的向量，执行单元转动对应方位转角和俯仰转角，得到对应的视轴指向向量在光电平台基座坐标下的表示，该向量应与光电平台基座坐标下的目标指向方向向量重合；The X axis points to the visual axis, and the vector of the visual axis , the execution unit rotates the corresponding azimuth angle and pitch angle , get the corresponding visual axis pointing vector in the photoelectric platform base coordinates , which should be aligned with the target pointing direction vector in the photoelectric platform base coordinates coincide;

； ;

=； = ;

即：；Right now: ;

根据向量计算执行单元所需转动的方位角和俯仰角，计算公式如下：According to the vector Calculate the azimuth angle required to execute the unit and pitch angle , the calculation formula is as follows:

； ;

。 .

一种光电平台位置引导模块的位置引导方法，用于实现位置引导模块为静基座对准体制时的位置引导，利用如权利要求5的光电平台位置引导模块系统实现，包括以下步骤：A method for guiding a position of an optoelectronic platform position guiding module, for realizing position guidance when the position guiding module is aligned with a stationary base, is realized by using the optoelectronic platform position guiding module system as claimed in claim 5, comprising the following steps:

B1.飞机航姿基准系统提供飞机的经度、纬度和高度、航向角、俯仰角、横滚角。B1. The aircraft attitude reference system provides the aircraft's longitude ,latitude and height , heading angle , Pitch angle , Roll Angle .

B2.目标位置提供单元获取目标的经度、纬度和高度。B2. The target location providing unit obtains the longitude of the target ,latitude and height .

B3.控制与计算单元接收飞机的经度、纬度和高度、航向角、俯仰角、横滚角以及目标的经度、纬度和高度进行位置运算，最终得到执行单元的方位转角和俯仰转角；方位转角和俯仰转角的计算过程如下：B3. The control and computing unit receives the aircraft's longitude ,latitude and height , heading angle , Pitch angle , Roll Angle and the longitude of the target ,latitude and height Perform position calculations to finally obtain the azimuth angle of the execution unit and pitch angle ; Azimuth angle and pitch angle The calculation process is as follows:

B31.先建立坐标系，分别为大地直角坐标系e、当地水平坐标系g、飞机平台坐标系P以及飞机平台基座坐标系B。B31. First establish the coordinate systems, namely the geodetic rectangular coordinate system e, the local horizontal coordinate system g, the aircraft platform coordinate system P and the aircraft platform base coordinate system B.

B32.在大地直角坐标系e下求取飞机指向目标的方向向量，其中地球半长轴为，目标处卯酉圈半径，飞机处卯酉圈半径；B32. Obtain the direction vector of the aircraft pointing to the target in the geodetic rectangular coordinate system e , where the Earth's semi-major axis is , the radius of the target circle , radius of the circle at the aircraft ;

飞机在大地直角坐标系e下的坐标（，，）：The coordinates of the aircraft in the geodetic rectangular coordinate system e ( , , ):

； ;

目标在大地直角坐标系e下的坐标（，，）：The coordinates of the target in the geodetic rectangular coordinate system e ( , , ):

； ;

对应由飞机指向目标的方向表示为：Corresponding to the direction from the aircraft to the target It is expressed as:

。 .

B33：建立飞机坐标系，Y轴指向视轴前侧，Z轴指天空，X轴与两轴构成右手坐标系，经大地直角坐标系e、当地水平坐标系g以及飞机平台坐标系P，最终将转到飞机平台基座坐标系B系下，得到；最后计算飞机平台基座下视轴的指向向量转至位置的目标的方位转角和俯仰转角β；按以下四个步骤展开计算：B33: Establish the aircraft coordinate system, with the Y axis pointing to the front of the visual axis, the Z axis pointing to the sky, and the X axis and the two axes forming a right-handed coordinate system, through the geodetic rectangular coordinate system e, the local horizontal coordinate system g and the aircraft platform coordinate system P, and finally Switch to the aircraft platform base coordinate system B and get ; Finally, calculate the pointing vector of the visual axis under the aircraft platform base Go to The azimuth angle of the target position and pitch angle β; the calculation is carried out in the following four steps:

B331：大地直角坐标系e转向当地水平坐标系g：B331: Transformation of the geodetic rectangular coordinate system e to the local horizontal coordinate system g:

以飞机的坐标系为依据，在静态算法中当地水平坐标系可看作Z轴对准大地垂线，Y轴对准相对北向，X轴随之构成右手直角坐标系；将飞机指向目标的方向向量由大地直角坐标系转化到当地水平坐标系，抽象为刚体的动轴转动模型，先绕Z轴旋转90+，再绕X轴旋转90-。Based on the coordinate system of the aircraft, in the static algorithm, the local horizontal coordinate system can be regarded as the Z axis pointing to the vertical line of the earth, the Y axis pointing to the relative north, and the X axis forming a right-handed rectangular coordinate system; the direction vector of the aircraft pointing to the target is transformed from the earth rectangular coordinate system to the local horizontal coordinate system, which is abstracted as a dynamic axis rotation model of a rigid body, first rotating 90+ around the Z axis , and then rotate 90 degrees around the X axis .

； ;

； ;

整理得出：The conclusion is:

。 .

B332：当地水平坐标系g系转向飞机平台坐标系P系B332: Local horizontal coordinate system g system turns to aircraft platform coordinate system P system

飞机平台坐标系P相较于当地水平坐标系g的姿态角为航向角、俯仰角和横滚角；The attitude angle of the aircraft platform coordinate system P relative to the local horizontal coordinate system g is the heading angle , Pitch angle and roll angle ;

； ;

； ;

整理得出：The conclusion is:

。 .

B333：飞机平台坐标系p系转向平台基座坐标系B系B333: Aircraft platform coordinate system P turns to platform base coordinate system B

位置引导模块的精度的校正由算法中引入飞机和光电平台两者中安装角修正值输入单元的安装角修正值保证，当两者相对静止，测得安装偏差角分别为航向安装误差角、俯仰安装误差角和横滚安装误差角；The accuracy correction of the position guidance module is ensured by the installation angle correction value of the installation angle correction value input unit introduced into the algorithm. When the two are relatively stationary, the installation deviation angles are measured as the heading installation error angle , Pitch installation error angle and roll installation error angle ;

； ;

； ;

整理得出：The conclusion is:

=。 = .

B334：求执行单元的方位转角和俯仰转角 B334: Find the azimuth angle of the actuator and pitch angle

在静基座算法中，Y轴指向视轴，因此需要将基础向量，执行单元转动对应方位角和俯仰角，得到对应的视轴指向向量在基座坐标下的表示，该向量应与平台基座坐标下的目标指向方向向量重合。In the static base algorithm, the Y axis points to the viewing axis, so the basis vector , the execution unit rotates the corresponding azimuth and pitch angle , get the corresponding visual axis pointing vector in the base coordinates , which should be aligned with the target pointing direction vector in platform base coordinates coincide.

； ;

； ;

=； = ;

即：；Right now: ;

根据计算执行单元转动的方位转角和俯仰转角，计算公式如下：according to Calculate the azimuth angle of the execution unit rotation and pitch angle , the calculation formula is as follows:

； ;

。 .

与现有技术相比，本发明创造能够取得如下有益效果：采用标准化的设计流程，明确厘清了动基座和静基座两种对准体制在模块组成和算法公式推导的设计区别和共性问题。Compared with the prior art, the invention can achieve the following beneficial effects: by adopting a standardized design process, the design differences and common problems of the two alignment systems of the dynamic base and the static base in the module composition and algorithm formula derivation are clearly clarified.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

构成本发明创造的一部分的附图用来提供对本发明创造的进一步理解，本发明创造的示意性实施例及其说明用于解释本发明创造，并不构成对本发明创造的不当限定。在附图中：The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

图1是根据本发明实施例提供的光电平台位置引导模块系统组成示意图；FIG1 is a schematic diagram of the composition of an optoelectronic platform position guidance module system provided in an embodiment of the present invention;

图2是根据本发明实施例提供的动基座体制的引导功能组成及数据流图；FIG2 is a diagram showing the guiding function composition and data flow of the dynamic base system according to an embodiment of the present invention;

图3是根据本发明实施例提供的静基座体制的引导功能组成及数据流图。FIG. 3 is a diagram showing the guiding function composition and data flow of a stationary base system according to an embodiment of the present invention.

具体实施方式DETAILED DESCRIPTION

为了使本发明创造的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例，对本发明创造进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明创造，而不构成对本发明创造的限制。In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

需要说明的是，在不冲突的情况下，本发明创造中的实施例及实施例中的特征可以相互组合。It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

在本发明创造的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明创造和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明创造的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明创造的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

在本发明创造的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以通过具体情况理解上述术语在本发明创造中的具体含义。In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

下面将参考附图并结合实施例来详细说明本发明创造。The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

如图1-图3所示，本发明实施例提供的一种光电平台位置引导模块系统，包括基座判定模块和位置引导模块，基座判定模块用于判定位置引导模块为动基座对准体制或静基座对准体制；位置引导模块包括姿态感知单元、目标位置提供单元、控制与计算单元以及执行单元；其中，姿态感知单元用于输出光电平台或飞机的实时航姿数据；目标位置提供单元获取目标的位置数据的经度、纬度和高度；控制与计算单元用于接收实时航姿数据和目标的经度、纬度、高度计算执行单元所需的方位转角和俯仰转角；执行单元根据方位转角和俯仰转角对目标进行跟踪。As shown in Figures 1 to 3, an optoelectronic platform position guidance module system provided by an embodiment of the present invention includes a base determination module and a position guidance module. The base determination module is used to determine whether the position guidance module is a dynamic base alignment system or a static base alignment system; the position guidance module includes a posture sensing unit, a target position providing unit, a control and calculation unit, and an execution unit; wherein the posture sensing unit is used to output real-time heading data of the optoelectronic platform or the aircraft; the target position providing unit obtains the longitude of the target position data ,latitude and height ; The control and computing unit is used to receive real-time heading data and the longitude of the target ,latitude ,high Calculate the required rotation angle of the execution unit and pitch angle ; The execution unit turns according to the azimuth angle and pitch angle Track the target.

在本实施例中，基座判定模块根据光电平台上是否有惯性测量器件判断光电平台位置引导模块系统为动基座体制或静基座体制，根据判断确定位置引导模块的组成。根据基座对准体制或静基座准体制进行不同的公式推导和运算。In this embodiment, the base determination module determines whether the photoelectric platform position guidance module system is a dynamic 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 guidance module according to the judgment. Different formulas are derived and calculated according to whether the base is an alignment system or a static base alignment system.

进一步的，当光电平台上安装有惯性测量器件时，基座判定模块判断位置引导模块为动基座对准体制；当光电平台上没有安装惯性测量器件时，基座判定模块判断位置引导模块为静基座准体制。Furthermore, when an inertial measurement device is installed on the optoelectronic platform, the base determination module determines that the position guidance module is a dynamic base alignment system; when an inertial measurement device is not installed on the optoelectronic platform, the base determination module determines that the position guidance module is a static base alignment system.

进一步的，当位置引导模块为动基座对准体制时，实时航姿数据包括光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a dynamic base alignment system, the real-time heading data includes the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

进一步的，姿态感知单元包括飞机航姿基准系统、惯性测量器件、数据融合计算单元；Furthermore, the attitude sensing unit includes an aircraft attitude reference system, an inertial measurement device, and a data fusion calculation unit;

飞机航姿基准系统用于向惯性测量器件和数据融合计算单元传输飞机的实时航姿数据；The aircraft attitude reference system is used to transmit the aircraft's real-time attitude data to the inertial measurement device and data fusion calculation unit;

惯性测量器件根据接收的实时航姿数据完成初始校准，并实时测量光电平台的加速度和角速度；The inertial measurement device completes the initial calibration based on the received real-time heading and attitude data, and measures the acceleration and angular velocity of the optoelectronic platform in real time;

数据融合计算单元对接收到实时航姿数据以及加速度和角速度进行数据融合计算，最终得到光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。The data fusion calculation unit performs data fusion calculation on the received real-time attitude data, acceleration and angular velocity, and finally obtains the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

惯性测量器件的英文名称为IMU，是测量物体三轴姿态角(或角速率)以及加速度的装置。一般的，一个IMU包含了三个单轴的加速度计和三个单轴的陀螺，加速度计检测物体在载体坐标系统独立三轴的加速度信号，而陀螺检测载体相对于导航坐标系的角速度信号，测量物体在三维空间中的角速度和加速度，并以此解算出物体的姿态。The English name of inertial measurement device is IMU, which is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the carrier coordinate system in three independent axes, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the attitude of the object.

飞机航姿基准系统的应为名称为AHRS是指航姿参考系[1]，统包括多个轴向传感器，能够为飞行器提供航向，横滚和侧翻信息，这类系统用来为飞行器提供准确可靠的姿态与航行信息。航姿参考系统包括基于MEMS的三轴陀螺仪，加速度计和磁强计。航姿参考系统与惯性测量单元IMU的区别在于，航姿参考系统（AHRS）包含了嵌入式的姿态数据解算单元与航向信息，惯性测量单元（IMU）仅仅提供传感器数据，并不具有提供准确可靠的姿态数据的功能。The aircraft attitude reference system should be called AHRS, which refers to the attitude reference system [1]. The system includes multiple axial sensors that can provide heading, roll and roll information for the aircraft. This type of system is used to provide accurate and reliable attitude and navigation information for the aircraft. The attitude reference system includes a MEMS-based three-axis gyroscope, accelerometer and magnetometer. The difference between the attitude reference system and the inertial measurement unit (IMU) is that the attitude reference system (AHRS) contains an embedded attitude data solver and heading information, while the inertial measurement unit (IMU) only provides sensor data and does not have the function of providing accurate and reliable attitude data.

进一步的，当位置引导模块为静基座对准体制时，姿态感知单元为飞机航姿基准系统，飞机航姿基准系统输出飞机的实时航姿数据，实时航姿数据包括飞机的经度、纬度和高度和飞机航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a static base alignment system, the attitude sensing unit is an aircraft attitude reference system, and the aircraft attitude reference system outputs the real-time attitude data of the aircraft, and the real-time attitude data includes the longitude of the aircraft. ,latitude and height and the aircraft heading angle , Pitch angle , Roll Angle .

如表1所示，表1给出了本发明中涉及到的变量符号及其释义。As shown in Table 1, Table 1 gives the variable symbols and their definitions involved in the present invention.

一种光电平台位置引导模块系统，包括基座判定模块和位置引导模块，基座判定模块用于判定位置引导模块为动基座对准体制或静基座对准体制；位置引导模块包括姿态感知单元、目标位置提供单元、控制与计算单元以及执行单元；其中，姿态感知单元用于输出光电平台或飞机的实时航姿数据。A photoelectric platform position guidance module system comprises a base determination module and a position guidance module, wherein the base determination module is used to determine whether the position guidance module is a dynamic base alignment system or a static base alignment system; the position guidance module comprises a posture sensing unit, a target position providing unit, a control and calculation unit and an execution unit; wherein the posture sensing unit is used to output real-time heading data of the photoelectric platform or the aircraft.

目标位置提供单元获取目标的位置数据的经度、纬度和高度。The target location providing unit obtains the longitude of the target location data ,latitude and height .

控制与计算单元用于接收实时航姿数据和目标的经度、纬度、高度，计算执行单元所需的方位转角和俯仰转角；The control and computing unit is used to receive real-time heading data and the longitude of the target. ,latitude ,high , calculate the azimuth angle required for the execution unit and pitch angle ;

执行单元根据方位转角和俯仰转角对目标进行跟踪。The execution unit rotates according to the azimuth angle and pitch angle Track the target.

进一步的，当光电平台上安装有惯性测量器件时，基座判定模块判断位置引导模块为动基座对准体制；当光电平台上没有安装惯性测量器件时，基座判定模块判断位置引导模块为静基座准体制。Furthermore, when an inertial measurement device is installed on the optoelectronic platform, the base determination module determines that the position guidance module is a dynamic base alignment system; when an inertial measurement device is not installed on the optoelectronic platform, the base determination module determines that the position guidance module is a static base alignment system.

进一步的，当位置引导模块为动基座对准体制时，实时航姿数据包括光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a dynamic base alignment system, the real-time heading data includes the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

进一步的，姿态感知单元包括飞机航姿基准系统、惯性测量器件、数据融合计算单元；Furthermore, the attitude sensing unit includes an aircraft attitude reference system, an inertial measurement device, and a data fusion calculation unit;

飞机航姿基准系统用于向惯性测量器件和数据融合计算单元传输飞机的实时航姿数据；The aircraft attitude reference system is used to transmit the aircraft's real-time attitude data to the inertial measurement device and data fusion calculation unit;

惯性测量器件根据接收的实时航姿数据完成初始校准，并实时测量飞机的加速度和角速度；The inertial measurement device completes initial calibration based on the received real-time heading and attitude data, and measures the acceleration and angular velocity of the aircraft in real time;

数据融合计算单元对接收到实时航姿数据以及加速度和角速度进行数据融合计算，最终得到光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。The data fusion calculation unit performs data fusion calculation on the received real-time attitude data, acceleration and angular velocity, and finally obtains the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

进一步的，当位置引导模块为静基座对准体制时，态感知单元为飞机航姿基准系统，飞机航姿基准系统输出飞机的实时航姿数据，实时航姿数据包括飞机的经度、纬度和高度和飞机航向角、俯仰角、横滚角。Furthermore, when the position guidance module is a static base alignment system, the state perception unit is an aircraft attitude reference system, and the aircraft attitude reference system outputs the real-time attitude data of the aircraft, and the real-time attitude data includes the longitude of the aircraft. ,latitude and height and the aircraft heading angle , Pitch angle , Roll Angle .

一种机电平台位置引导模块的位置引导方法，用于实现位置引导模块为动基座对准体制时的位置引导，利用上述的光电平台位置引导模块系统实现，包括以下步骤：A method for guiding a position of an electromechanical platform position guiding module is used to guide the position of the position guiding module when aligning a moving base, and is implemented by using the above-mentioned optoelectronic platform position guiding module system, comprising the following steps:

A1.数据融合计算单元对接收飞机实时航姿数据以及惯性测量器件（IMU）实时测量的光电平台的角速度和加速度进行数据融合计算，最终得到光电平台相对于当地水平坐标系的经度、纬度和高度和实时的航向角、俯仰角、横滚角。A1. The data fusion calculation unit performs data fusion calculation on the real-time attitude data of the received aircraft and the angular velocity and acceleration of the optoelectronic platform measured in real time by the inertial measurement unit (IMU), and finally obtains the longitude of the optoelectronic platform relative to the local horizontal coordinate system. ,latitude and height and real-time heading angle , Pitch angle , Roll Angle .

A2.目标位置提供单元获取目标的经度、纬度和高度。A2. The target location providing unit obtains the longitude of the target ,latitude and height .

A3.执行单元将自身转动的方位转角和俯仰转角反馈至控制与计算单元。A3. The actuator rotates itself to the desired angle and pitch angle Feedback to the control and computing unit.

A4.控制与计算单元接收光电平台的经度、纬度和高度和实时的航向角、俯仰角、横滚角，目标的经度、纬度和高度以及执行单元反馈的方位角和俯仰角进行公式推导及运算，得到执行单元的方位转角和俯仰转角；方位转角和俯仰转角的计算过程如下：A4. The control and computing unit receives the longitude of the optoelectronic platform ,latitude and height and real-time heading angle , Pitch angle , Roll Angle , the longitude of the target ,latitude and height And the azimuth angle of the execution unit feedback and pitch angle Perform formula derivation and calculation to obtain the azimuth angle of the execution unit and pitch angle ; Azimuth angle and pitch angle The calculation process is as follows:

A41.先建立坐标系，分别为大地直角坐标系e、当地水平坐标系g、光电平台惯性测量器件坐标系P以及光电平台基座坐标系B。A41. First establish the coordinate systems, namely the earth rectangular coordinate system e, the local horizontal coordinate system g, the optoelectronic platform inertial measurement device coordinate system P and the optoelectronic platform base coordinate system B.

A42.在大地直角坐标系e下求取光电平台指向目标的方向向量，其中地球半长轴为，目标处卯酉圈半径，光电平台处卯酉圈半径。A42. Obtain the direction vector of the photoelectric platform pointing to the target in the rectangular coordinate system e, where the semi-major axis of the earth is , the radius of the target circle , the radius of the optical circle at the photoelectric platform .

光电平台在大地直角坐标系e下的坐标：The coordinates of the photoelectric platform in the geodetic rectangular coordinate system e :

； ;

目标在大地直角坐标系e下的坐标：The coordinates of the target in the geodetic rectangular coordinate system e :

； ;

对应由光电平台指向目标的方向向量表示为：Corresponding to the direction vector from the optoelectronic platform to the target It is expressed as:

。 .

A43.建立惯性测量器件坐标系P，X轴指向视轴前侧，Z轴指向天空，Y轴与两轴构成右手坐标系；统一坐标系，经大地直角坐标系e、当地水平坐标系g以及惯性测量器件坐标系P，最终将转到平台基座坐标系B下，得到；再计算光电平台基座的视轴的指向向量旋转至位置的执行单元对跟踪目标的方位转角和俯仰转角β，按以下四个步骤展开计算：A43. Establish the inertial measurement device coordinate system P, with the X axis pointing to the front of the visual axis, the Z axis pointing to the sky, and the Y axis and the two axes forming a right-handed coordinate system; unify the coordinate system, through the earth rectangular coordinate system e, the local horizontal coordinate system g and the inertial measurement device coordinate system P, and finally Switch to the platform base coordinate system B and get ; Then calculate the pointing vector of the optical axis of the photoelectric platform base Rotate to The azimuth angle of the position execution unit to the tracking target and the pitch angle β, are calculated in the following four steps:

A431.大地直角坐标系e转向当地水平坐标系g；其中，A431. The earth's rectangular coordinate system e is transformed into the local horizontal coordinate system g; where:

大地坐标系e以椭球中心为原点，起始子午面与赤道面交线为X轴，赤道面与X轴正交的方向为Y轴，Z轴指向地理北极；当地水平坐标系g以飞机的坐标为原点，Z 轴与大地垂线对准，X轴相对北向对准，Y轴随之构成右手坐标系；将向量由大地直角坐标系e转向当地水平坐标系g，得到，此过程抽象为刚体动轴转动的数学模型：先绕Z轴旋转+180°，再绕Y轴旋转90°－B0；旋转矩阵的对应公式如下：The geodetic coordinate system e takes the center of the ellipsoid as its origin, the intersection of the starting meridian plane and the equatorial plane as the X-axis, the direction perpendicular to the equatorial plane and the X-axis as the Y-axis, and the Z-axis points to the geographic North Pole; the local horizontal coordinate system g takes the coordinates of the aircraft as its origin, the Z-axis is aligned with the vertical line of the earth, the X-axis is aligned relative to the north, and the Y-axis forms a right-handed coordinate system; transforming the vector from the geodetic rectangular coordinate system e to the local horizontal coordinate system g, we get This process is abstracted into a mathematical model of the rotation of a rigid body moving axis: first rotate around the Z axis +180°, then rotate 90° around the Y axis - B 0 ; the corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

； ;

其中，R取自旋转矩阵英文Rotation matrix的首字母R，用于作为指代字母，指代某一作为中间变量的旋转矩阵。Among them, R is taken from the first letter R of the rotation matrix in English, and is used as a reference letter to refer to a rotation matrix that serves as an intermediate variable.

A432.当地水平坐标系g转向惯性测量器件坐标系P：A432. Local horizontal coordinate system g turns to inertial measurement device coordinate system P:

当地水平坐标系g和惯性测量器件坐标系P间的差距以光电平台的姿态角定义；两者之间的坐标系转换抽象为刚体的定轴转动模型，先绕Z旋转航向角，再绕Y旋转俯仰角，最后绕X旋转横滚角；姿态角以航向、俯仰和横滚来记分别为；旋转矩阵的对应公式如下：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 optoelectronic platform; the coordinate system transformation between the two is abstracted as a fixed-axis rotation model of a rigid body, first rotating the heading angle around Z, then rotating the pitch angle around Y, and finally rotating the roll angle around X; the attitude angles are recorded in heading, pitch, and roll, respectively ; The corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

。 .

A433.惯性测量器件坐标系P转向光电平台基座坐标系B：A433. Inertial measurement device coordinate system P turns to optoelectronic platform base coordinate system B:

惯性测量器件位置对应执行单元的实时的方位转角和俯仰转角，将惯性测量器件系P转为平台基座坐标系B；以平台基座坐标系B为基准转向惯性测量器件坐标系P，抽象为先转动俯仰，再转动方位的刚体定轴转动模型；旋转矩阵的对应公式如下：The position of the inertial measurement device corresponds to the real-time azimuth angle of the execution unit and pitch angle , transform the inertial measurement device system P into the platform base coordinate system B; take the platform base coordinate system B as the reference to turn to the inertial measurement device coordinate system P, which is abstracted as a rigid body fixed-axis rotation model that rotates pitch first and then rotates azimuth; the corresponding formula of the rotation matrix is as follows:

； ;

； ;

整理得出：The conclusion is:

=。 = .

A434.求执行单元的方位角和俯仰角：A434. Find the azimuth of the execution unit and pitch angle :

X轴指向视轴，将视轴的向量，执行单元转动对应方位转角和俯仰转角，得到对应的视轴指向向量在光电平台基座坐标下的表示，该向量应与光电平台基座坐标下的目标指向方向向量重合；The X axis points to the visual axis, and the vector of the visual axis , the execution unit rotates the corresponding azimuth angle and pitch angle , get the corresponding visual axis pointing vector in the photoelectric platform base coordinates , which should be aligned with the target pointing direction vector in the photoelectric platform base coordinates coincide;

； ;

=； = ;

即：；Right now: ;

根据向量计算执行单元所需转动的方位角和俯仰角，计算公式如下：According to the vector Calculate the azimuth angle required to execute the unit and pitch angle , the calculation formula is as follows:

； ;

。 .

一种光电平台位置引导模块的位置引导方法，用于实现位置引导模块为静基座对准体制时的位置引导，利用如权利要求5的光电平台位置引导模块系统实现，包括以下步骤：A method for guiding a position of an optoelectronic platform position guiding module, for realizing position guidance when the position guiding module is aligned with a stationary base, is realized by using the optoelectronic platform position guiding module system as claimed in claim 5, comprising the following steps:

B1.飞机航姿基准系统提供飞机的经度、纬度和高度、航向角、俯仰角、横滚角。B1. The aircraft attitude reference system provides the aircraft's longitude ,latitude and height , heading angle , Pitch angle , Roll Angle .

B2.目标位置提供单元获取目标的经度、纬度和高度。B2. The target location providing unit obtains the longitude of the target ,latitude and height .

B3.控制与计算单元接收飞机的经度、纬度和高度、航向角、俯仰角、横滚角以及目标的经度、纬度和高度进行位置运算，最终得到执行单元的方位转角和俯仰转角；方位转角和俯仰转角的计算过程如下：B3. The control and computing unit receives the aircraft's longitude ,latitude and height , heading angle , Pitch angle , Roll Angle and the longitude of the target ,latitude and height Perform position calculations to finally obtain the azimuth angle of the execution unit and pitch angle ; Azimuth angle and pitch angle The calculation process is as follows:

B31.先建立坐标系，分别为大地直角坐标系e、当地水平坐标系g、飞机平台坐标系P以及飞机平台基座坐标系B。B31. First establish the coordinate systems, namely the geodetic rectangular coordinate system e, the local horizontal coordinate system g, the aircraft platform coordinate system P and the aircraft platform base coordinate system B.

B32.在大地直角坐标系e下求取飞机指向目标的方向向量，其中地球半长轴为，目标处卯酉圈半径，飞机处卯酉圈半径；B32. Obtain the direction vector of the aircraft pointing to the target in the geodetic rectangular coordinate system e , where the Earth's semi-major axis is , the radius of the target circle , the radius of the circle at the aircraft ;

飞机在大地直角坐标系e下的坐标（，，）：The coordinates of the aircraft in the geodetic rectangular coordinate system e ( , , ):

； ;

目标在大地直角坐标系e下的坐标（，，）：The coordinates of the target in the geodetic rectangular coordinate system e ( , , ):

； ;

对应由飞机指向目标的方向表示为：Corresponding to the direction from the aircraft to the target It is expressed as:

。 .

B33：建立飞机坐标系，Y轴指向视轴前侧，Z轴指天空，X轴与两轴构成右手坐标系，经大地直角坐标系e、当地水平坐标系g以及飞机平台坐标系P，最终将转到飞机平台基座坐标系B系下，得到；最后计算飞机平台基座下视轴的指向向量转至位置的目标的方位转角和俯仰转角β；按以下四个步骤展开计算：B33: Establish the aircraft coordinate system, with the Y axis pointing to the front of the visual axis, the Z axis pointing to the sky, and the X axis and the two axes forming a right-handed coordinate system, through the geodetic rectangular coordinate system e, the local horizontal coordinate system g and the aircraft platform coordinate system P, and finally Switch to the aircraft platform base coordinate system B and get ; Finally, calculate the pointing vector of the visual axis under the aircraft platform base Go to The azimuth angle of the target position and pitch angle β; the calculation is carried out in the following four steps:

B331：大地直角坐标系e转向当地水平坐标系g：B331: Transformation of the geodetic rectangular coordinate system e to the local horizontal coordinate system g:

以飞机的坐标系为依据，在静态算法中当地水平坐标系可看作Z轴对准大地垂线，Y轴对准相对北向，X轴随之构成右手直角坐标系；将飞机指向目标的方向向量由大地直角坐标系转化到当地水平坐标系，抽象为刚体的动轴转动模型，先绕Z轴旋转90+，再绕X轴旋转90-。Based on the coordinate system of the aircraft, in the static algorithm, the local horizontal coordinate system can be regarded as the Z axis pointing to the vertical line of the earth, the Y axis pointing to the relative north, and the X axis forming a right-handed rectangular coordinate system; the direction vector of the aircraft pointing to the target is transformed from the earth rectangular coordinate system to the local horizontal coordinate system, which is abstracted as a dynamic axis rotation model of a rigid body, first rotating 90+ around the Z axis , and then rotate 90 degrees around the X axis .

； ;

； ;

整理得出：The conclusion is:

。 .

B332：当地水平坐标系g系转向飞机平台坐标系P系B332: Local horizontal coordinate system g system turns to aircraft platform coordinate system P system

飞机平台坐标系P相较于当地水平坐标系g的姿态角为航向角、俯仰角和横滚角；The attitude angle of the aircraft platform coordinate system P relative to the local horizontal coordinate system g is the heading angle , Pitch angle and roll angle ;

； ;

； ;

整理得出：The conclusion is:

。 .

B333：飞机平台坐标系p系转向平台基座坐标系B系B333: Aircraft platform coordinate system P turns to platform base coordinate system B

位置引导模块的精度的校正由算法中引入飞机和光电平台两者中安装角修正值输入单元的安装角修正值保证，当两者相对静止，测得安装偏差角分别为航向安装误差角、俯仰安装误差角和横滚安装误差角；The accuracy correction of the position guidance module is ensured by the installation angle correction value of the installation angle correction value input unit introduced into the algorithm. When the two are relatively stationary, the installation deviation angles are measured as the heading installation error angle , Pitch installation error angle and roll installation error angle ;

； ;

； ;

整理得出：The conclusion is:

=。 = .

B334：求执行单元的方位转角和俯仰转角 B334: Find the azimuth angle of the actuator and pitch angle

在静基座算法中，Y轴指向视轴，因此需要将基础向量，执行单元转动对应方位角和俯仰角，得到对应的视轴指向向量在基座坐标下的表示，该向量应与平台基座坐标下的目标指向方向向量重合。In the static base algorithm, the Y axis points to the viewing axis, so the basis vector , the execution unit rotates the corresponding azimuth and pitch angle , get the corresponding visual axis pointing vector in the base coordinates , which should be aligned with the target pointing direction vector in platform base coordinates coincide.

； ;

； ;

=； = ;

即：；Right now: ;

根据计算执行单元转动的方位转角和俯仰转角，计算公式如下：according to Calculate the azimuth angle of the execution unit rotation and pitch angle , the calculation formula is as follows:

； ;

。 .

依上述步骤完成执行单元的方位转角和俯仰转角的计算。Follow the above steps to complete the azimuth rotation of the execution unit. and pitch angle Calculation.

表1变量符号和变量释义Table 1 Variable symbols and variable definitions

下面本发明结合一个具体实施例对本发明提供的仿真分析方法进行说明。The present invention will now illustrate the simulation analysis method provided by the present invention in conjunction with a specific embodiment.

如表2所示，表2给出了本发明动基座体制下的输入参量及结果。As shown in Table 2, Table 2 gives the input parameters and results under the dynamic base system of the present invention.

实例结果见表2，以MX-20光电平台为例，长焦的最大视场为0.92°×0.61°，视场角不超过1°。为保证目标被准确引导进视场内，应保证位置引导的最大误差角不超过半视场，即0.5°，计算出相应方位转角和俯仰转角。The example results are shown in Table 2. Taking the MX-20 optoelectronic platform as an example, the maximum field of view of the telephoto is 0.92°×0.61°, and the field angle does not exceed 1°. In order to ensure that the target is accurately guided into the field of view, the maximum error angle of the position guidance should not exceed half the field of view, that is, 0.5°, and the corresponding azimuth angle is calculated. and pitch angle .

表 2 动基座体制下的输入参量及结果Table 2 Input parameters and results under dynamic base system

尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

上述具体实施方式，并不构成对本发明保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明保护范围之内。The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection 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:
；
。
CN202410861005.7A 2024-06-28 2024-06-28 Optoelectronic platform position guidance module system and position guidance method thereof Pending CN118689249A (en)

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