CN2904001Y - Composite laser landing navigation equipment - Google Patents
Composite laser landing navigation equipment Download PDFInfo
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- CN2904001Y CN2904001Y CN 200520044420 CN200520044420U CN2904001Y CN 2904001 Y CN2904001 Y CN 2904001Y CN 200520044420 CN200520044420 CN 200520044420 CN 200520044420 U CN200520044420 U CN 200520044420U CN 2904001 Y CN2904001 Y CN 2904001Y
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Abstract
A composite laser landing navigation equipment, which comprises a laser emitter with a laser head which is vertical to the landing ground surface; a laser beam expander is arranged in front of the laser head of the laser emitter, the laser beam divergence angle is expanded by using two laser expander convex mirrors of suitable focus. A laser echo receiver sensor and a laser range finder are connected in the digital control circuit; the digital control circuit processes the laser echo data. A high resolution digital camera is added on the landing device at the position vertical to the landing ground surface, and corresponding photography and data processing control circuit. An optical long focus lens with electric control adjustable focus is installed in front of the digital camera lens, and the related control circuit elements. The improved laser emitter has advantages of reducing laser emitting times, reducing energy consumption, and high credibility of the landform detection result.
Description
Technical field
The utility model relates to a kind of lander airmanship that landform is surveyed, and especially relates to a kind of recombination laser approach aids that use laser to the imaging of landform detection of three dimensional.
Technical background
Existing dimensional topography detection airmanship has multiple, microwave sounding, and stereoscopic camera is taken a picture, generating laser etc.Here mainly say the generating laser Detection Techniques.Existing highpowerpulse generating laser technology comparative maturity reaches in pulsed frequency under the condition of tens KHZ, and detection range can reach several kilometers, and resolution can reach several centimetres, can satisfy lander and the record requirement.This radar can obtain three-dimensional land map, but to technical requirement than higher, laser instrument especially, this airmanship also is in the development stage at present.For this navigation scheme, because laser spots disperses, obtaining high level data only is a raster data, just can't know for the topographic features between two laser spots.Need repeatedly imaging thus, constantly obtain the result, revise lander flight vector.This requires the laser instrument emission rate fast, and power is big, and data processing speed is fast, and this increases the energy resource consumption of lander simultaneously.Simple laser imaging resolution still is on the low side, to the coarse situation in ground without any judgement.
The utility model content
Technical problem to be solved in the utility model provides that a kind of generating laser that has improved is surveyed and the digital camera photographic detection combines, and the terrestrial information situation is carried out the recombination laser approach aids of analysis-by-synthesis.These recombination laser approach aids have solved can't survey the technical matters that resolution is low for the topographic features between two laser spots in the prior art.Solved laser instrument and the too high technical matters of control system technical requirement.
The technical matters that the utility model solves is achieved through the following technical solutions.
The recombination laser approach aids comprise generating laser, return laser beam receiving sensor, laser range finder that is installed on the lander and the digital control circuit that the return laser beam data are handled; The emitting head of generating laser is equipped with laser beam expander perpendicular to landing ground before emitting head, return laser beam receiving sensor and laser range finder are towards landing ground direction; Control circuit comprises that CPU links to each other with CPU internal memory, instruction set storer, return laser beam Data Buffer Memory, image synthesis routine analyzer storer, dimensional topography imaging software storer, flight vector instruction control storer and steering order output line and interface, it is characterized in that: add high-resolution digital camera at the lander vertical plane to the position of landing field face, and relevant shooting and data processing and control circuit; Laser beam expander adopts the convex lens of two proper focal length, makes the laser-beam divergence angle become big.
Optics long focal length lens and the relevant control circuit element thereof that can automatically controlledly focus are installed before the camera lens of digital camera described in the utility model.
The emitting head of generating laser described in the utility model and digital camera camera lens are fixed together, and its common detection direction can automatically controlledly be regulated.
The utility model also can add digital camera images signal input line and interface in control circuit, this interface links to each other with the digital camera images data buffer, and it is connected into CPU at last; Add shooting control and data processing instructions memory address in the instruction set; Add digital 3 D terrain imaging software memory, digital image routine analyzer storer; The output interface that CPU increases is the automatically controlled output interface of focusing, and the Data In-Line of itself and digital camera links to each other.
The camera lens axis of the utility model digital camera is vertical with landing ground, the parallel axes of the emitting head of its axis and generating laser, and both are adjacent.
When the utility model laser beam is transmitted into testee, very close to each other between the adjacent laser beam.
The focal length ratio of two convex lens of the utility model laser beam expander, promptly the ratio of shoot laser convex lens and incident laser convex lens can be made as 3.
The ccd array of the utility model digital camera will be more than the 1000*1000 point.
The utility model digital camera can transfer the focal length real-time regulated of full length shot will be satisfied with when lander is in different height by electricity, realtime graphic that it is captured and generating laser are surveyed the real-time three-dimensional terrain graph of the same size of formation simultaneously, they separately actual sensed to be the face of land information of same scope.
The utility model digital camera can transfer the maximum amplification of full length shot will be satisfied with when lander is in higher height by electricity, image that it is captured and generating laser are surveyed the dimensional topography image of the same size of formation simultaneously, they separately actual sensed to be the face of land information of same scope.
The control circuit of recombination laser approach aids will guarantee the control to obtaining at two kinds of different images can coordinate under the mode of operation, this obtain be calculated to be as analytic process be carry out simultaneously and independently, and the judgement of the comparative analysis of detection information and the point that lands is in the end comprehensively finished, and control system also will be sent the output of lander flare maneuver vector conditioning signal in addition.This control procedure is the one-period process in the real-time control procedure.After all programs of this process were all finished, CPU entered the next course of work, and new detection capture action has begun again, and only the time interval laser transmitter system relatively in the past between two work periods has prolonged.
That installs before the digital camera camera lens can transfer full length shot and relevant control circuit element thereof by electricity, guarantee the image that it is taken in real time, image with generating laser synchronization detection imaging, on identical picture size, identical shooting height, it is identical comprising identical terrestrial information scope, and this is in order to be analyzed in 1: 1 ratio intuitively.Its maximum radiation multiple will guarantee lander when very high height, and the image that it can be provided at synchronization and generating laser provides has the pictures taken of above requirement.The parallel axes of the axis of digital camera and the emitting head of generating laser, and the camera lens axis is vertical with landing ground.If axis is not parallel between the two, those two images taking have not out just had comparability.If the laser beam emitting head axis is being not orthogonal to ground, road simultaneously, its detection emission is reclaimed signal and has just been weakened, and some bigger refraction will take place can not reclaim.Laser beam emitting head will be regulated together with the camera lens of digital camera.
Generating laser before improving does not have detectivity to the relative degree of roughness in ground, and what it was surveyed is the face of land that is approximately luminous point one by one, and hot spot disperses, and what can only obtain is the height value of a point, can obtain this point and topographic relief degree on every side.Because of the distance between the each point is bigger, the fluctuating quantity that this detection is calculated can not more real reflection to the actual conditions on ground, and can't obtain the degree of roughness around the point; And improved generating laser after the emission angle of laser beam becomes greatly, is equivalent to have a plurality of little laser beam to send to target simultaneously.Face of land information to whole light beam institute overlay area substantially all can reflect by echo.Point to differing heights in the laser facula, be different the time of arrival of every return laser beam, final return laser beam is the summation of every return laser beam, high level in the target rises and falls finally can cause the broadening of return laser beam, therefore to fluctuating quantity big target, the broadening degree of return laser beam is just big.Because in this technical scheme, the hot spot of laser enlarges, what can cover is a face, adds the analysis to the echo variance, and the mean square deviation of calculating echo data just can obtain the interior degree of roughness of a speckle regions.When laser beam is transmitted into testee, very close to each other between the adjacent laser beam, (being to be two tangent approximate positions relations that wait circle between two hot spots in theory) also very close to each other between theoretical adjacent small light spot that quantizes of in laser beam each (the full small light spot one by one of arranging in the beam of laser bundle radiation scope, promptly little laser beam).So, what the beam of laser bundle was sensed is the continuous big zone leveling variance data of this piece, to this hot spot spoke to face of land sensing be true continuous.Analogy like this, the zone of all laser beam institute sensings also is continuous, so laser sensing ground is once, the echo average variance that calculates can be surveyed more truly to sensed zone.Along with the lander height is ceaselessly changing, generating laser otherwise stop survey imaging, and it is littler to obtain the floor area scope of detection, obtains picture quality landform 3-D view more accurately.After lander has been adjusted the big zone of the point that lands in front, can in this big zone, seek more smooth landing point.Improved like this generating laser not only can obtain the mean distance of tested ground (tested hot spot), can also obtain the fluctuating and relative coarse situation on surface, tested ground (tested hot spot), for safe landing provides detailed foundation.
The three-dimensional information that obtains ground that improved generating laser can not omitted, and the digital camera of introducing is in order that obtain more high-resolution ground full-colour image and ground texture situation.To each pixel of digital picture and carry out the variance Fuzzy Calculation on every side between the pixel, represent each pixel and on every side the shade between the pixel change.The judgement that the fluctuating of landform is made is by shade in the image and texture analysis are obtained, have certain similar but this image and generating laser are handled the image of the safe landing point that obtains, but can make thick general judgement in advance than laser, and can judge more accurately the point that lands, for the action vector that lander wins is early adjusted the time.
The general point that lands needs the area of 2.5*2.5 size just enough, the landing gradient is generally less than 15 degree, and is the smaller the better, and the maximum fluctuating quantity in ground is less than 0.3 meter, the mean fluctuation degree of this piece landform is the smaller the better, i.e. the smaller the better lot of echo variance yields.Below all be to judge the most basic foundation of point of landing.
The beneficial effects of the utility model are: improved generating laser can reduce the Laser emission number of times, cut down the consumption of energy, minimizing is to the requirement of laser instrument and the job requirement of control circuit system, can make more crediblely judging more rapidly faster the point that lands in conjunction with the high-resolution digital picture of digital camera.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of laser beam expander described in the utility model;
Fig. 3 is laser beam of the present utility model emission form and the digital camera synoptic diagram of taking pictures;
Fig. 4 is the different echo geometric relationship of a laser of the present utility model synoptic diagram.
Embodiment
Below in conjunction with drawings and Examples the utility model is elaborated:
At recombination laser approach aids shown in Figure 1, comprise generating laser 1, return laser beam receiving sensor, laser range finder that is installed on the lander and the digital control circuit that the return laser beam data are handled; The emitting head of generating laser 1 is equipped with laser beam expander perpendicular to landing ground before emitting head, return laser beam receiving sensor and laser range finder are towards landing ground direction; Control circuit comprises that CPU links to each other with CPU internal memory, instruction set storer, return laser beam Data Buffer Memory, image analysis program storer, dimensional topography imaging software storer, flight vector instruction control storer and steering order output line and interface, add high-resolution digital camera 2 at the lander vertical plane to the position of landing field face, and relevant shooting and data processing and control circuit; Laser beam expander adopts the convex lens (referring to Fig. 2) of two proper focal length, makes laser beam 3 angles of divergence become big.
Optics long focal length lens and the relevant control circuit element thereof that can automatically controlledly focus are installed before the camera lens of digital camera 2.
The emitting head of generating laser 1 and digital camera 2 camera lenses are fixed together, and its common detection direction can automatically controlledly be regulated.
Add digital camera images signal input line and interface in control circuit, this interface links to each other with the digital camera images data buffer, and it is connected into CPU at last; Add shooting control and data processing instructions memory address in the instruction set; Add digital 3 D terrain imaging software memory, digital image analysis-by-synthesis program storage; The output interface that CPU increases is the automatically controlled output interface of focusing, and the Data In-Line of itself and digital camera links to each other.
The camera lens axis of digital camera 2 is vertical with landing ground, the parallel axes of the emitting head of its axis and generating laser 1, and both are adjacent.
When laser beam 3 is transmitted into testee, very close to each other between the adjacent laser beam.
The focal length ratio of two convex lens of laser beam expander, promptly the ratio of shoot laser convex lens and incident laser convex lens can be made as 3.
The ccd array of digital camera 2 will be more than the 1000*1000 point.
Digital camera 2 can transfer the focal length real-time regulated of full length shot will be satisfied with when lander is in different height by electricity, realtime graphic that it is captured and generating laser 1 are surveyed the real-time three-dimensional terrain graph of the same size that forms simultaneously, they separately actual sensed to be the face of land information of same scope.
Digital camera 2 can transfer the maximum amplification of full length shot will be satisfied with when lander is in higher height by electricity, image that it is captured and generating laser 1 are surveyed the dimensional topography image of the same size that forms simultaneously, they separately actual sensed to be the face of land information of same scope.
Referring to Fig. 3 and Fig. 4, improved generating laser 1 emitting head, be fixed together with the telephoto lens of digital camera 2, generating laser 1 emission axis and camera lens parallel axes, when lander is in certain altitude, two kinds of detection modes are at synchronization, and its face of land scope of surveying capture is on all four, and the picture size after its imaging is also identical.After the emission angle adjustment of the laser beam 3 of generating laser 1 becomes greatly, be equivalent to have a plurality of little laser beam to send to target simultaneously.When laser beam 3 is transmitted into testee, very close to each other between the adjacent laser beam, (being to be two tangent approximate positions relations that wait circle between two hot spots in theory) also very close to each other between theoretical adjacent small light spot 5 that quantizes of in laser beam 3 each (the full small light spot one by one of arranging in the beam of laser bundle radiation scope, promptly little laser beam).Like this, the face of land information to 3 overlay areas of whole laser beams substantially all can reflect by echo.To the point of differing heights in the laser facula, be different the time of arrival of every return laser beam, and final return laser beam is the summation of every return laser beam.High level in the target rises and falls finally can cause the broadening of return laser beam, therefore to fluctuating quantity big target, the broadening degree of return laser beam is just big.For A point and B point, its echo route is respectively L1 and L2, and its time of return is respectively T1 and T2, and its echo broadening is respectively H1 and H2, and obviously L1 is longer than L2 length, and T1 is longer than the T2 time, and broadening H1 is bigger than H2 numerical value.Adding is to the analysis of echo variance, and the mean square deviation of calculating echo data just can obtain the interior degree of roughness of a speckle regions.Along with the lander height is ceaselessly changing, generating laser 1 otherwise stop survey imaging, obtain picture quality landform 3-D view more accurately.
In actual applications, the technical parameter of the generating laser 1 that adopts is satisfied with resolution at 100 points, pulsed frequency is 10KHZ, optical maser wavelength is 1047NM, pulse width is better than 5NS, and pulse power is better than 50 little joules, laser emission angle 5 milliradians (100 the resolution angle of divergence is i.e. 1.74 milliradians of 0.1 degree), working depth is more than the 1KM, and total visual field of imaging is 10 degree.The ratio of the focal length of two convex lens 41,42 in front and back is the expansion multiple of laser beam, and (F1 and F2 are respectively the focal lengths of incident laser and shoot laser convex lens to K=F2/F1.Laser beam expanding system is satisfied with K=3.Imaging resolution is 0.02M like this, and laser pixel number is 100*100.When being 500M as the image height degree, imaging resolution is 0.87M, become the 3-D view of 100*100 after the generating laser imaging, the resolution of each pixel is 0.87M, calculate the variance of each echo, the variance situation reacts in the three-dimensional plot that 100*100 orders, and variance is also more little, and surface irregularity is just more little.The ground table section of the green spot representative in coloured picture in the color range for suitable land the position.
Claims (10)
1. recombination laser approach aids, its structure comprises the generating laser of emitting head perpendicular to landing ground, laser beam expander is installed before the laser beam emitting head, be provided with the return laser beam receiving sensor towards landing ground direction, laser range finder, with the digital control circuit that the return laser beam data are handled, control circuit comprises CPU, what link to each other with CPU has an internal memory, the instruction set storer, the return laser beam Data Buffer Memory, image synthesis routine analyzer storer, dimensional topography imaging software storer, flight vector instruction control storer and steering order output line and interface, it is characterized in that: add high-resolution digital camera at the lander vertical plane to the position of landing field face, and relevant shooting and data processing and control circuit; Adopt the convex lens of the laser beam expander of two proper focal length, make the laser-beam divergence angle become big.
2. recombination laser approach aids according to claim 1 is characterized in that: optics long focal length lens and the relevant control circuit element thereof that can automatically controlledly focus are installed before the camera lens of digital camera.
3. recombination laser approach aids according to claim 1 is characterized in that: laser beam emitting head and digital camera camera lens will be fixed together, and its common detection direction can automatically controlledly be regulated.
4. according to claim 1 or 2 or 3 described recombination laser approach aids, it is characterized in that: add digital camera images signal input line and interface in the control circuit, this interface links to each other with the digital camera images data buffer, and it is connected into CPU at last; Add shooting control and data processing instructions memory address in the instruction set; Add digital 3 D terrain imaging software memory, digital image analysis-by-synthesis program storage; The output interface that CPU increases is the automatically controlled output interface of focusing, and the Data In-Line of itself and digital camera links to each other.
5. recombination laser approach aids according to claim 1 is characterized in that: the camera lens axis of digital camera is vertical with landing ground, the parallel axes of the emitting head of its axis and generating laser, and both are adjacent.
6. recombination laser approach aids according to claim 1 is characterized in that: when laser beam is transmitted into testee, very close to each other between the adjacent laser beam.
7. according to claim 1 or 6 described recombination laser approach aids, it is characterized in that: the curvature ratio of two laser beam expander convex lens, promptly the ratio of shoot laser convex lens and incident laser convex lens can be made as 3.
8. recombination laser approach aids according to claim 1 and 2, the ccd array that it is characterized by digital camera will be more than the 1000*1000 point.
9. recombination laser approach aids according to claim 1 and 2, it is characterized in that: digital camera is provided with when lander is in differing heights, and real-time image that it is captured and laser radar are surveyed the full length shot that can electricity focalizes that the real-time three-dimensional terrain graph that forms same size is a face of land information in the same scope simultaneously.
10. recombination laser approach aids according to claim 8, it is characterized in that: digital camera is provided with maximum amplification can be satisfied with when lander is in higher height, image that it is captured and laser radar are surveyed the dimensional topography image of the same size of formation simultaneously, can transfer full length shot by electricity for the face of land information of same scope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520044420 CN2904001Y (en) | 2005-08-22 | 2005-08-22 | Composite laser landing navigation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520044420 CN2904001Y (en) | 2005-08-22 | 2005-08-22 | Composite laser landing navigation equipment |
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| CN2904001Y true CN2904001Y (en) | 2007-05-23 |
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| CN 200520044420 Expired - Fee Related CN2904001Y (en) | 2005-08-22 | 2005-08-22 | Composite laser landing navigation equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976078A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Unmanned helicopter automatic landing method based on laser guidance |
| CN102313554A (en) * | 2010-06-30 | 2012-01-11 | 株式会社电装 | Onboard navigation system |
| CN102812502A (en) * | 2010-03-24 | 2012-12-05 | 波音公司 | Runway condition monitoring |
| CN103256932A (en) * | 2013-05-30 | 2013-08-21 | 北京控制工程研究所 | Replacement and extrapolation combined navigation method |
| CN107003409A (en) * | 2015-01-27 | 2017-08-01 | 宝马股份公司 | The measurement of size on the surface |
-
2005
- 2005-08-22 CN CN 200520044420 patent/CN2904001Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102812502A (en) * | 2010-03-24 | 2012-12-05 | 波音公司 | Runway condition monitoring |
| CN102812502B (en) * | 2010-03-24 | 2016-01-06 | 波音公司 | The device and method of monitoring runway condition |
| CN102313554A (en) * | 2010-06-30 | 2012-01-11 | 株式会社电装 | Onboard navigation system |
| CN101976078A (en) * | 2010-09-29 | 2011-02-16 | 清华大学 | Unmanned helicopter automatic landing method based on laser guidance |
| CN103256932A (en) * | 2013-05-30 | 2013-08-21 | 北京控制工程研究所 | Replacement and extrapolation combined navigation method |
| CN103256932B (en) * | 2013-05-30 | 2014-12-17 | 北京控制工程研究所 | Replacement and extrapolation combined navigation method |
| CN107003409A (en) * | 2015-01-27 | 2017-08-01 | 宝马股份公司 | The measurement of size on the surface |
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| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |