JP2000213953A - Navigation device for flying object - Google Patents
Navigation device for flying objectInfo
- Publication number
- JP2000213953A JP2000213953A JP11015414A JP1541499A JP2000213953A JP 2000213953 A JP2000213953 A JP 2000213953A JP 11015414 A JP11015414 A JP 11015414A JP 1541499 A JP1541499 A JP 1541499A JP 2000213953 A JP2000213953 A JP 2000213953A
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- Japan
- Prior art keywords
- attitude angle
- flying object
- inertial
- image
- speed
- Prior art date
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- 238000003384 imaging method Methods 0.000 claims description 21
- 230000006866 deterioration Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、例えば、航空機
や飛しょう体等の航法装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for an aircraft or a flying object, for example.
【０００２】[0002]
【従来の技術】従来、飛しょう体等に搭載されている航
法装置として、ジャイロ及び加速度計で検出した角速度
及び加速度を積分する慣性装置の出力が用いられてい
る。2. Description of the Related Art Conventionally, as a navigation device mounted on a flying object or the like, an output of an inertial device that integrates an angular velocity and an acceleration detected by a gyro and an accelerometer is used.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、慣性装
置の出力は、内蔵するジャイロ及び加速度計が誤差をも
っているために出力にも誤差を持っている。さらに、慣
性装置は角速度及び加速度を積分して位置及び速度、姿
勢角を計算しているため、誤差が時間とともに増大する
という原理的に避けられない問題を持っている。However, the output of the inertial device has an error because the built-in gyro and the accelerometer have an error. Further, since the inertial apparatus calculates the position, velocity, and attitude angle by integrating the angular velocity and acceleration, there is a problem in principle that errors increase with time.
【０００４】この発明は、時間経過とともに増大する慣
性装置の精度劣化を抑制する飛しょう体の航法装置を提
供するものである。SUMMARY OF THE INVENTION The present invention provides a flying object navigation apparatus that suppresses deterioration in accuracy of an inertial device that increases with time.
【０００５】[0005]
【課題を解決するための手段】第１の発明に係る飛しょ
う体の航法装置は、飛しょう体の位置及び速度、姿勢角
を出力する慣性装置と、飛しょう体の前方に取り付けら
れて前方の撮像画像を得る撮像装置と、この撮像装置で
撮像された画像から自己姿勢角を演算する手段と、上記
画像から求めた姿勢角を慣性装置で計算した姿勢角と比
較し、その差から慣性装置の姿勢角誤差を推定して補正
する手段とを具備したことを特徴とする。A flying object navigation device according to a first aspect of the present invention includes an inertial device for outputting the position, velocity, and attitude angle of the flying object, and an inertia device attached to the front of the flying object to provide a forward direction. An image capturing apparatus that obtains a captured image of the above, means for calculating a self attitude angle from an image captured by the image capturing apparatus, and an attitude angle calculated from the image is compared with an attitude angle calculated by an inertia apparatus. Means for estimating and correcting the attitude angle error of the apparatus.
【０００６】また、第２の発明に係る飛しょう体の航法
装置は、飛しょう体の位置及び速度、姿勢角を出力する
慣性装置と、飛しょう体の前方に取り付けられて前方の
撮像画像を得る撮像装置と、この撮像装置で撮像された
外界景色の変化から姿勢角の変化を演算する手段と、上
記画像から求めた姿勢角の変化を慣性装置で計算した姿
勢角の変化と比較し、その差から慣性装置の姿勢角誤差
を推定して補正する手段とを具備したことを特徴とす
る。A flying object navigation apparatus according to a second aspect of the present invention includes an inertial device for outputting the position, speed, and attitude angle of the flying object, and an inertial device attached to the front of the flying object to capture an image taken in front of the flying object. An imaging device to be obtained, means for calculating a change in attitude angle from a change in an external scene captured by the imaging device, and a change in the attitude angle obtained from the image are compared with changes in the attitude angle calculated by the inertial device, Means for estimating and correcting the attitude angle error of the inertial device from the difference.
【０００７】さらに、第３の発明に係る飛しょう体の航
法装置は、飛しょう体の位置及び速度、姿勢角を出力す
る慣性装置と、飛しょう体の前方に取り付けられて前方
の撮像画像を得る撮像装置と、この撮像装置で撮像され
た外界景色の変化から速度を演算する手段と、上記画像
から求めた速度を慣性装置で計算した速度と比較し、そ
の差から慣性装置の姿勢角誤差を推定して補正する手段
とを具備したことを特徴とする。Further, a navigation device for a flying object according to a third aspect of the present invention includes an inertial device for outputting the position, velocity, and attitude angle of the flying object, and an inertial device attached to the front of the flying object to capture an image taken in front of the flying object. An imaging device to be obtained, means for calculating a speed from a change in the external scenery imaged by the imaging device, and comparing the speed obtained from the image with the speed calculated by the inertial device, and calculating the attitude angle error of the inertial device from the difference. And a means for estimating and correcting.
【０００８】[0008]
【発明の実施の形態】実施の形態１．図１はこの発明に
よる飛しょう体の航法装置を構成する一実施例を示すも
のであり、図２は撮像装置１３により撮影された画面２
１から自己の姿勢角を推定するための原理を説明する図
である。図において、１１は慣性装置、１２は姿勢角計
算部、１３は撮像装置、１４は姿勢角誤差推定部、１５
は相関器である。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows an embodiment of a flying object navigation apparatus according to the present invention, and FIG.
FIG. 3 is a diagram illustrating a principle for estimating a posture angle of the subject from 1; In the figure, 11 is an inertial device, 12 is a posture angle calculation unit, 13 is an imaging device, 14 is a posture angle error estimation unit, 15
Is a correlator.
【０００９】姿勢角計算部１２は、撮像装置１３にて撮
影した画面２１の情報より飛しょう体の姿勢角を推定す
る。相関器１５は、姿勢角計算部１２で推定された姿勢
角を受け取ると共に、これと同時に慣性装置１１で計算
した姿勢角を受け取る。姿勢角誤差推定部１４で相関器
１５で比較された姿勢角情報から慣性装置１１への補正
情報を計算して出力する。The attitude angle calculator 12 estimates the attitude angle of the flying object from information on the screen 21 captured by the imaging device 13. The correlator 15 receives the attitude angle estimated by the attitude angle calculation unit 12 and simultaneously receives the attitude angle calculated by the inertial device 11. The posture angle error estimating unit 14 calculates and outputs correction information to the inertial device 11 from the posture angle information compared by the correlator 15.
【００１０】撮像装置１３にて撮影した画面２１の中か
ら、姿勢角計算部１２で仮想的な水平線を割り出し、画
面２１の左右の辺と仮想的な水平線が横切る４つの距離
（Ａ，Ｂ，Ｃ，Ｄ）の関係から、自己のロール角とピッ
チ角を計算する。From the screen 21 photographed by the imaging device 13, a virtual horizontal line is calculated by the attitude angle calculation unit 12, and four distances (A, B, From the relationship of C, D), the roll angle and the pitch angle of the self are calculated.
【００１１】誘導爆弾など艦船を目標とする飛しょう体
が海上を飛しょう中に水平線を撮影したとすると、水平
線の波模様は、例えば画面２１の太陽Ｓ2のようにな
る。画面２１の中に仮想的な水平線を割り出すと破線Ｓ
1となる。この破線により区切られた画面２１の左右の
辺の長さＡとＣを比較すると、Ａの方が長いので、ロー
ルがマイナス方向に傾いているとなる。長さＡ，Ｂ，
Ｃ，Ｄそれぞれについて比較演算を姿勢角計算部１２で
実施することで自己のロール角とピッチ角を計算するこ
とが可能となる。Assuming that the horizon is photographed while a flying object such as a guided bomb is flying over the sea, the wave pattern of the horizon is, for example, the sun S 2 on the screen 21. When a virtual horizontal line is calculated in the screen 21, a broken line S
It becomes 1 . Comparing the lengths A and C of the left and right sides of the screen 21 demarcated by the broken line, A is longer, so that the roll is inclined in the minus direction. Length A, B,
By performing the comparison operation for each of C and D in the posture angle calculation unit 12, it is possible to calculate its own roll angle and pitch angle.
【００１２】慣性装置１１で計算した姿勢角にはジャイ
ロによる誤差が含まれているために、姿勢角計算部で画
像から計算した姿勢角を用いて補正を行うことで、姿勢
角だけでなく慣性装置１１の計算する位置や速度の精度
向上にもなる。Since the attitude angle calculated by the inertial device 11 includes an error due to the gyro, the attitude angle calculation unit performs correction using the attitude angle calculated from the image, thereby obtaining not only the attitude angle but also the inertia. This also improves the accuracy of the position and speed calculated by the device 11.
【００１３】実施の形態２．図３はこの発明による飛し
ょう体の航法装置を構成する一実施例を示すものであ
り、図４は撮像装置１３により撮影された画面２１から
自己の姿勢角の変化を推定するための原理を説明する図
である。図において、１６は姿勢角変化量計算部であ
る。Embodiment 2 FIG. FIG. 3 shows an embodiment of a flying object navigation apparatus according to the present invention, and FIG. 4 shows a principle for estimating a change in its own attitude angle from a screen 21 photographed by the imaging device 13. FIG. In the figure, reference numeral 16 denotes a posture angle change amount calculation unit.
【００１４】姿勢角変化量計算部１５は、撮像装置１３
にて撮影した画面２１の情報より飛しょう体の姿勢角の
変化を推定する。相関器１５は、姿勢角計算部１２で推
定された姿勢角の変化を受け取ると共に、これと同時に
慣性装置１１で計算した姿勢角を受け取り姿勢角の変化
を計算する。姿勢角誤差推定部１４で相関器１５で比較
された姿勢角変化の情報から慣性装置１１への補正情報
を計算して出力する。The attitude angle change amount calculation unit 15 includes an image pickup device 13
The change of the attitude angle of the flying object is estimated from the information of the screen 21 photographed in the above. The correlator 15 receives the change in the attitude angle estimated by the attitude angle calculation unit 12, and at the same time, receives the attitude angle calculated by the inertial device 11 and calculates the change in the attitude angle. The attitude angle error estimating unit 14 calculates and outputs correction information to the inertial device 11 from the information of the attitude angle change compared by the correlator 15.
【００１５】撮像装置１３にて撮影した画面２１の中か
ら、姿勢角変化量計算部１２で任意の点Ａ，Ｂ，Ｃを決
定し、次のフレームで撮像した画面と比較をすることに
より、自己のロール、ピッチ、ヨーの姿勢角変化を計算
する。By selecting arbitrary points A, B, and C in the posture angle change amount calculation unit 12 from the screen 21 photographed by the imaging device 13, and comparing it with the screen photographed in the next frame, Calculate your own roll, pitch and yaw attitude angle changes.
【００１６】飛しょう中に山岳部を撮影したとすると、
山岳部の稜線は、例えば画面２１の太線のようになる。
姿勢角変化量計算部１２で画面２１の中で、例えば山頂
をＡ点、別の山頂をＢ点、谷をＣ点に選択して、画面２
１の座標を記憶する。次の撮影フレームで、前フレーム
で記憶した３点（Ａ，Ｂ，Ｃ）との比較を行い、前フレ
ームとの位置関係により、ロール、ピッチ、ヨーの姿勢
角の変化を計算する。例えば、ロール回転している場合
には、３点（Ａ，Ｂ，Ｃ）が画面２１の原点を中心に等
角度で移動するので、ロール角が計算できる。[0016] If you photograph a mountain while flying,
The ridgeline of the mountainous part is, for example, a thick line on the screen 21.
For example, in the screen 21, the posture angle change amount calculation unit 12 selects the peak A as a point, another peak B as a point and a valley as a point C,
1 is stored. In the next photographing frame, comparison is made with the three points (A, B, C) stored in the previous frame, and changes in the roll, pitch, and yaw attitude angles are calculated based on the positional relationship with the previous frame. For example, when the roll is rotating, the three points (A, B, C) move at an equal angle around the origin of the screen 21, so that the roll angle can be calculated.
【００１７】実施の形態３．図５はこの発明による飛し
ょう体の航法装置を構成する一実施例を示すものであ
り、図６は撮像装置１３により撮影された画面２１から
自己の速度を推定するための原理を説明する図である。
図において、１７は速度計算部である。Embodiment 3 FIG. 5 shows an embodiment of a flying object navigation apparatus according to the present invention, and FIG. 6 is a view for explaining the principle for estimating its own speed from a screen 21 photographed by the imaging device 13. It is.
In the figure, reference numeral 17 denotes a speed calculator.
【００１８】速度計算部１７は、撮像装置１３にて撮影
した画面２１の情報より飛しょう体の速度を推定する。
相関器１５は、速度計算部１７で推定された速度を受け
取ると共に、これと同時に慣性装置１１で計算した速度
を受け取る。姿勢角誤差推定部１４で相関器１５で比較
された速度差の情報から慣性装置１１への姿勢角補正情
報を計算して出力する。The speed calculation unit 17 estimates the speed of the flying object from information on the screen 21 photographed by the imaging device 13.
The correlator 15 receives the speed estimated by the speed calculator 17 and at the same time receives the speed calculated by the inertial device 11. The attitude angle error estimating unit 14 calculates and outputs attitude angle correction information to the inertial device 11 from information on the speed difference compared by the correlator 15.
【００１９】撮像装置にて撮影した画面２１の中から、
速度計算部１７で任意の点Ａ，Ｂ，Ｃ，Ｄを決定し、次
のフレームで撮像した画面と比較をすることにより、自
己の速度を計算する。From the screen 21 photographed by the imaging device,
The speed calculating unit 17 determines arbitrary points A, B, C, and D, and calculates its own speed by comparing it with a screen captured in the next frame.
【００２０】飛しょう中に山岳部を撮影したとすると、
山岳部の稜線は、例えば画面２１の太線のようになる。
速度計算部１７で画面２１の中で、例えば山頂をＡ点、
別の山頂をＤ点などとして任意の４点を選択して、画面
２１の座標及び各点間の距離を記憶する。次の撮影フレ
ームで、前フレームで記憶した４点間の距離（Ａ，Ｂ，
Ｃ，Ｄ）との比較を行い、距離の変化量と視野角の関係
より、速度を計算する。Suppose you take a picture of a mountain while flying,
The ridgeline of the mountainous part is, for example, a thick line on the screen 21.
In the screen 21 in the speed calculation unit 17, for example, the peak is set at the point A,
An arbitrary four points are selected with another peak as a point D or the like, and the coordinates of the screen 21 and the distance between the points are stored. In the next photographing frame, the distance between the four points stored in the previous frame (A, B,
C, D), and the velocity is calculated from the relationship between the amount of change in distance and the viewing angle.
【００２１】[0021]
【発明の効果】第１〜第３の発明によれば、時間ととも
に増大していた慣性計算精度の劣化を抑制することがで
き、目標への誘導精度の向上が可能となる。According to the first to third aspects of the present invention, it is possible to suppress the deterioration of the inertial calculation accuracy, which has increased with time, and to improve the accuracy of guiding to a target.
【００２２】第２、第３の発明において、外界景色を撮
影するための撮像装置は、飛しょう体の画像誘導に使用
する撮像装置を利用することも可能である。In the second and third aspects of the present invention, the imaging device for photographing an external scene can use an imaging device used for guiding an image of a flying object.
【図１】 この発明の実施の形態１を示す構成図であ
る。FIG. 1 is a configuration diagram showing a first embodiment of the present invention.
【図２】 撮影した画面より姿勢角を計算する方法を示
す説明図である。FIG. 2 is an explanatory diagram showing a method of calculating a posture angle from a captured screen.
【図３】 この発明の実施の形態２を示す構成図であ
る。FIG. 3 is a configuration diagram showing a second embodiment of the present invention.
【図４】 撮影した画面より姿勢角の変化を計算する方
法を示す説明図である。FIG. 4 is an explanatory diagram showing a method of calculating a change in a posture angle from a captured screen.
【図５】 この発明の実施の形態３を示す構成図であ
る。FIG. 5 is a configuration diagram showing a third embodiment of the present invention.
【図６】 撮影した画面より速度を計算する方法を示す
説明図である。FIG. 6 is an explanatory diagram illustrating a method of calculating a speed from a captured screen.
１１ 慣性装置、１２ 姿勢角計算部、１３ 撮像装
置、１４ 姿勢角誤差推定部、１５ 相関器、１６ 姿
勢角変化量計算部、１７ 速度計算部、２１ 画面。Reference Signs List 11 inertial unit, 12 posture angle calculation unit, 13 imaging device, 14 posture angle error estimation unit, 15 correlator, 16 posture angle change amount calculation unit, 17 speed calculation unit, 21 screens.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０１Ｃ 21/16 Ｇ０１Ｃ 21/16 Ｎ Ｇ０５Ｄ 1/08 Ｇ０５Ｄ 1/08 Ｆターム(参考） 2F029 AA05 AA08 AB03 AC03 AC05 AC09 AC12 AD02 2F065 AA31 BB05 CC00 EE00 FF04 FF64 FF65 JJ03 PP01 QQ00 QQ23 QQ24 QQ25 QQ28 QQ41 5H301 AA06 BB16 BB20 CC04 CC08 GG09 GG14 GG17 QQ06 ──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) G01C 21/16 G01C 21/16 N G05D 1/08 G05D 1/08 F term (Reference) 2F029 AA05 AA08 AB03 AC03 AC05 AC09 AC12 AD02 2F065 AA31 BB05 CC00 EE00 FF04 FF64 FF65 JJ03 PP01 QQ00 QQ23 QQ24 QQ25 QQ28 QQ41 5H301 AA06 BB16 BB20 CC04 CC08 GG09 GG14 GG17 QQ06
Claims (3)
力する慣性装置と、飛しょう体の前方に取り付けられて
前方の撮像画像を得る撮像装置と、この撮像装置で撮像
された画像から自己姿勢角を演算する手段と、上記画像
から求めた姿勢角を慣性装置で計算した姿勢角と比較
し、その差から慣性装置の姿勢角誤差を推定して補正す
る手段とを具備したことを特徴とする飛しょう体の航法
装置。An inertial device that outputs the position, velocity, and attitude angle of a flying object, an imaging device that is mounted in front of the flying object to obtain a captured image in front, and an image that is captured by the imaging device. Means for calculating the self attitude angle, and means for comparing the attitude angle obtained from the image with the attitude angle calculated by the inertial device, and estimating the attitude angle error of the inertial device from the difference, and correcting the error. Characteristic flying object navigation device.
力する慣性装置と、飛しょう体の前方に取り付けられて
前方の撮像画像を得る撮像装置と、この撮像装置で撮像
された外界景色の変化から姿勢角の変化を演算する手段
と、上記画像から求めた姿勢角の変化を慣性装置で計算
した姿勢角の変化と比較し、その差から慣性装置の姿勢
角誤差を推定して補正する手段とを具備したことを特徴
とする飛しょう体の航法装置。2. An inertial device for outputting the position, velocity, and attitude angle of a flying object, an imaging device attached to the front of the flying object to obtain a captured image in front, and an external scene taken by the imaging device Means for calculating the change in the attitude angle from the change in the image, and comparing the change in the attitude angle obtained from the image with the change in the attitude angle calculated by the inertial device, and estimating and correcting the attitude angle error of the inertial device from the difference. A navigation device for a flying object, comprising:
力する慣性装置と、飛しょう体の前方に取り付けられて
前方の撮像画像を得る撮像装置と、この撮像装置で撮像
された外界景色の変化から速度を演算する手段と、上記
画像から求めた速度を慣性装置で計算した速度と比較
し、その差から慣性装置の姿勢角誤差を推定して補正す
る手段とを具備したことを特徴とする飛しょう体の航法
装置。3. An inertial device for outputting the position, velocity, and attitude angle of the flying object, an imaging device attached to the front of the flying object to obtain a captured image in front of the flying object, and an external scene taken by the imaging device Means for calculating the speed from the change of the speed, and means for comparing the speed obtained from the image with the speed calculated by the inertial device, and estimating the attitude angle error of the inertial device from the difference, and correcting the error. Flying object navigation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11015414A JP2000213953A (en) | 1999-01-25 | 1999-01-25 | Navigation device for flying object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11015414A JP2000213953A (en) | 1999-01-25 | 1999-01-25 | Navigation device for flying object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000213953A true JP2000213953A (en) | 2000-08-04 |
Family
ID=11888102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11015414A Pending JP2000213953A (en) | 1999-01-25 | 1999-01-25 | Navigation device for flying object |
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| JP (1) | JP2000213953A (en) |
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| KR100515470B1 (en) * | 2004-01-30 | 2005-09-20 | 학교법인 인하학원 | Calibration Equipment For Inertia Measurement Units Using Pendulum Dynamics |
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| CN102436262A (en) * | 2011-09-26 | 2012-05-02 | 北京航空航天大学 | High-precision and large-load control system and method of three-axis inertially stabilized platform for airborne remote sensing |
| CN103175530A (en) * | 2013-03-04 | 2013-06-26 | 北京航空航天大学 | Method for estimating and compensating coupling torque of aerial remote sensing inertially stabilized platform |
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| KR100515470B1 (en) * | 2004-01-30 | 2005-09-20 | 학교법인 인하학원 | Calibration Equipment For Inertia Measurement Units Using Pendulum Dynamics |
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| JP2010145389A (en) * | 2008-12-22 | 2010-07-01 | Korea Aerospace Research Inst | Method of correcting three-dimensional erroneous array of attitude angle sensor by using single image |
| CN102436262B (en) * | 2011-09-26 | 2013-12-04 | 北京航空航天大学 | High-precision and large-load control system and method of three-axis inertially stabilized platform for airborne remote sensing |
| CN102436262A (en) * | 2011-09-26 | 2012-05-02 | 北京航空航天大学 | High-precision and large-load control system and method of three-axis inertially stabilized platform for airborne remote sensing |
| CN103175530B (en) * | 2013-03-04 | 2015-04-08 | 北京航空航天大学 | Method for estimating and compensating coupling torque of aerial remote sensing inertially stabilized platform |
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| US11385059B2 (en) | 2017-05-26 | 2022-07-12 | Guangzhou Xaircraft Technology Co., Ltd | Method for determining heading of unmanned aerial vehicle and unmanned aerial vehicle |
| WO2019053892A1 (en) * | 2017-09-15 | 2019-03-21 | パイオニア株式会社 | Measurement device, measurement method, and program |
| JPWO2019053892A1 (en) * | 2017-09-15 | 2020-10-15 | パイオニア株式会社 | Measuring device, measuring method, and program |
| WO2019239460A1 (en) * | 2018-06-11 | 2019-12-19 | 三菱電機株式会社 | Camera calibration device |
| JP2019023865A (en) * | 2018-07-12 | 2019-02-14 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method, system, and program for executing error recovery |
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