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Calculation method of object directional positioning angle of aerial remote sensor
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A technology of aerial remote sensing and calculation method, which is applied in the calculation field of target pointing and positioning angle, can solve the problems of difficult target pointing and positioning angle due to the monotonically increasing characteristic of tangent function, and achieves the effect of realizing rapidity and accuracy and reducing calculation time.
Inactive Publication Date: 2012-09-19
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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[0005] In order to solve the problem that the tangent function has monotonically increasing characteristics and it is difficult to obtain a high-precision target pointing and positioning angle by using the traditional look-up table method, the present invention provides a calculation method for the target pointing and positioning angle of an aerial remote sensor
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specific Embodiment approach 1
[0021] The specific embodiment one, the computing method of aerial remote sensor target pointing location angle, this method is realized by the following steps:
[0022] Step 1, using the method of coordinate translation to convert the coordinates of the target to be photographed under the geographic coordinate system to the coordinates under the aircraft coordinate system where the aerial remote sensor is located, the coordinate calculation formula of the target to be photographed under the aircraft coordinate system is used Formula 1 is expressed as:
[0023] Formula one:
[0024] In the formula: γ is the heading angle, θ is the pitch angle, is the rolling angle; (X 0 , Y 0 ,Z 0 ) is the geographic coordinates of the location of the aerial remote sensor; (x, y, z) is the coordinates of the target to be photographed in the geographic coordinate system; (x', y', z') is the coordinate of the target to be photographed in the aircraft coordinate system coordinate of;
[...
specific Embodiment approach 2
[0039] Specific embodiment two, combine figure 1 and figure 2 Describe this implementation mode, this implementation mode is the embodiment of the calculation method of the target pointing positioning angle when the aerial remote sensor imaging described in the specific implementation mode one:
[0040] Step a1, according to
[0041] Formula one:
[0042] After calculating the coordinates (x′, y′, z′) of the target to be photographed in the aircraft coordinate system, according to formula 2 and formula 3
[0043] Formula two: α = arctan x ′ z ′
[0044] Formula three: β = arctan ( y ′ x ′ 2 + ...
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Abstract
The invention discloses a calculation method of an object directional positioning angle of an aerial remote sensor, and relates to a calculation method of an object directional positioning angle. The calculation method solves the problem that a tangent function has a monotonic increase characteristic thus a high-accuracy object directional positioning angle is obtained difficultly through a traditional table look-up way. The calculation method comprises the following steps of converting geographic coordinates of an object needing to be photographed into aerial carrier coordinates through a coordinate conversion method, and based on a aerial carrier coordinate system, calculating to obtain an object directional positioning angle through an arctan function calculation method. The calculation method realizes a rapidity and an accuracy of arctan function calculation results, and provides a fast table look-up way comprising that tangent values corresponding to all angles are arranged in a table according to an arrangement of even angle increasing to form multiple ordered tables and an object directional positioning angle needing to be photographed is obtained through a sequential search method and a binary search method. The calculation method reduces a calculation time and realizes a rapidity and an accuracy of calculation of an object directional positioning angle of an aerial remote sensor.
Description
technical field [0001] The invention relates to a calculation method for a target pointing and positioning angle, in particular to a calculation method for a target to be photographed pointing and positioning angle when an aerial remote sensor is used. Background technique [0002] When an aerial remote sensor takes pictures of a predetermined target on the ground, it is first necessary to calculate the pointing angle of the servo pointing mechanism of the aerial remote sensor based on the geographic coordinates of the location of the aerial remote sensor and the geographic coordinates of the target to be photographed, and then control the pointing mechanism to move to the calculated position. The pointing angle position is obtained, and finally the imaging of the predetermined target on the ground is realized. [0003] In order to ensure the rapidity of imaging and the accuracy of imaging position, it is required that the calculation result has high precision and fast calcu...
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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00
Inventor 修吉宏李友一黄浦李军陈黎汪龙祺
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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