Simplified unmanned aerial vehicle multi-target location method

Abstract

The present invention discloses a simplified unmanned aerial vehicle multi-target location method. The simplified unmanned aerial vehicle multi-target location method can perform location in real time while realizing multiple targets, and is simple in hardware device. An area array CCD camera is employed to perform grounding imaging, and obtaining the pixel coordinates of each target; performing distortion correction, and obtaining the ideal imaging points of each target; constructing the sight vectors of a main target, a sub target and a lower machine point in the camera coordinate systems; employing the coordinate transformation to obtain the sight vectors of the main target, the sub target and the lower machine point in the aerial carrier geographic coordinate system; calculating the coordinates of each target in the aerial carrier geographic coordinate system according to the distance from the main target and the sub target to a photoelectricity platform and the sight vectors of the main target and the sub target in the aerial carrier geographic coordinate system; and finally, obtaining the geodetic coordinates through the coordinate transformation, namely locating the result.

Description

technical field [0001] The invention relates to the technical field of photoelectric imaging measurement, in particular to a simplified multi-target positioning method for unmanned aerial vehicles. Background technique [0002] Generally, the UAV photoelectric platform uses an angle sensor to measure its own angle relative to the aircraft, and uses a laser rangefinder to output the distance between itself and the reticle pointing to the target relative to the center of the image. Combined with the aircraft's GPS position data and inertial navigation attitude data, the coordinate transformation method is used to realize Target positioning, when this positioning method based on the attitude measurement / laser ranging model is used to locate multiple targets, it is necessary to frequently change the spatial orientation of the photoelectric platform for multiple positioning, which consumes a long time and is difficult to implement real-time or Quasi-real-time positioning cannot a...

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Problems solved by technology

[0002] Generally, the UAV photoelectric platform uses an angle sensor to measure its own angle relative to the aircraft, and uses a laser rangefinder to output the distance between itself and the reticle pointing to the target relative to the center of the image. Combined with the aircraft's GPS position data and inertial navigation attitude data, the coordinate transformation method is used to realize Target positioning, when this positioning method based on the attitude measurement / laser ranging model is used to locate multiple targets, it is necessary to frequently change the spatial orientation of the photoelectric platform for multiple positioning, which consumes a long time and is difficult to implement real-time or Quasi-real-time positioning cannot adapt to the real-time change of the modern battlefield situation and the large number of targets

[0003] Existing multi-target positioning methods are mainly based on multiple sensor platforms. For example, CN201410078624.5 discloses a method for multi-target positioning using multiple sets of cameras. It uses optical intersection measurement positioning method to achieve multi-target positioning, but its hardware equipment is complicated. , poor real-time performance

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