A target angular velocity calculation method and device based on a photoelectric turret

Abstract

A method and device for calculating target angular velocity based on a photoelectric turret, the method comprising: step 1, calculating the Euler angle of the target in the photoelectric turret coordinate system; step 2, based on the Euler angle of the target in the photoelectric turret coordinate system Angle, calculate the quaternion and attitude, and calculate the Euler angle of the target in the northeast sky coordinate system; step 3, calculate the target’s Euler angle in the northeast sky coordinate system based on the Euler angle of the target in the northeast sky coordinate system Euler angular velocity; step 4, based on the Euler angular velocity of the target in the northeast sky coordinate system, calculate the Euler angular velocity of the target in the photoelectric optical axis coordinate system; step 5, obtain the Euler angular velocity of the target in the photoelectric optical axis coordinate system The angular velocity is converted to the photoelectric turret coordinate system, so as to obtain the Euler angular velocity of the target in the photoelectric turret coordinate system. The present invention can also calculate the target angular velocity when there is no target distance information.

Description

technical field [0001] The invention relates to target angular velocity calculation, in particular to a target angular velocity calculation method and device based on a photoelectric turret. Background technique [0002] At present, most related systems need to use the target distance to calculate the position trajectory of the target, and then use the target trajectory to calculate the target angular velocity relative to the photoelectric system. However, for the photoelectric system without the target distance, it is usually difficult to obtain an accurate target trajectory. to the target angular velocity. Contents of the invention [0003] In view of the technical defects and drawbacks existing in the prior art, the embodiment of the present invention provides a method and device for solving the target angular velocity based on a photoelectric turret that overcomes the above problems or at least partially solves the above problems. The specific scheme is as follows: ...

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Problems solved by technology

[0002] At present, most related systems need to use the target distance to calculate the position trajectory of the target, and then use the target trajectory to calculate the target angular velocity relative to the photoelectric system. However, for the photoelectric system without the target distance, it is usually difficult to obtain an accurate target trajectory. to the target angular velocity

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