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Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform

An optoelectronic platform and target positioning technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, measurement devices and other directions, which can solve the problems of many limitations, low positioning accuracy and poor real-time

Active Publication Date: 2021-01-26
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Abstract
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Problems solved by technology

[0008] In order to avoid the deficiencies of the prior art, the present invention proposes an active target positioning and speed measurement method based on the autonomous photoelectric platform of the unmanned aerial vehicle, which can output the target position information in real time and also output the target speed information, so as to solve the problems in the prior art. There are many limitations in use, low positioning accuracy and poor real-time performance

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  • Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform
  • Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform
  • Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform

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Embodiment Construction

[0099] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0100] The specific implementation steps of the target positioning speed measuring method proposed by the present invention are as follows:

[0101] Step 1: Select the position and velocity of the target in the Cartesian coordinate system as the Kalman filter state vector, and establish the Kalman filter state equation;

[0102] Step 2: According to the distance (r) between the optoelectronic platform and the target output by the optoelectronic platform, the attitude angle of the optoelectronic platform ( θ) and the position of the photoelectric platform for measurement conversion;

[0103] Step 3: Establish the Kalman filter measurement prediction equation;

[0104] Step 4: Carry out Kalman filtering to calculate the position and velocity of the target.

[0105] Each step is described in detail below.

[0106] Step 1: Select the position and velocity in the...

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Abstract

The invention relates to an active target positioning and speed measuring method based on an unmanned aerial vehicle autonomous photoelectric platform, GPS information is accessed to the photoelectricplatform, a navigation attitude reference system in the photoelectric platform not only can provide attitude information of the photoelectric platform, but also can provide position and speed information of the photoelectric platform. The target position is converted to the photoelectric platform coordinate system in the target positioning process, the installation error between the photoelectricplatform and the unmanned aerial vehicle and the attitude error and the position error of the unmanned aerial vehicle do not need to be considered, and the positioning speed measurement precision ofthe target is greatly improved.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle application technology, and relates to an active target positioning and speed measurement method based on an autonomous photoelectric platform of an unmanned aerial vehicle. Background technique [0002] At present, the development of unmanned aerial vehicles is advancing by leaps and bounds. It has the advantages of small size, low cost, flexible maneuverability, and no risk of casualties during combat. Therefore, unmanned aerial vehicles are widely used in military reconnaissance, artillery calibration, and battlefield surveillance. When the UAV performs the calibration mission, it first uses the photoelectric platform to search and identify the target, displays the image and coordinates of the target on the screen of the ground control station, and then inputs the target data into the artillery firing command system. Among the many military applications of UAVs, the positioning of targets...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/00G01S11/12G01S19/42G01S19/52G01S19/53
CPCG01C21/165G01C21/005G01S11/12G01S19/52G01S19/53G01S19/42
Inventor 符文星张通陈康常晓飞付斌许涛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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