Calculation method of impact point deviation based on optoelectronic reconnaissance equipment of unmanned helicopter

Abstract

The present invention discloses a method for calculating the impact point deviation based on an unmanned helicopter optoelectronic reconnaissance device, comprising the following steps: the first step is to initialize the coordinates of the target in the earth rectangular coordinate system and the impact point in the geocentric coordinate system; the second step is to determine whether the laser light meter is performing distance measurement, and if so, to perform the third step; the third step is to collect the data group of the laser light meter at the current distance measurement point in real time; the fourth step is to calculate the current distance measurement point in the earth rectangular coordinate system and the longitude value L' and the latitude value B' according to the data group collected in the third step; the fifth step is to determine the received ground mission control equipment instructions, and save the target coordinates and the impact point coordinates; the sixth step is to calculate the distance deviation ΔL and the deviation direction θ of the impact point relative to the target. The present invention also has high calculation accuracy in areas with large terrain fluctuations.

Description

Technical Field

[0001] The invention relates to an unmanned helicopter optoelectronic reconnaissance device, in particular to a bullet impact point deviation calculation method based on the unmanned helicopter optoelectronic reconnaissance device. Background Art

[0002] The optoelectronic reconnaissance equipment of unmanned helicopters is mainly used in battlefield reconnaissance, target positioning and tracking, fire guidance, and damage effect assessment. Its combat mission is to conduct day and night reconnaissance, identification and tracking of targets, provide real-time reconnaissance images to the outside world, and guide the semi-active guided artillery shells to complete the precision strike mission. This optoelectronic equipment includes visible light television, infrared thermal imager, laser light finder, video tracker, servo control system, and optoelectronic management computer; visible light television and infrared thermal imager are mainly used to output real-time reconnaissance images to facilitate operators to observe battlefield conditions and find targets; laser light finder is used to measure target distance and illumination guidance; video tracker is used for image processing and tracking deviation calculation; servo control system is used to measure optoelectronic equipment angle, stabilize search, and realize automatic tracking of targets based on the tracking deviation calculated by the video tracker. As the information processing and control center, the optoelectronic management computer receives instructions from ground mission control equipment, controls the laser light finder to measure distance, and controls the video tracker and servo control system to track targets; collects the combined inertial navigation data on the aircraft, the distance value returned by the laser light finder, and the optoelectronic equipment angle returned by the servo control system, and calculates the target position and impact point deviation.

[0003] During a mission, if the shell misses the target, the optoelectronic equipment needs to calculate the deviation of the impact point relative to the target and report it to the command system. The command system makes corrections based on the deviation to improve the strike accuracy. At present, the method of calculating the deviation is mostly to freeze the current video image at the ground mission control seat, obtain the pixel deviation between the impact point position and the target position, calculate the angle difference through the pixel deviation and the current sensor field of view value, and then calculate the deviation through coordinate transformation; this method is suitable for situations where the terrain is not very undulating (the target point and the impact point are at the same altitude). If the terrain is undulating, the calculation accuracy cannot be guaranteed. Therefore, the existing technology has the problem that the calculation accuracy cannot be guaranteed in areas with large terrain fluctuations. Summary of the invention

[0004] The purpose of the present invention is to provide a method for calculating the impact point deviation based on the optoelectronic reconnaissance equipment of an unmanned helicopter. The present invention also has high calculation accuracy in areas with large terrain fluctuations.

[0005] The technical solution of the present invention is a method for calculating the impact point deviation based on the optoelectronic reconnaissance equipment of an unmanned helicopter, comprising the following steps:

[0006] The first step is initialization; the coordinates of the target in the earth's rectangular coordinate system (X a, Y a , Z a ) and the coordinates of the impact point in the geocentric coordinate system (X b , Y b , Z b ) is set to 0;

[0007] Step 2: Determine whether the laser light meter is measuring distance. If yes, wait. If yes, proceed to step 3.

[0008] The third step is to collect the data set (d, α) of the laser light meter at the current distance measurement point in real time. F ,β F ,γ F ,L,B,h,θ AZ ,θ EL ), where d is the slant distance value of the current distance measuring point output by the laser light meter relative to the photoelectric device, α F is the aircraft heading angle output by the inertial navigation system, β F is the aircraft pitch angle output by the inertial navigation system, γ F is the aircraft roll angle output by the inertial navigation system, L is the aircraft longitude output by the inertial navigation system, B is the aircraft latitude output by the inertial navigation system, h is the aircraft altitude output by the inertial navigation system, θ AZ is the azimuth angle output by the servo system, θ EL is the pitch angle output by the servo system;

[0009] Step 4: Calculate the coordinates (X, Y, Z) of the current distance measurement point in the geodetic rectangular coordinate system and the longitude value L' and latitude value B' according to the data set collected in step 3;

[0010] Step 5: Determine the received ground mission control device command. If it is a "save target coordinates" command, save the value of (X, Y, Z, L', B') as the target coordinate value (X a , Y a , Z a , L a , B a ), if it is a "save impact point coordinates" command, the value of (X, Y, Z, L', B') is saved as the coordinate value of the impact point (X b , Y b , Z b , L b , B b ); After saving, return to the second step and execute until the target coordinates and impact point coordinates are saved;

[0011] Step 6: Calculate the distance deviation ΔL and deviation direction θ of the impact point relative to the target.

[0012] In the aforementioned method for calculating the impact point deviation based on the unmanned helicopter optoelectronic reconnaissance equipment, the specific calculation formula for the fourth step is as follows:

[0013]

[0014] in,

[0015]

[0016] In the aforementioned method for calculating the impact point deviation based on the unmanned helicopter optoelectronic reconnaissance equipment, in the sixth step, the specific calculation formulas for the distance deviation ΔL and the deviation direction θ of the impact point relative to the target are as follows:

[0017]

[0018] in,

[0019]

[0020] In the above-mentioned method for calculating the impact point deviation based on the unmanned helicopter optoelectronic reconnaissance equipment, when X a , Y a , Z a , X b , Y b , Z b When the values ​​of are not zero, the target coordinates and impact point coordinates are saved.

[0021] Compared with the prior art, the present invention uses a laser light meter to measure the distance of the target and the impact point to obtain the slant distance value, and combines the aircraft heading angle, aircraft pitch angle, aircraft inclination angle, aircraft longitude, aircraft latitude, aircraft altitude, photoelectric azimuth, and photoelectric pitch angle during the distance measurement to calculate the distance deviation ΔL and direction deviation θ of the impact point relative to the target point, which has the following advantages: first, the slant distance value calculation is not affected by the terrain; second, the target and the impact point can be measured at any time when the aircraft is flying, which is easy to operate; third, on the basis of the existing photoelectric equipment, no hardware resources need to be added, and the function upgrade of the photoelectric equipment can be realized by adding the corresponding software package, and the application method is simple. In summary, the present invention also has high calculation accuracy in areas with large terrain fluctuations. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the embodiments, but they are not intended to limit the present invention.

[0023] Embodiment 1. A method for calculating the impact point deviation based on an unmanned helicopter optoelectronic reconnaissance device comprises the following steps:

[0024] The first step is initialization; the coordinates of the target in the earth's rectangular coordinate system (X a, Y a , Z a ) and the coordinates of the impact point in the geocentric coordinate system (X b , Y b , Z b ) is set to 0;

[0025] Step 2: Determine whether the laser light meter is measuring distance. If yes, wait. If yes, proceed to step 3.

[0026] The third step is to collect the data set (d, α) of the laser light meter at the current distance measurement point in real time. F ,β F ,γ F ,L,B,h,θ AZ ,θ EL ), where d is the slant distance value of the current distance measuring point output by the laser light meter relative to the photoelectric device, α F is the aircraft heading angle output by the inertial navigation system, β F is the aircraft pitch angle output by the inertial navigation system, γ F is the aircraft roll angle output by the inertial navigation system, L is the aircraft longitude output by the inertial navigation system, B is the aircraft latitude output by the inertial navigation system, h is the aircraft altitude output by the inertial navigation system, θ AZ is the azimuth angle output by the servo system, θ EL is the pitch angle output by the servo system;

[0027] Step 4: Calculate the coordinates (X, Y, Z) of the current distance measurement point in the geodetic rectangular coordinate system and the longitude value L' and latitude value B' according to the data set collected in step 3;

[0028] Step 5: Determine the received ground mission control device command. If it is a "save target coordinates" command, save the value of (X, Y, Z, L', B') as the target coordinate value (X a , Y a , Z a , L a , B a ), if it is a "save impact point coordinates" command, the value of (X, Y, Z, L', B') is saved as the coordinate value of the impact point (X b , Y b , Z b , L b , B b ); After saving, return to the second step and execute until the target coordinates and impact point coordinates are saved;

[0029] Step 6: Calculate the distance deviation ΔL and deviation direction θ of the impact point relative to the target.

[0030] The specific calculation formula for the fourth step is as follows:

[0031]

[0032] in,

[0033]

[0034] In the sixth step, the specific calculation formula of the distance deviation ΔL and the deviation direction θ of the impact point relative to the target is as follows:

[0035]

[0036] in,

[0037]

[0038] When X a , Y a , Z a , X b , Y b , Z b When the values ​​of are not zero, the target coordinates and impact point coordinates are saved.

[0039] Embodiment 2. The preferred embodiment of the present invention is used for optoelectronic reconnaissance equipment on an unmanned helicopter, and the optoelectronic equipment includes a visible light television, an infrared thermal imager, a laser light finder, a video tracker, an optoelectronic management computer, and a servo system.

[0040] Visible light television and infrared thermal imager are used to image the target, laser light finder is used to measure the slant distance value of the target relative to the optoelectronic equipment, and the servo system collects the current azimuth and pitch angle of the optoelectronic equipment and transmits them to the optoelectronic management computer in real time.

[0041] The optoelectronic management computer is the information processing center of the optoelectronic detection equipment, which receives data sent by each unit in real time and calculates the impact point deviation through the method proposed by the present invention.

[0042] When executing the task, the laser light meter in the optoelectronic device measures the distance to the target and the impact point respectively, and the optoelectronic management computer saves the collected data sent by each system in real time and completes the calculation task. The method for calculating the impact point deviation of Example 2 is implemented by software embedded in the optoelectronic management computer, and the specific operation process is as follows:

[0043] The first step is to initialize the coordinates of the target in the earth's rectangular coordinate system (X a , Y a , Z a ) and the coordinates of the impact point in the geodetic rectangular coordinate system (X b , Y b , Z b) is set to 0;

[0044] In the second step, the operator uses the ground task control equipment to control the optoelectronic equipment to measure the distance to the target. The software module determines that the laser light finder is measuring the distance and enters the third step;

[0045] The third step is to collect the current distance measurement point data set (d, α F ,β F ,γ F ,L,B,h,θ AZ ,θ EL ), where d is the slant distance value of the current distance measuring point output by the laser light meter relative to the photoelectric device, α F is the aircraft heading angle output by the inertial navigation system, β F is the aircraft pitch angle output by the inertial navigation system, γ F is the aircraft roll angle output by the inertial navigation system, L is the aircraft longitude output by the inertial navigation system, B is the aircraft latitude output by the inertial navigation system, h is the aircraft altitude output by the inertial navigation system, θ AZ is the azimuth angle output by the servo system, θ EL It is the pitch angle output by the servo system.

[0046] In this preferred embodiment, the specific data collected when measuring the distance to the target is:

[0047] d=1035m,α F =167.35°, β F =-1.17°, γ F =-0.22°, L=107.9578622°, B=39.1317778°, h=1728m, θ AZ =7.99°,θ EL =-29.21°.

[0048] In the fourth step, the software module calculates the three-dimensional coordinates (X, Y, Z) of the current distance measurement point in the geocentric coordinate system and the longitude value L' and latitude value B' based on the data collected in the third step. The calculation formula is as follows:

[0049]

[0050] in,

[0051]

[0052] The results calculated by this preferred embodiment are:

[0053] X=-1527965.12m Y=4714163.72m Z=4003745.44m

[0054] B'=39.123742° L'=107.958659°

[0055] In the fifth step, the operator sends a "save target coordinates" command to the optoelectronic device through the ground mission control device. After receiving the command, the software module saves the values ​​of X, Y, Z, L', and B' as the coordinates X of the target. a , Y a , Z a , L a , B a , and returns to the second step, waiting for the laser light finder to measure the distance to the new target.

[0056] The results obtained in this preferred embodiment are:

[0057] X a =-1526035.06m, Y a =4713288.40m, Z a =4003745.44m, B a =39.131874°, L a =107.94055°.

[0058] In the sixth step, the operator uses the ground mission control equipment to control the optoelectronic equipment to measure the distance to the impact point. The software module determines that the laser light finder is measuring the distance and collects the data set (d, α F ,β F ,γ F ,L,B,h,θ AZ ,θ EL ), and calculate the three-dimensional coordinates (X, Y, Z) of the current distance measuring point in the geocentric coordinate system and the longitude value L' and latitude value B' according to the fourth step method.

[0059] In this preferred embodiment, the specific data collected when measuring the distance to the impact point is:

[0060] d=1725m,α F =-100.29°, β F =0.3°,γ F =-0.2°, L=107.9913056°, B=39.1342778°, h=1420m, θ AZ =61.64°,θ EL =-2.18°.

[0061] The calculation results are:

[0062] X=-1529174.26m Y=4712232.76m Z=4005796.12m

[0063] B'=39.1464° L'=107.978848°

[0064] In the seventh step, the operator sends a "save impact point coordinates" command to the optoelectronic device through the ground mission control device. After receiving the command, the software module saves the current X, Y, Z, L', B' values ​​as the coordinates X of the target. b , Y b , Z b , L b , B b .

[0065] Then X b =-1527986.91m, Y b =4711836.84m, Z b =4003474.12m, B b =39.134385° L b =107.967201°.

[0066] Step 8: Software module determines X a , Y a , Z a , X b , Y b , Z b Both are not zero, and the deviations ΔL and θ of the impact point relative to the target are calculated according to the following formula:

[0067]

[0068] in,

[0069]

[0070] The results calculated by this preferred embodiment are:

[0071] ΔL=3065.27m;

[0072] θ=34.77°.

Claims

1. A method for calculating the impact point deviation based on the optoelectronic reconnaissance equipment of an unmanned helicopter, characterized in that: The following steps are involved: The first step is initialization; the coordinates of the target in the earth's rectangular coordinate system (X a , Y a , Z a ) and the coordinates of the impact point in the geocentric coordinate system (X b , Y b , Z b ) is set to 0; Step 2: Determine whether the laser light meter is measuring distance. If yes, wait. If yes, proceed to step 3. The third step is to collect the data set (d, α) of the laser light meter at the current distance measurement point in real time. F ,β F ,γ F ,L,B,h,θ AZ ,θ EL ), where d is the slant distance value of the current distance measuring point output by the laser light meter relative to the photoelectric device, α F is the aircraft heading angle output by the inertial navigation system, β F is the aircraft pitch angle output by the inertial navigation system, γ F is the aircraft roll angle output by the inertial navigation system, L is the aircraft longitude output by the inertial navigation system, B is the aircraft latitude output by the inertial navigation system, h is the aircraft altitude output by the inertial navigation system, θ AZ is the azimuth angle output by the servo system, θ EL is the pitch angle output by the servo system; Step 4: Calculate the coordinates (X, Y, Z) of the current distance measurement point in the geodetic rectangular coordinate system and the longitude value L' and latitude value B' according to the data set collected in step 3; Step 5: Determine the received ground mission control device command. If it is a "save target coordinates" command, save the value of (X, Y, Z, L', B') as the target coordinate value (X a , Y a , Z a , L a , B a ), if it is a "save impact point coordinates" command, the value of (X, Y, Z, L', B') is saved as the coordinate value of the impact point (X b , Y b , Z b , L b , B b ); After saving, return to the second step and execute until the target coordinates and impact point coordinates are saved; Step 6: Calculate the distance deviation ΔL and deviation direction θ of the impact point relative to the target; The specific calculation formula for the fourth step is as follows: in, a is the length of the Earth's semi-major axis, and b is the length of the Earth's semi-minor axis; In the sixth step, the specific calculation formula of the distance deviation ΔL and the deviation direction θ of the impact point relative to the target is as follows: in, 2. The method for calculating the impact point deviation based on the unmanned helicopter optoelectronic reconnaissance equipment according to claim 1 is characterized in that: When X a , Y a , Z a , X b , Y b , Z b When the values ​​of are not zero, the target coordinates and impact point coordinates are saved.

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