An airborne optoelectronic platform wide-area scanning path planning method and system

Abstract

The application discloses an airborne photoelectric platform wide-area scanning path planning method and system, which is applied to the field of automatic control technology, and the method comprises the following steps: acquiring the heading angle of an airplane according to the scanning path of an airborne photoelectric platform; decomposing the ground scanning speed to obtain scanning speed information in a geographic coordinate system; combining the scanning speed information with flight speed information, and calculating the linear speed of the visual axis of the airborne photoelectric platform through coordinate transformation; converting the linear speed into angular speed through the laser measured target oblique viewing distance, and obtaining the angular speed value of the wide-area scanning mode of the airborne photoelectric platform; and the path planning method provided by the application can effectively guarantee the scanning overlap rate requirement of the photoelectric platform on the target area in the wide-area scanning process, and is more favorable for the splicing of the pictures of the target shot by the airborne photoelectric platform in the wide-area scanning mode.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a method and system for wide-area scanning path planning for an airborne optoelectronic platform. Background Technology

[0002] Due to interference factors such as the forward flight speed of the aircraft during wide-area scanning, airborne optoelectronic platforms may miss scans, failing to achieve the required scan overlap. Consequently, during image stitching, it becomes impossible to extract the scanned area continuously.

[0003] To overcome these shortcomings, this application proposes a method and system for wide-area scanning path planning for an airborne optoelectronic platform, which ensures the overlap rate of images captured by the optoelectronic platform during wide-area scanning, facilitating the stitching of the captured images afterward and extracting the wide-area scanning scene completely. Summary of the Invention

[0004] The purpose of this application is to provide a method and system for wide-area scanning path planning for an airborne optoelectronic platform, which aims to solve the problem of missed scans of targets of interest during the wide-area scanning process of the optoelectronic platform.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] This application provides a wide-area scanning path planning method for an airborne optoelectronic platform, including:

[0007] The aircraft's heading angle is obtained based on the scanning path of the airborne optoelectronic platform;

[0008] The scanning velocity of the ground is decomposed to obtain the scanning velocity information in the geographic coordinate system;

[0009] The scanning speed information is combined with the flight speed information, and the linear velocity of the line of sight of the airborne optoelectronic platform is calculated through coordinate transformation.

[0010] By measuring the target's oblique viewing distance using laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform's wide-area scanning mode.

[0011] Furthermore, the step of obtaining the aircraft's heading angle based on the scanning path of the airborne optoelectronic platform specifically includes the following steps:

[0012] Based on the requirements for image capture and stitching by the airborne optoelectronic platform, the swath width L of the ground scanning imaging is determined. 幅宽 Ground scan overlap rate A 重叠 % and the ground scanning speed value V during the scanning process 扫描 The aircraft's heading angle θ is obtained based on the aircraft's inertial navigation system. drift .

[0013] Furthermore, the step of decomposing the ground scanning velocity to obtain scanning velocity information in the geographic coordinate system specifically includes the following steps:

[0014] With the position of the airborne optoelectronic platform as the center point, the direction of the aircraft's movement as the X-axis, and the scanning direction as the Y-axis;

[0015] The ground scanning velocity value is decomposed into four quadrants to serve as scanning velocity information in the geographic coordinate system.

[0016] Furthermore, the step of combining the scanning speed information with the flight speed information and calculating the linear velocity of the airborne optoelectronic platform's line of sight through coordinate transformation specifically includes the following steps:

[0017] The aircraft speed information measured by the airborne inertial navigation system is combined with the scanned speed information to obtain V. g ;

[0018] Based on the aircraft's attitude information, it will be located in the geographic coordinate system X. A Y A Z A The scanning speed information is used to obtain the coordinate transformation matrix A by rotating the aircraft three times according to its attitude angle, and then the linear velocity V = A × V along the aircraft axis is obtained. g ;

[0019] Based on the linear velocity V along the aircraft axis and after rotating the body coordinate system by a preset angle, the coordinate transformation matrix A is obtained. LOS ;

[0020] Combining the aircraft's axial linear velocity V and coordinate transformation matrix A LOS Calculate the X-axis of the airborne optoelectronic platform. b Y b Z b The linear velocity is V LOS =A LOS ×V.

[0021] Furthermore, the step of converting the linear velocity into angular velocity by measuring the target's oblique viewing distance using laser to obtain the angular velocity value of the airborne optoelectronic platform's wide-area scanning mode specifically includes the following steps:

[0022] The airborne optoelectronic platform measures the target's oblique viewing distance L using laser, then converts the linear velocity into angular velocity, calculated using the formula: ω=arctan(V LOs / L);

[0023] Based on the calculated angular velocity value, it is set as the angular velocity value in the wide-area scanning mode of the airborne optoelectronic platform.

[0024] This application provides a wide-area scanning path planning system for an airborne optoelectronic platform, comprising:

[0025] Acquisition module: Acquires the aircraft's heading angle based on the scanning path of the airborne optoelectronic platform;

[0026] Decomposition module: Decomposes the ground scanning velocity to obtain scanning velocity information in the geographic coordinate system;

[0027] Calculation module: Combines the scanning speed information with the flight speed information, and calculates the linear velocity of the line of sight of the airborne optoelectronic platform after coordinate transformation;

[0028] Conversion module: By measuring the target oblique viewing distance with laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform in wide-area scanning mode.

[0029] This application provides an apparatus comprising a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a wide-area scanning path planning method for an airborne optoelectronic platform; the processor is configured to execute the program instructions stored in the memory to implement a wide-area scanning path planning method for an airborne optoelectronic platform.

[0030] This application provides a storage medium storing processor-executable program instructions for executing a wide-area scanning path planning method for an airborne optoelectronic platform.

[0031] This application provides a wide-area scanning path planning method and system for an airborne optoelectronic platform, which has the following advantages:

[0032] This application determines the scanning heading angle and ground scanning speed to obtain the scanning speed value in the geographic coordinate system. Then, by combining the scanning speed in the geographic coordinate system with the aircraft speed, and performing two coordinate transformations, the speed is converted into the axial angular velocity of the optoelectronic platform's line of sight. Based on the oblique viewing distance of the target obtained through laser ranging, the linear velocity of the aircraft relative to the line of sight is calculated. This enables the airborne optoelectronic platform to perform wide-area scanning work vertically, ensuring both the required overlap rate during scanning and preventing any missed scans, thus allowing for a complete representation of the scanned area during image stitching. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating a wide-area scanning path planning method for an airborne optoelectronic platform according to Embodiment 1 of this application.

[0034] Figure 2 This is a schematic diagram of the wide-area scanning imaging method of the airborne optoelectronic platform in Embodiment 1 of this application;

[0035] Figure 3 This is a schematic diagram of the calculation process of the wide-area scanning imaging method of the airborne optoelectronic platform in Embodiment 1 of this application;

[0036] Figure 4 This is a schematic diagram of the structure of an airborne optoelectronic platform wide-area scanning path planning system according to Embodiment 2 of this application;

[0037] Figure 5 This is a schematic diagram of the device structure in Embodiment 3 of this application;

[0038] Figure 6 This is a schematic diagram of the storage medium structure in Embodiment 4 of this application. Detailed Implementation

[0039] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Example 1

[0042] Please see Figure 1 This is a flowchart illustrating a wide-area scanning path planning method for an airborne optoelectronic platform according to Embodiment 1 of this application; the steps include:

[0043] S1: Obtain the aircraft's heading angle based on the scanning path of the airborne optoelectronic platform.

[0044] In this embodiment, the swath width L of the ground scanning imaging is determined according to the image capture and image stitching requirements of the airborne optoelectronic platform. 幅宽 Ground scan overlap rate A 重叠 % and the ground scanning speed value V during the scanning process 扫描 The aircraft's heading angle θ is obtained based on the aircraft's inertial navigation system. drift .

[0045] It is understandable that, while satisfying the width L... 幅宽 When required, the wide-area scan path is perpendicular to the aircraft's flight path. Taking a scan on the right side of the aircraft as an example, the heading angle is explained. During scanning, the flight path direction is defined as the baseline, with the left side as the negative direction. When scanning from the near end point to the far end point, the heading angle is θ. direction =θ drift +90°; when traveling from the far end to the near end, its heading angle is θ. direction =θdrift -90°; during reversal, it performs a circular motion with a heading angle of θ. direction =θ n_cir ,in

[0046] Please refer to Figure 2 This is a schematic diagram of the wide-area scanning imaging method of an airborne optoelectronic platform according to Embodiment 1 of this application. The method determines the scanning heading angle based on the planned scanning path of the airborne optoelectronic platform, i.e., from the near end point to the far end point of the aircraft -> circular motion -> far end point to near end point -> circular motion. Combined with the ground scanning speed, the scanning speed in the geographic coordinate system can be obtained. Combined with the aircraft's flight speed, the linear velocity V of the optoelectronic platform's line of sight is calculated through two coordinate transformations. LOS And based on the target oblique viewing distance L measured by laser, the angular velocity ω of the platform's line of sight relative to the aircraft is calculated.

[0047] S2: Decompose the ground scanning velocity to obtain the scanning velocity information in the geographic coordinate system.

[0048] In this embodiment, the position of the airborne optoelectronic platform is taken as the center point, the direction of the aircraft's movement is taken as the X-axis, and the scanning direction is taken as the Y-axis; the ground scanning speed value is decomposed into four quadrants as scanning speed information in the geographic coordinate system.

[0049] The specific calculation process is as follows:

[0050] If: 0°≤θ direction ≤90°

[0051] Then: V N_Vel =V 扫描 ×cos(θ direction V E_Vel =V 扫描 ×sin(θ direction );

[0052] If: 90° < θ direction ≤180°

[0053] Then: V N_Vel = (-1)×V 扫描 ×cos(180°-θ direction V E_Vel =V 扫描 ×sin(180°-θ direction );

[0054] If: 180° < θ direction ≤270°

[0055] Then: V N_Vel = (-1)×V扫描 ×cos(θ direction -180°), V E_Vel = (-1)×V 扫描 ×sin(θ direction -180°);

[0056] If: 270° < θ direction ≤360°

[0057] Then: V N_Vel =V 扫描 ×cos(360°-θ direction V E_Vel = (-1)×V 扫描 ×sin(360°-θ direction ).

[0058] S3: Combine the scanning speed information with the flight speed information, and calculate the linear velocity of the line of sight of the airborne optoelectronic platform after coordinate transformation.

[0059] In this embodiment, due to the presence of the aircraft's forward velocity, the platform needs to compensate for it. The aircraft velocity information measured by the onboard inertial navigation system is combined with the scanned velocity information to obtain V. g .

[0060] First, the coordinate axes of the geographic coordinate system are defined as the northeast-northeast coordinate system, and the coordinate axes of the vehicle coordinate system are defined as the front-right-lower coordinate system. The coordinate transformation matrix A is obtained by rotating according to the roll χ, pitch η, and heading angle α information provided by the airborne inertial navigation system. The specific formula is as follows:

[0061]

[0062] The combined velocity V of the aircraft in the geographic coordinate system g After the first coordinate transformation, it is converted to the aircraft axis X. A Y A Z A The linear velocity in the direction is V = V × V g .

[0063] Define the coordinate axes of the line-of-sight coordinate system as the front-right-lower coordinate system. Obtain the direction matrix from the carrier coordinate system to the photoelectric platform, which is obtained by rotating the coordinate axes of the carrier coordinate system around the azimuth angle A and pitch angle E of the photoelectric platform, respectively, to obtain the coordinate transformation matrix A. LOS The specific formula is as follows:

[0064]

[0065] Combining the aircraft's axial linear velocity V and coordinate transformation matrix A LOS Calculate the X-axis of the airborne optoelectronic platform.b Y b Z b The linear velocity is V LOS =A LOS ×V.

[0066] S4: By measuring the target's oblique viewing distance with laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform's wide-area scanning mode.

[0067] In this embodiment, it is assumed that the unit vector along the view axis is [1 0 0]. T Through direction matrix A Los And after the changes in A, we obtain the unit vector [Xtx Xty Xtz] in the geographic coordinate system. T Then, the height difference f between the carrier and the target is utilized. L Divide by Xtz to obtain the target's squint distance L.

[0068] By periodically measuring the distance L from the electro-optical platform's line of sight to the reconnaissance target using a laser rangefinder, the accuracy of the target's oblique viewing distance is corrected. Then, the velocity ω of the electro-optical platform's line of sight relative to the aircraft's angular motion is calculated as ω = arctan(V / L). LOS / L), which is the velocity value of the frame movement during the wide-area scanning process of the airborne optoelectronic platform.

[0069] By calculating the angular velocity of the optoelectronic platform in real time according to the principle of the combined action of ground path planning, coordinate transformation and laser ranging in the wide-area scanning process, the overlap rate and the requirement of no missed scans of the airborne optoelectronic platform can be guaranteed to the maximum extent.

[0070] Please see Figure 3 This is a schematic diagram of the calculation process of the wide-area scanning imaging method for an airborne optoelectronic platform according to Embodiment 1 of this application; where L 幅宽 For the swath width of ground scanning imaging, A 重叠 % represents the ground scan overlap rate, V 扫描 The ground scanning velocity value during the scanning process, θ drift For the aircraft's heading angle, θ direction To scan the heading angle and V relative to the ground g V is the aircraft's flight speed, V is the aircraft's axial velocity, V LOS For the axial velocity of the photoelectric platform's line of sight, A and A LOS Here, ω represents the transformation matrix of the coordinates, L represents the angular velocity of the electro-optical platform's line of sight relative to the aircraft, and L represents the distance of the platform relative to the reconnaissance target.

[0071] In summary, Embodiment 1 of this application obtains the scanning speed value in the geographic coordinate system by determining the scanning heading angle and the ground scanning speed. Then, by combining the scanning speed in the geographic coordinate system with the aircraft speed, the speed is converted into the axial angular velocity of the optoelectronic platform's line of sight through two coordinate transformations. The oblique viewing distance of the target is obtained based on laser ranging, and the linear velocity of the aircraft relative to the line of sight is calculated. This enables the airborne optoelectronic platform to perform wide-area scanning work vertically, ensuring both the required overlap rate during scanning and preventing any missed scans.

[0072] Example 2

[0073] Please see Figure 4 This is a schematic diagram of the structure of an airborne optoelectronic platform wide-area scanning path planning system according to Embodiment 2 of this application; the specific content includes:

[0074] Acquisition module: Acquires the aircraft's heading angle based on the scanning path of the airborne optoelectronic platform;

[0075] Decomposition module: Decomposes the ground scanning velocity to obtain scanning velocity information in the geographic coordinate system;

[0076] Calculation module: Combines the scanning speed information with the flight speed information, and calculates the linear velocity of the line of sight of the airborne optoelectronic platform after coordinate transformation;

[0077] Conversion module: By measuring the target oblique viewing distance with laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform in wide-area scanning mode.

[0078] In this embodiment,

[0079] Example 3

[0080] Please see Figure 5 This is a schematic diagram of the device structure in Embodiment 3 of this application. The device 50 includes a processor 51 and a memory 52 coupled to the processor 51.

[0081] The memory 52 stores program instructions for implementing the above-described wide-area scanning path planning method for an airborne optoelectronic platform.

[0082] The processor 51 is used to execute program instructions stored in the memory 52 to implement a wide-area scanning path planning for an airborne optoelectronic platform.

[0083] The processor 51 can also be referred to as a CPU (Central Processing Unit).

[0084] Processor 51 may be an integrated circuit chip with signal processing capabilities. Processor 51 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0085] Example 4

[0086] Please see Figure 6 This is a schematic diagram of the storage medium structure according to Embodiment 4 of this application. The storage medium of this embodiment stores a program file 61 capable of implementing all the above methods. This program file 61 can be stored in the storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or devices such as computers, servers, mobile phones, and tablets.

[0087] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0088] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0089] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

[0090] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. A method for wide-area scanning path planning for an airborne optoelectronic platform, characterized in that, include: The aircraft's heading angle is obtained based on the scanning path of the airborne optoelectronic platform. Specifically, this includes determining the swath width of the ground scanning image based on the images captured by the airborne optoelectronic platform and the image stitching requirements. Earth-to-ground scanning overlap rate and the ground scanning speed value during the scanning process The aircraft's heading angle is obtained based on the aircraft's inertial navigation system. ; The scanning velocity of the ground is decomposed to obtain the scanning velocity information in the geographic coordinate system; The scanning speed information is combined with the flight speed information, and the linear velocity of the airborne optoelectronic platform's line of sight is calculated through coordinate transformation; specifically, this includes combining the aircraft speed information measured by the airborne inertial navigation system with the scanning speed information, i.e. Based on the aircraft's attitude information, it will be placed in the geographic coordinate system. The scanning speed information is used to obtain the coordinate transformation matrix by rotating the aircraft three times according to its attitude angle. This allows us to obtain the linear velocity along the aircraft's axis. Based on the linear velocity of the aircraft's axis And after rotating the body coordinate system by a preset angle, the coordinate transformation matrix is ​​obtained. Combined with the linear velocity of the aircraft's axis and coordinate transformation matrix Calculate the line of sight of the airborne optoelectronic platform The linear velocity is ; By measuring the target's oblique viewing distance using laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform's wide-area scanning mode.

2. The wide-area scanning path planning method for an airborne optoelectronic platform according to claim 1, characterized in that, The steps of decomposing the ground scanning velocity to obtain scanning velocity information in the geographic coordinate system specifically include the following steps: With the position of the airborne optoelectronic platform as the center point, the direction of the aircraft's movement as the X-axis, and the scanning direction as the Y-axis; The ground scanning velocity value is decomposed into four quadrants to serve as scanning velocity information in the geographic coordinate system.

3. The wide-area scanning path planning method for an airborne optoelectronic platform according to claim 1, characterized in that, The step of converting the linear velocity into angular velocity to obtain the angular velocity value of the wide-area scanning mode of the airborne optoelectronic platform by measuring the target's oblique viewing distance using laser technology specifically includes the following steps: The airborne optoelectronic platform measures the target's oblique viewing distance using laser. Then, the linear velocity is converted into angular velocity, and the calculation formula is as follows: ; Based on the calculated angular velocity value, it is set as the angular velocity value in the wide-area scanning mode of the airborne optoelectronic platform.

4. A system for a wide-area scanning path planning method for an airborne optoelectronic platform according to claim 1, comprising: Acquisition module: Acquires the aircraft's heading angle based on the scanning path of the airborne optoelectronic platform; Decomposition module: Decomposes the ground scanning velocity to obtain scanning velocity information in the geographic coordinate system; Calculation module: Combines the scanning speed information with the flight speed information, and calculates the linear velocity of the line of sight of the airborne optoelectronic platform after coordinate transformation; Conversion module: By measuring the target oblique viewing distance with laser, the linear velocity is converted into angular velocity to obtain the angular velocity value of the airborne optoelectronic platform in wide-area scanning mode.

5. A device, characterized in that, The device includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a wide-area scanning path planning method for an airborne optoelectronic platform as described in any one of claims 1-3; the processor is used to execute the program instructions stored in the memory to implement a wide-area scanning path planning method for an airborne optoelectronic platform.

6. A storage medium, characterized in that, The device stores processor-executable program instructions for executing a wide-area scanning path planning method for an airborne optoelectronic platform as described in any one of claims 1-3.

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