Target real-time positioning method and system based on single-station angle information

Abstract

The invention provides a target real-time positioning method and system based on single-station angle information. The method comprises the following steps: constructing a first conversion matrix Tne from an inertial coordinate system to a measurement platform coordinate system by using an attitude Euler angle of a measurement platform relative to the inertial coordinate system; constructing a second conversion matrix Toe from the sight line coordinate system to the coordinate system of the measuring platform by using the sight line angle of the target relative to the measuring platform; determining a coordinate transformation matrix A from a sight line coordinate system to an inertial coordinate system according to Tne and Toe; and during positioning, acquiring an attitude Euler angle of the measurement platform and the height of the target relative to the measurement platform, acquiring the sight angle by using an angle measurement device, calculating the northeast position of the target relative to the measurement platform by using the coordinate transformation matrix A, and further calculating the distance R of the target relative to the measurement platform. According to the invention, the angle information measured by the single-station angle measuring device and the relative height information of the target are utilized, so that the rapid real-time positioning of the target can be accurately realized.

Description

Technical Field

[0001] The present invention relates to the technical field of target positioning, and in particular to a real-time target positioning method and system based on single-station angle information. Background Art

[0002] During the flight of an aircraft with a low-cost inertial component, due to the zero drift problem of the accelerometer, the aircraft position error accumulates with the flight time, and the deviation between the position of the target relative to the aircraft and the initial binding position becomes larger and larger. When the aircraft loses the target during tracking the target through the seeker or pod, the large accumulated error causes the bound target position to exceed the field of view of the aircraft detection device, and thus completely loses the target. Therefore, it is necessary to reposition the target after the aircraft captures and tracks the target to ensure that the target can be captured again after it is lost.

[0003] Most of the existing positioning solutions require a large number of external signals. Relying on too many external signals leads to large restrictions on positioning scenarios. In addition, the existing algorithms are computationally intensive and occupy a large amount of aircraft computing resources. Summary of the invention

[0004] In view of this, the present invention provides a method and system for real-time target positioning based on single-station angle information, which can utilize the angle information measured by a single-station angle measurement device and the target relative height information to accurately achieve rapid real-time positioning of the target.

[0005] In order to solve the above technical problems, the present invention is implemented as follows.

[0006] A method for real-time positioning of a target based on single-station angle information, the method being implemented by using a measurement platform equipped with an angle measurement device, the method comprising:

[0007] Using the Euler angle θ of the measurement platform relative to the inertial coordinate system, the first transformation matrix T from the inertial coordinate system to the measurement platform coordinate system is constructed. ne ;

[0008] Using the sight angle Q of the target relative to the measurement platform, the second transformation matrix T is constructed to transform the sight coordinate system to the measurement platform coordinate system oe ;

[0009] According to the first transformation matrix T ne and the second transformation matrix T oe , determine the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system;

[0010] During positioning, the Euler angle θ of the measurement platform and the height of the target relative to the measurement platform are obtained, the line of sight angle Q is collected by an angle measurement device, and the northeast position of the target relative to the measurement platform is calculated using the coordinate transformation matrix A, thereby calculating the distance R of the target relative to the measurement platform.

[0011] Preferably, the first transformation matrix T for transforming the inertial coordinate system to the measurement platform coordinate system is ne for:

[0012]

[0013] Wherein, θ, ψ, γ are the pitch angle, yaw angle, and roll angle in the attitude Euler angle θ;

[0014] The second transformation matrix T of the line of sight coordinate system to the measurement platform coordinate system oe for:

[0015]

[0016] Among them, Q e and Q b are respectively the sight angle height angle and the sight azimuth angle in the sight angle Q;

[0017] Then the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system is The superscript "T" indicates the transpose of a matrix.

[0018] Preferably, the coordinate transformation matrix A is used to calculate the northeast position of the target relative to the measurement platform as follows:

[0019]

[0020] Among them, X T is the north position of the target relative to the measurement platform, Z T is the east position of the target relative to the measurement platform, H T is the height of the target relative to the measurement platform; A(m,n) represents the mth row and nth column of matrix A.

[0021] Preferably, the height H of the target relative to the measuring platform is T The method of obtaining is: using the height of the measuring platform itself collected by the height measuring element set on the measuring platform, subtracting the known ground target height, to obtain the height H of the target relative to the measuring platform T .

[0022] Preferably, the angle measuring device is an optical pod, a laser seeker, a television seeker or an infrared seeker.

[0023] The present invention also provides a target real-time positioning system based on single-station angle information, the system comprising a measuring platform, an angle measuring device arranged on the measuring platform, and a positioning solution module arranged on the measuring platform or the angle measuring device;

[0024] The angle measurement device collects the sight angle Q of the target relative to the measurement platform and sends it to the positioning solution module;

[0025] The measuring platform uses a measuring element to collect the attitude Euler angle θ of the measuring platform relative to the inertial coordinate system, or receives the attitude Euler angle θ from outside the system;

[0026] The first transformation matrix T is constructed in the positioning solution module to transform the inertial coordinate system to the measurement platform coordinate system. ne And the second transformation matrix T from the line of sight coordinate system to the measurement platform coordinate system oe ; The first transformation matrix T ne and the second transformation matrix T oe , forming the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system; the positioning solution module is based on the line of sight angle Q, the attitude Euler angle Θ and the height H of the target relative to the measurement platform T , using the coordinate transformation matrix A, solve the northeast position of the target relative to the measurement platform, and then calculate the distance R of the target relative to the measurement platform.

[0027] Preferably, the first transformation matrix T constructed in the positioning solution module for transforming the inertial coordinate system into the measurement platform coordinate system is ne for:

[0028]

[0029] Wherein, θ, ψ, γ are the pitch angle, yaw angle, and roll angle in the attitude Euler angle θ;

[0030] The second transformation matrix T of the line of sight coordinate system to the measurement platform coordinate system oe for:

[0031]

[0032] Among them, Q e and Q b are respectively the sight angle height angle and the sight azimuth angle in the sight angle Q;

[0033] Then T ne and T oe The coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system is The superscript "T" indicates the transpose of a matrix.

[0034] Preferably, the positioning solution module solves the northeast position of the target relative to the measurement platform as:

[0035]

[0036] Among them, X T is the north position of the target relative to the measurement platform, Z T is the east position of the target relative to the measurement platform, H T is the height of the target relative to the measurement platform; A(m,n) represents the mth row and nth column of matrix A.

[0037] Preferably, the angle measuring device is an optical pod, a laser seeker, a television seeker or an infrared seeker.

[0038] Beneficial effects:

[0039] (1) The present invention utilizes the line of sight angle measurable by an angle measuring device, combined with the height and attitude angle information measured by a measuring element or obtained from outside the system, to accurately achieve rapid real-time positioning of a target by utilizing the angle information measured by a single-station angle measuring device.

[0040] (2) This solution is simple to calculate, requires less computing resources, and has high real-time performance.

[0041] (3) This solution relies on fewer external signals and can be applied to more positioning situations.

[0042] (4) The angle measuring device and the height measuring element can use existing elements on the measuring platform, making the implementation cost of this solution low. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The figure is a flow chart of the real-time positioning method of a mobile target based on an optical pod according to the present invention.

[0044] Figure 2 This is the coordinate system definition and attitude angle diagram.

[0045] Figure 3 It is a schematic diagram of the real-time positioning system of a mobile target based on an optical pod of the present invention. DETAILED DESCRIPTION

[0046] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0047] Take an aircraft as an example. The aircraft is fast during flight and has high requirements for real-time positioning. A separate height measuring element (such as a barometric altimeter) can be installed in the aircraft, in which case its own height position information can be accurately obtained. Then, by using the height information obtained by the height measuring element and combining it with the line of sight angle that can be measured by the angle measuring device, the target can be positioned in real time with less calculation. This solution is simple to calculate, requires less computing resources, and has high real-time performance.

[0048] The method is applicable to various measuring platforms equipped with angle measuring devices. The angle measuring device can be any one of an optical pod, a laser seeker, a television seeker, and an infrared seeker. The measuring platform can be equipped with a height measuring component and an attitude measuring component to measure height information and attitude information, and these two information can also be obtained from other devices or systems. Generally speaking, the existing measuring platform has integrated the height measuring component and the attitude measuring component to provide attitude Euler angle and height information for the present invention.

[0049] Figure 1 The present invention provides a method for real-time positioning of a mobile target based on an optical pod. In this embodiment, the angle measurement device is an optical pod, which is installed on an optical pod platform (such as an airplane), and the optical pod platform is a measurement platform.

[0050] The method comprises the following steps:

[0051] Step 1: Define the coordinate axis directions of the optical pod platform coordinate system as forward, upward, and right, denoted as OX E Y E Z E , the coordinates are expressed as [X E ,Y E ,Z E ] T ; Define the three coordinate axes of the inertial coordinate system as north, celestial, and east, denoted as O-XYZ, and the coordinates are expressed as [X, Y, Z] T ; Define the attitude Euler angle θ of the optical pod platform relative to the inertial coordinate system, including: θ-pitch angle, ψ-yaw angle, γ-roll angle; the relative relationship is as follows Figure 2 shown.

[0052] Step 2: Calculate the transformation matrix T from the inertial coordinate system to the optical pod platform coordinate system using the 2-3-1 conversion sequence based on the attitude Euler angle θ of the optical pod platform ne :

[0053]

[0054] Step 3: Obtain the sight angle Q of the target relative to the pod platform output by the optical pod. Since the optical pod and its platform can be regarded as one, the sight angle measured by the optical pod is the sight angle of the target relative to the pod platform. The sight angle Q includes the sight height angle Q e 、The sight angle is Q b ; In the rotation order of high and low first, then rear, the transformation matrix T of the line of sight coordinate system to the optical pod platform coordinate system is obtained oe :

[0055]

[0056] According to the transformation matrix T ne and the transformation matrix T oe , the coordinate transformation matrix from the line of sight coordinate system to the inertial coordinate system can be determined

[0057] Step 4: During positioning, use the optical pod to collect the line of sight angle Q, use the attitude measurement element to collect the measurement platform attitude Euler angle θ or use the known attitude Euler angle θ; substitute θ and Q into the coordinate transformation matrix A to obtain the northeast position X of the target relative to the optical pod platform T ,Z T , combined with the height H of the target relative to the optical pod platform T , and then the distance R of the target relative to the optical pod platform can be calculated:

[0058]

[0059] Where: superscript "T" indicates the transpose of the matrix;

[0060] A is the coordinate transformation from the line of sight system to the inertial system, and A(m,n) represents the mth row and nth column of matrix A;

[0061] X T is the north position of the target relative to the optoelectronic pod platform;

[0062] Z T is the east position of the target relative to the optoelectronic pod platform;

[0063] H T is the height of the target relative to the optoelectronic pod; the height H of the optical pod platform itself is known, or the height H of the optical pod platform itself is measured by a height measuring element set on the optical pod platform, combined with the known target height H T0 (The target is a ground target with a known height), then the height of the target relative to the optical pod platform can be expressed by the formula H T =HH T0 .

[0064] R is the distance of the target relative to the optoelectronic pod platform.

[0065] Through the above operations, the position coordinates X of the target relative to the optical pod platform in the inertial system are obtained. T ,H T ,Z T T , and the distance R of the target relative to the pod platform.

[0066] Based on the above method, the present invention also provides a target real-time positioning system based on single-station angle information, such as Figure 3 As shown, the system includes a measuring platform, an angle measuring device arranged on the measuring platform, and a positioning solution module arranged on the measuring platform or the angle measuring device. In this embodiment, an attitude measuring element and a height measuring element are also arranged on the measuring platform. In practice, the elements integrated in the measuring platform can also be used or data can be obtained from outside the system.

[0067] The angle measurement device collects the sight angle Q of the target relative to the measurement platform and sends it to the positioning solution module;

[0068] The attitude measurement element collects the attitude Euler angle θ of the measurement platform relative to the inertial coordinate system and sends it to the positioning solution module;

[0069] The height measuring component collects the height H of the measuring platform itself and sends it to the positioning solution module;

[0070] The first transformation matrix T is constructed in the positioning solution module to transform the inertial coordinate system to the measurement platform coordinate system. ne And the second transformation matrix T from the line of sight coordinate system to the measurement platform coordinate system oe ; The first transformation matrix T ne and the second transformation matrix T oe , forming the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system; the positioning solution module also uses the height H of the measurement platform itself to calculate the height H of the target relative to the measurement platform T In practice, the positioning solution module can also directly obtain the height H of the target relative to the measurement platform from the outside. T , no calculation is required.

[0071] During positioning, the positioning solution module substitutes the received attitude Euler angle θ and the sight angle Q into the coordinate transformation matrix A, combined with the height H of the target relative to the measurement platform T , obtain the northeast position of the target relative to the measurement platform; then calculate the distance R of the target relative to the measurement platform.

[0072] Among them, the transformation matrix T used by the positioning solution module oe , transformation matrix T neThe calculation formula of the distance R can be found in the above formulas (1)-(3) and will not be described in detail here.

[0073] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A real-time target positioning method based on single-station angle information, characterized in that: The angle measuring device is mounted on a measuring platform, and the method comprises: Using the Euler angle θ of the measurement platform relative to the inertial coordinate system, the first transformation matrix T from the inertial coordinate system to the measurement platform coordinate system is constructed. ne ; Using the sight angle Q of the target relative to the measurement platform, the second transformation matrix T is constructed to transform the sight coordinate system to the measurement platform coordinate system oe ; According to the first transformation matrix T ne and the second transformation matrix T oe , determine the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system; During positioning, the Euler angle θ of the measurement platform and the height of the target relative to the measurement platform are obtained, the line of sight angle Q is collected by an angle measurement device, and the northeast position of the target relative to the measurement platform is calculated using the coordinate transformation matrix A, thereby calculating the distance R of the target relative to the measurement platform.

2. The method according to claim 1, characterized in that The first transformation matrix T of the inertial coordinate system to the measurement platform coordinate system is ne for: in, ψ,γ are the pitch angle, yaw angle and roll angle in the attitude Euler angle θ; The second transformation matrix T of the line of sight coordinate system to the measurement platform coordinate system oe for: Among them, Q e and Q b are respectively the sight angle height angle and the sight azimuth angle in the sight angle Q; Then the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system is The superscript "T" indicates the transpose of a matrix.

3. The method according to claim 1 or 2, characterized in that The coordinate transformation matrix A is used to calculate the northeast position of the target relative to the measurement platform: Among them, X T is the north position of the target relative to the measurement platform, Z T is the east position of the target relative to the measurement platform, H T is the height of the target relative to the measurement platform; A(m,n) represents the mth row and nth column of matrix A.

4. The method according to claim 3, characterized in that The height of the target relative to the measuring platform H T The method of obtaining is: using the height of the measuring platform itself collected by the height measuring element set on the measuring platform, subtracting the known ground target height, to obtain the height H of the target relative to the measuring platform T .

5. The method according to any one of claims 1 to 4, characterized in that: The angle measuring device is an optical pod, a laser seeker, a television seeker or an infrared seeker.

6. A target real-time positioning system based on single-station angle information, characterized in that: The system includes a measuring platform, an angle measuring device arranged on the measuring platform, and a positioning solution module arranged on the measuring platform or the angle measuring device; The angle measurement device collects the sight angle Q of the target relative to the measurement platform and sends it to the positioning solution module; The measuring platform uses a measuring element to collect the attitude Euler angle θ of the measuring platform relative to the inertial coordinate system, or receives the attitude Euler angle θ from outside the system; The first transformation matrix T is constructed in the positioning solution module to transform the inertial coordinate system to the measurement platform coordinate system. ne And the second transformation matrix T from the line of sight coordinate system to the measurement platform coordinate system oe ; The first transformation matrix T ne and the second transformation matrix T oe , forming the coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system; the positioning solution module is based on the line of sight angle Q, the attitude Euler angle Θ and the height H of the target relative to the measurement platform T , using the coordinate transformation matrix A, solve the northeast position of the target relative to the measurement platform, and then calculate the distance R of the target relative to the measurement platform.

7. The system according to claim 6, characterized in that The first transformation matrix T constructed in the positioning solution module for converting the inertial coordinate system to the measurement platform coordinate system ne for: in, ψ,γ are the pitch angle, yaw angle and roll angle in the attitude Euler angle θ; The second transformation matrix T of the line of sight coordinate system to the measurement platform coordinate system oe for: Among them, Q e and Q b are respectively the sight angle height angle and the sight azimuth angle in the sight angle Q; Then T ne and T oe The coordinate transformation matrix A from the line of sight coordinate system to the inertial coordinate system is The superscript "T" indicates the transpose of a matrix.

8. The system according to claim 6 or 7, characterized in that The positioning solution module solves the northeast position of the target relative to the measurement platform as follows: Among them, X T is the north position of the target relative to the measurement platform, Z T is the east position of the target relative to the measurement platform, H T is the height of the target relative to the measurement platform; A(m,n) represents the mth row and nth column of matrix A.

9. The system according to claim 6, characterized in that The angle measuring device is an optical pod, a laser seeker, a television seeker or an infrared seeker.

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