Transfer alignment method and system based on space-time registration and electronic equipment

Abstract

The invention relates to the technical field of inertial navigation systems, in particular to a transfer alignment method and system based on space-time registration and electronic equipment. The method comprises the following steps: controlling a main inertial navigation system on an aircraft body to send navigation parameters to a sub inertial navigation system at a fixed frequency, and controlling the sub inertial navigation system arranged on an airborne missile to complete first transfer alignment by utilizing the navigation parameters of the main inertial navigation system; an optical positioning camera arranged on an aircraft body and an optical marker arranged on an airborne missile are used for monitoring the pose variation of the airborne missile arranged on an aircraft wing in real time; the position matrix and the attitude matrix of the sub inertial navigation system are corrected according to the variation of the position and the variation of the attitude of the airborne missile, so that the second transfer alignment of the sub inertial navigation system is completed, and multiple transfer alignment after the airborne missile is separated from the aircraft body can be realized; and the alignment precision and the intelligent degree of airborne missile transfer alignment are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation systems, and in particular to a transfer alignment method and system based on time-space registration, and electronic equipment. Background Art

[0002] Transfer alignment is the process of matching the speed, attitude and other navigation parameters of the main and sub-INS systems, filtering and estimating the misalignment angle of the sub-INS system relative to the main INS system, thereby establishing an accurate sub-INS mathematical platform and initializing the navigation information of the sub-INS.

[0003] According to the different measured values, transfer alignment can be divided into three methods: measurement parameter matching, calculation parameter matching and mixed parameter matching. Regardless of which method is used, the basic principle is similar. The parameter matching results of the main and sub-INS are used as the measured values, and the Kalman filter is used to estimate the error of the sub-INS. Since the wing is not an absolute rigid body, it will inevitably deform under the influence of factors such as airflow impact, maneuvering mode and load change. This deformation brings measurement errors to the filter. The processing of wing deformation is an important topic in transfer alignment. In the past, the most commonly used method in transfer alignment is to add a second-order Markov process to the alignment model to describe the deformation angle. In addition, due to the unknown nature of wing deformation, the above method is not only difficult to apply in actual occasions, but also reduces the alignment accuracy. There is no effective method in traditional transfer alignment that can handle wing deformation. In addition, the existing transfer alignment can only be performed before the missile leaves the body. At the moment when the missile leaves the body, due to the randomness of environmental factors, it may still affect the sub-INS system. At this time, if the transfer alignment cannot be continued, it may affect the navigation accuracy of the sub-INS system.

[0004] Therefore, the prior art needs to be further developed. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a transfer alignment method and system, and electronic equipment based on spatiotemporal registration to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a transfer alignment method based on spatiotemporal registration, comprising: S100, controlling the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system using a fixed frequency, controlling the sub-inertial navigation system disposed on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, disposing an optical marker combination on the airborne missile, and using an optical positioning camera disposed on the aircraft body to capture a current frame image containing the optical marker combination at a first preset time interval, thereby acquiring second position information of the optical marker combination; S200, obtaining an airborne missile three-dimensional model corresponding to the airborne missile, defining it in the model space of the airborne missile three-dimensional model, establishing a model space coordinate system with a cross section of any airborne missile as the XOY plane, the Z axis on the axis of the airborne missile, and the origin of the coordinate system on the axis of the airborne missile; determining a first position conversion relationship between the airborne missile three-dimensional model and the optical marker combination; calculating a first actual position and posture of the airborne missile at the current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile at the previous moment in the same way, and then calculating a change in the position and a change in the attitude of the airborne missile; S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile, and obtaining the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0007] Specifically, the optical marker combination includes at least three optical markers, the at least three optical markers are not on the same straight line, and the at least three optical markers include a first optical marker, a second optical marker and a third optical marker.

[0008] Specifically, the calculating, based on the conversion relationship between the second position information and the first position, of the first actual position of the airborne missile at the current moment includes: The timestamps of the images taken by the optical positioning camera are synchronized with the main inertial navigation system on the aircraft body.

[0009] Specifically, the method further includes: After the airborne missile leaves the wing of the aircraft, a current frame image containing the optical marker combination is photographed at a second time interval to obtain second position information of the optical marker combination, and then a third actual position and posture of the airborne missile at the current moment is calculated based on a conversion relationship between the second position information and the first position. The position matrix and the attitude matrix of the sub-inertial navigation system are corrected according to a change in the position and attitude of the airborne missile to obtain a strapdown initial attitude matrix and a strapdown initial position matrix to complete a third transfer alignment, and the subsequent multiple transfer alignments are continued in the same manner until the optical marker combination cannot be contained in the current frame image.

[0010] Specifically, determining the first position conversion relationship between the three-dimensional model of the airborne missile and the optical marker combination includes: The airborne missile is generated based on a design drawing, which includes geometric feature information of the airborne missile and first position information of at least three optical markers on the airborne missile; a geometric feature matching relationship between the three-dimensional model of the airborne missile and the design drawing is determined based on the geometric feature information of the three-dimensional model of the airborne missile and the geometric feature information of the airborne missile included in the design drawing; and the first position information of the at least three optical markers on the airborne missile included in the design drawing is determined based on the geometric feature matching relationship.

[0011] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile comprises: S310, calculating the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment according to the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment; S320, calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile respectively according to the attitude data of the onboard missile at the current moment and the attitude data of the onboard missile at the previous moment; S330, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile based on the judgment results.

[0012] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0013] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

[0014] According to a second aspect of the present invention, there is provided a transfer alignment system based on spatiotemporal registration, comprising: An acquisition module, comprising an optical positioning camera disposed on the aircraft body, for capturing a current frame image containing the optical marker combination at a first preset time interval; The control module is used to control the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system set on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, use the optical positioning camera set on the aircraft body to shoot the current frame image containing the optical marker combination at a first preset time interval, and then obtain the second position information of the optical marker combination; and obtain the airborne missile three-dimensional model corresponding to the airborne missile, define in the model space of the airborne missile three-dimensional model, take the cross section of any airborne missile as the XOY plane, the Z axis is on the axial direction of the airborne missile, and the origin of the coordinate system is on the axial direction of the airborne missile, and establish the model. The method comprises the steps of: determining a first position conversion relationship between the three-dimensional model of the airborne missile and the optical marker combination; calculating a first actual position and posture of the airborne missile at the current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile at the previous moment in the same way, and then calculating a change in the position and a change in the posture of the airborne missile; and determining whether to correct the position matrix and the posture matrix of the sub-inertial navigation system according to the change in the position and the change in the posture of the airborne missile, so as to obtain a strapdown initial posture matrix and a strapdown initial position matrix, so as to complete the second transfer alignment.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the above-mentioned transfer alignment method based on spatiotemporal registration is implemented.

[0016] Beneficial effects: The present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the optical positioning camera arranged on the aircraft body and the optical marker arranged on the airborne missile to monitor the change of the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change of the position and attitude of the airborne missile, completing the second transfer alignment of the sub-inertial navigation, and realizing multiple transfer alignments after the airborne missile is separated from the body, thereby greatly improving the alignment accuracy and intelligence of the airborne missile transfer alignment. The present invention solves the technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy. The present invention also solves the problem that the existing transfer alignment can only be performed before the missile is separated from the body, and at the moment when the missile is separated from the body, due to the randomness of environmental factors, the sub-inertial navigation system may still be affected, and if the transfer alignment cannot be continued at this time, the navigation accuracy of the sub-inertial navigation system may be affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a transfer alignment method based on spatiotemporal registration provided in a specific embodiment of the present invention; Figure 2 It is a flowchart of determining whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change amount of the position and attitude of the airborne missile provided in a specific embodiment of the present invention; Figure 3 is a schematic diagram of the system composition of a transfer alignment system based on spatiotemporal registration provided in a specific embodiment of the present invention; Figure 4 is a schematic diagram of the installation position of the optical marker combination provided in a specific embodiment of the present invention; In the above drawings, there are the following reference numerals: 1. First optical marker; 2. Second optical marker; 3. Third optical marker; 10. Airborne missile; 100. Acquisition module; 200. Control module. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0019] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0020] See also Figure 1-4 The present invention provides a transfer alignment method based on spatiotemporal registration, comprising: S100, controlling the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system using a fixed frequency, controlling the sub-inertial navigation system set on the airborne missile 10 to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, setting an optical marker combination on the airborne missile 10, and using the optical positioning camera set on the aircraft body to shoot a current frame image containing the optical marker combination at a first preset time interval, thereby obtaining second position information of the optical marker combination.

[0021] Specifically, the optical marker combination includes at least three optical markers, the at least three optical markers are not on the same straight line, and the at least three optical markers include a first optical marker 1 , a second optical marker 2 , and a third optical marker 3 .

[0022] Specifically, the first actual position of the airborne missile 10 at the current moment is calculated based on the conversion relationship between the second position information and the first position, including: The timestamps of the images taken by the optical positioning camera are synchronized with the main inertial navigation system on the aircraft body.

[0023] It can be understood that synchronizing the timestamp of the image taken by the optical positioning camera with the main inertial navigation system on the aircraft body can achieve the time and space alignment of the optical positioning camera and the main inertial navigation system, further improving the alignment accuracy of the airborne missile transfer alignment of the present invention.

[0024] It should be noted that before step S100, the following steps are included: A first preset time interval, a second preset time interval data, a first preset threshold, a second preset threshold, mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and total mass data of the airborne missile are preset in the control module.

[0025] It should be noted here that the first preset time interval, the second preset time interval data, the first preset threshold, the second preset threshold, the mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and the total mass data of the airborne missile can be specifically set according to the actual needs of the user of the present invention. The present invention does not limit the specific values ​​of the first preset time interval, the second preset time interval data, the first preset threshold, the second preset threshold, the mass data of each mass element corresponding to the three-dimensional model of the airborne missile, and the total mass data of the airborne missile, as long as it is applicable to the transfer alignment method based on spatiotemporal registration proposed by the present invention.

[0026] Preferably, the present invention sets the first preset time interval to 0.1 second, the present invention sets the second preset time interval to 0.05 second, the present invention sets the first preset threshold to 0.005 meter, and the present invention sets the second preset threshold to 0.1 degree. The above settings are obtained by the technicians of the present invention through a large number of tests, and can well implement the transfer alignment method based on spatiotemporal registration proposed in the present invention, further improving the practicality, usability, and transfer alignment accuracy of the present invention.

[0027] It should be noted here that the airborne missile is fixedly installed under the wing, the optical positioning camera is fixedly installed under the aircraft body, and the shooting direction of the optical positioning camera is toward the airborne missile, and is used to capture the current frame image containing the optical marker combination according to the first preset time interval or the second preset time interval.

[0028] S200, obtaining the airborne missile three-dimensional model corresponding to the airborne missile 10, defining in the model space of the airborne missile three-dimensional model, establishing a model space coordinate system with the cross section of any airborne missile as the XOY plane, the Z axis on the axis of the airborne missile 10, and the origin of the coordinate system on the axis of the airborne missile 10; determining a first position conversion relationship between the airborne missile three-dimensional model and the optical marker combination; calculating a first actual position and posture of the airborne missile 10 at the current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile 10 at the previous moment in the same way, and then calculating a change in the position and a change in the attitude of the airborne missile 10.

[0029] Specifically, determining the position conversion relationship between the three-dimensional model of the airborne missile and the at least three optical markers includes: The airborne missile 10 is generated based on a design drawing, which includes geometric feature information of the airborne missile 10 and first position information of at least three optical markers on the airborne missile 10; based on the geometric feature information of the three-dimensional model of the airborne missile and the geometric feature information of the airborne missile included in the design drawing, a geometric feature matching relationship between the three-dimensional model of the airborne missile and the design drawing is determined; based on the geometric feature matching relationship and the first position information of at least three optical markers on the airborne missile included in the design drawing.

[0030] It should be noted here that if geometric feature recognition is performed on the three-dimensional model of the airborne missile to obtain the geometric feature information of the three-dimensional model of the airborne missile, a least squares matching algorithm or a cluster matching algorithm is used to process the geometric feature information of the three-dimensional model of the airborne missile and the geometric feature information of the object entity included in the design drawing to obtain a geometric feature matching relationship between the three-dimensional model of the airborne missile and the design drawing.

[0031] If geometric feature recognition is performed on the three-dimensional model of the airborne missile and no geometric feature information of the three-dimensional model of the airborne missile is obtained, a point cloud matching algorithm is used to determine a point cloud matching relationship between the three-dimensional model of the airborne missile and the design drawing; based on the point cloud matching relationship and first position information of at least three optical markers included in the design drawing on the object entity, a position conversion relationship between the three-dimensional model of the airborne missile and the at least three optical markers is determined; second position information of the at least three optical markers on the object entity is tracked by an optical tracking system, and based on the second position information of the at least three optical markers and the position conversion relationship, a position and posture of the three-dimensional model of the airborne missile is determined.

[0032] It can be understood that the step of capturing the current frame images of at least three optical markers on the airborne missile at preset time intervals by the optical positioning camera, and then acquiring the second position information of the at least three optical markers on the airborne missile, includes: (1) Before the drilling equipment is assembled and ready for drilling, complete the calibration of the optical positioning camera; (2) Align the world coordinate system with the coordinate system of the airborne missile 3D model, thereby establishing a projection relationship from the world coordinate system to the coordinate system of the airborne missile 3D model; (3) reading the current frame image from the optical positioning camera, detecting the optical marker in the image, and obtaining the two-dimensional pixel coordinates of the optical marker; (4) According to the calibration parameters of the optical positioning camera, the two-dimensional pixel coordinates of the optical marker are stereo matched, and the three-dimensional coordinate value of the optical marker in the optical positioning camera coordinate system is calculated through the two-dimensional pixel coordinates.

[0033] (5) Based on the three-dimensional model of the airborne missile, calculate the transformation matrix [R t] from the optical positioning camera coordinate system to the world coordinate system; use the transformation matrix [R t] to transform the three-dimensional coordinates of the optical marker in the optical positioning camera coordinate system into the coordinates in the world coordinate system, thereby determining the position and posture of the airborne missile in the world coordinate system; (6) Using the projection relationship obtained in step (2), the position and posture of the airborne missile in the world coordinate system is transformed into the coordinate system of the airborne missile three-dimensional model, thereby completing the positioning and tracking of the airborne missile in the current frame.

[0034] (7) Return to step (3), then read the next frame of image and repeat the above process.

[0035] S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile 10, and obtaining the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

[0036] Specifically, the method further includes: After the airborne missile 10 leaves the wing of the aircraft, the current frame image containing the optical marker combination is photographed at a second time interval, and then the second position information of the optical marker combination is obtained, and then based on the second position information and the first position conversion relationship, the third actual position and posture of the airborne missile 10 at the current moment is calculated, and the position matrix and the attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and the change in the attitude of the airborne missile 10, and the strapdown initial attitude matrix and the strapdown initial position matrix are obtained to complete the third transfer alignment, and the subsequent multiple transfer alignments are continued according to the same method until the optical marker combination cannot be included in the current frame image.

[0037] It can be understood that through the above-mentioned technical scheme, multiple transfer alignments can be achieved after the airborne missile is separated from the body, which greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment. At the same time, after the airborne missile is separated from the body, the shooting frequency of the optical positioning camera is increased, which further improves the alignment accuracy and intelligence of the airborne missile transfer alignment after it is separated from the body.

[0038] Specifically, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile 10 includes: S310, calculating the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile at the current moment and the center of mass of the airborne missile at the previous moment according to the position data of the center of mass of the airborne missile at the current moment and the position data of the center of mass of the airborne missile at the previous moment.

[0039] Specifically, the calculation of the position data of the center of mass of the airborne missile at the current moment includes: Obtain the three-dimensional model of the airborne missile corresponding to the airborne missile, obtain the mass data of each mass element corresponding to the three-dimensional model of the airborne missile, the x, y and z coordinate data corresponding to each mass element and the total mass data of the airborne missile, and calculate the center of mass coordinates (x1, y1, z1) of the airborne missile using the following formula: X1=(Σmixi) / M; Y1=(Σmiyi) / M; Z1=(Σmizi) / M; Among them, mi represents the mass of each mass element of the airborne missile, xi, yi and zi represent the x, y and z coordinates of each mass element of the airborne missile respectively, Σ represents the sum of all mass elements of the airborne missile, and M represents the total mass of the airborne missile.

[0040] S320, calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile respectively according to the attitude data of the onboard missile at the current moment and the attitude data of the onboard missile at the previous moment; S330, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile based on the judgment results.

[0041] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

[0042] Specifically, judging whether the absolute value of the distance is greater than or equal to a first preset threshold, judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile according to the judgment results, including: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

[0043] It can be understood that if the absolute value of the distance is greater than or equal to the first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to the second preset threshold, it proves that the change in the position and attitude of the airborne missile is large, which may be caused by the large deformation of the wing. At this time, if the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the change in the position and attitude of the airborne missile, the accuracy of the inertial navigation of the sub-inertial navigation on the airborne missile will be affected. Therefore, the present invention corrects the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile to complete the second transfer alignment. Otherwise, the second transfer alignment is not required.

[0044] It can be understood that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system set on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the optical positioning camera set on the aircraft body and the optical marker set on the airborne missile to monitor the change of the position and attitude of the airborne missile set on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change of the position and attitude of the airborne missile, completing the second transfer alignment of the sub-inertial navigation, and realizing multiple transfer alignments after the airborne missile is separated from the body, which greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment. The technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy is solved. The problem that the existing transfer alignment can only be performed before the missile is separated from the body, and at the moment when the missile is separated from the body, due to the randomness of environmental factors, it may still affect the sub-inertial navigation system, and if the transfer alignment cannot be continued at this time, the navigation accuracy of the sub-inertial navigation system may be affected.

[0045] See also Figure 2The present invention provides another embodiment, which provides a transfer alignment system based on spatiotemporal registration, and the transfer alignment system based on spatiotemporal registration includes: The acquisition module 100 includes an optical positioning camera disposed on the aircraft body, and is used to capture a current frame image containing the optical marker combination at a first preset time interval; The control module 200 is used to control the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system set on the airborne missile 10 to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, use the optical positioning camera set on the aircraft body to shoot the current frame image containing the optical marker combination at a first preset time interval, and then obtain the second position information of the optical marker combination; and obtain the airborne missile 3D model corresponding to the airborne missile 10, define in the model space of the airborne missile 3D model, take the cross section of any airborne missile as the XOY plane, the Z axis is on the axial direction of the airborne missile, and the origin of the coordinate system is on the axis of the airborne missile 10, and establish the model The method comprises the steps of: determining a first position conversion relationship between the three-dimensional model of the airborne missile and the optical marker combination; calculating a first actual position and posture of the airborne missile 10 at the current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile 10 at the previous moment in the same way, and then calculating a change in the position and a change in the posture of the airborne missile 10; and determining whether to correct the position matrix and the posture matrix of the sub-inertial navigation system according to the change in the position and the change in the posture of the airborne missile 10, so as to obtain a strapdown initial posture matrix and a strapdown initial position matrix, so as to complete the second transfer alignment.

[0046] It should be noted that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system arranged on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the optical positioning camera arranged on the aircraft body and the optical marker arranged on the airborne missile to monitor the change of the position and attitude of the airborne missile arranged on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change of the position and attitude of the airborne missile, completing the second transfer alignment of the sub-inertial navigation, and realizing multiple transfer alignments after the airborne missile is separated from the body, which greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment. The present invention solves the technical problem that the methods in the prior art are not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduce the alignment accuracy. It also solves the problem that the existing transfer alignment can only be performed before the missile is separated from the body, and at the moment when the missile is separated from the body, due to the randomness of environmental factors, it may still affect the sub-inertial navigation system, and if the transfer alignment cannot be continued at this time, the navigation accuracy of the sub-inertial navigation system may be affected.

[0047] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the transfer alignment method based on spatiotemporal registration is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0048] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0049] It will be appreciated by a person skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0050] It can be understood that the present invention controls the main inertial navigation system on the aircraft body to send navigation parameters to the sub-inertial navigation system at a fixed frequency, controls the sub-inertial navigation system set on the airborne missile to complete the first transfer alignment using the navigation parameters of the main inertial navigation system, and uses the optical positioning camera set on the aircraft body and the optical marker set on the airborne missile to monitor the change of the position and attitude of the airborne missile set on the wing of the aircraft in real time, thereby realizing the correction of the position matrix and attitude matrix of the sub-inertial navigation system according to the change of the position and attitude of the airborne missile, completing the second transfer alignment of the sub-inertial navigation, and realizing multiple transfer alignments after the airborne missile is separated from the body, which greatly improves the alignment accuracy and intelligence of the airborne missile transfer alignment. The technical problem that the method in the prior art is not only difficult to apply to actual occasions due to the unknown nature of wing deformation, but also reduces the alignment accuracy is solved. The problem that the existing transfer alignment can only be performed before the missile is separated from the body, and at the moment when the missile is separated from the body, due to the randomness of environmental factors, it may still affect the sub-inertial navigation system, and if the transfer alignment cannot be continued at this time, the navigation accuracy of the sub-inertial navigation system may be affected.

[0051] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0052] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transfer alignment method based on spatiotemporal registration, characterized in that: The method comprises: S100, controlling a main inertial navigation system on the aircraft body to send navigation parameters to a sub-inertial navigation system using a fixed frequency, controlling a sub-inertial navigation system disposed on an airborne missile (10) to complete a first transfer alignment using the navigation parameters of the main inertial navigation system, disposing an optical marker assembly on the airborne missile (10), and using an optical positioning camera disposed on the aircraft body to capture a current frame image containing the optical marker assembly at a first preset time interval, thereby obtaining second position information of the optical marker assembly; S200, obtaining an airborne missile three-dimensional model corresponding to the airborne missile (10), defining in a model space of the airborne missile three-dimensional model, establishing a model space coordinate system with a cross section of any airborne missile as an XOY plane, a Z axis on the axis of the airborne missile (10), and an origin of the coordinate system on the axis of the airborne missile (10); determining a first position conversion relationship between the airborne missile three-dimensional model and the optical marker combination; calculating a first actual position and posture of the airborne missile (10) at a current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile (10) at a previous moment in the same manner, and then calculating a change in position and a change in posture of the airborne missile (10); S300, judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile (10), so as to obtain the strapdown initial attitude matrix and the strapdown initial position matrix, so as to complete the second transfer alignment.

2. The transfer alignment method based on spatiotemporal registration according to claim 1, characterized in that: The optical marker combination comprises at least three optical markers, the at least three optical markers are not on the same straight line, and the at least three optical markers comprise a first optical marker (1), a second optical marker (2) and a third optical marker (3).

3. The transfer alignment method based on spatiotemporal registration according to claim 1, characterized in that: The step of calculating a first actual position of the airborne missile (10) at a current moment based on the conversion relationship between the second position information and the first position includes: The timestamps of the images taken by the optical positioning camera are synchronized with the main inertial navigation system on the aircraft body.

4. The transfer alignment method based on spatiotemporal registration according to claim 1, characterized in that: The method further comprises: After the airborne missile (10) leaves the wing of the aircraft, a current frame image containing the optical marker combination is photographed at a second time interval, thereby obtaining second position information of the optical marker combination, and then calculating a third actual position and posture of the airborne missile (10) at the current moment based on a conversion relationship between the second position information and the first position, and correcting a position matrix and a posture matrix of the sub-inertial navigation system according to a change in the position and a change in the posture of the airborne missile (10) to obtain a strapdown initial posture matrix and a strapdown initial position matrix to complete a third transfer alignment, and continuing to perform subsequent multiple transfer alignments in the same manner until the optical marker combination cannot be contained in the current frame image.

5. The transfer alignment method based on spatiotemporal registration according to claim 4, characterized in that: Determining a first position conversion relationship between the three-dimensional model of the airborne missile and the optical marker combination includes: The airborne missile (10) is generated based on a design drawing, the design drawing including geometric feature information of the airborne missile (10) and first position information of at least three optical markers on the airborne missile (10); based on the geometric feature information of the airborne missile three-dimensional model and the geometric feature information of the airborne missile (10) included in the design drawing, a geometric feature matching relationship between the airborne missile three-dimensional model and the design drawing is determined; based on the geometric feature matching relationship and the first position information of at least three optical markers on the airborne missile included in the design drawing.

6. The transfer alignment method based on spatiotemporal registration according to claim 1, characterized in that: The method of judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the change in the position and attitude of the airborne missile (10) comprises: S310, calculating the position data of the center of mass of the airborne missile (10) at the current moment and the position data of the center of mass of the airborne missile (10) at the previous moment, and calculating the absolute value of the distance between the center of mass of the airborne missile (10) at the current moment and the center of mass of the airborne missile (10) at the previous moment according to the position data of the center of mass of the airborne missile (10) at the current moment and the position data of the center of mass of the airborne missile (10) at the previous moment; S320, calculating the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the onboard missile (10) respectively according to the attitude data of the onboard missile (10) at the current moment and the attitude data of the onboard missile (10) at the previous moment; S330, determining whether the absolute value of the distance is greater than or equal to a first preset threshold, respectively determining whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile (10) are greater than or equal to a second preset threshold, and determining, based on the determination results, whether to correct the position matrix and attitude matrix of the sub-inertial navigation system based on the changes in the position and attitude of the airborne missile (10).

7. The transfer alignment method based on spatiotemporal registration according to claim 6, characterized in that: The step of judging whether the absolute value of the distance is greater than or equal to a first preset threshold value, respectively judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold value, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile according to the judgment results, includes: If the absolute value of the distance is greater than or equal to a first preset threshold, or the absolute value of the change in the pitch angle, yaw angle or roll angle of the airborne missile is greater than or equal to a second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are corrected according to the change in the position and attitude of the airborne missile.

8. The transfer alignment method based on spatiotemporal registration according to claim 6, characterized in that: The step of judging whether the absolute value of the distance is greater than or equal to a first preset threshold value, respectively judging whether the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are greater than or equal to a second preset threshold value, and judging whether to correct the position matrix and attitude matrix of the sub-inertial navigation system according to the changes in the position and attitude of the airborne missile according to the judgment results, includes: If the absolute value of the distance is less than the first preset threshold, and the absolute values ​​of the changes in the pitch angle, yaw angle, and roll angle of the airborne missile are all less than the second preset threshold, the position matrix and attitude matrix of the sub-inertial navigation system are not corrected according to the changes in the position and attitude of the airborne missile.

9. A transfer alignment system based on spatiotemporal registration, characterized in that: An optical marker assembly is provided on an airborne missile (10), comprising: An acquisition module (100) comprises an optical positioning camera arranged on the aircraft body, and is used to capture a current frame image containing the optical marker combination at a first preset time interval; The control module (200) is used to control a main inertial navigation system on the aircraft body to send navigation parameters to a sub-inertial navigation system at a fixed frequency, control the sub-inertial navigation system arranged on the airborne missile (10) to complete a first transfer alignment using the navigation parameters of the main inertial navigation system, use an optical positioning camera arranged on the aircraft body to shoot a current frame image containing an optical marker combination at a first preset time interval, and then obtain second position information of the optical marker combination; and is used to obtain an airborne missile three-dimensional model corresponding to the airborne missile (10), define in a model space of the airborne missile three-dimensional model, take a cross section of any airborne missile as an XOY plane, the Z axis is on the axial direction of the airborne missile, and the origin of the coordinate system is on the axial direction of the airborne missile (10), and establish a model space. The method comprises the steps of: determining a first position conversion relationship between the three-dimensional model of the airborne missile and the optical marker combination; calculating a first actual position and posture of the airborne missile (10) at a current moment based on the second position information and the first position conversion relationship, and then calculating a second actual position and posture of the airborne missile (10) at a previous moment in the same manner, and then calculating a change in position and a change in posture of the airborne missile (10); and determining whether to correct a position matrix and a posture matrix of the sub-inertial navigation system according to the change in position and the change in posture of the airborne missile (10), so as to obtain a strapdown initial posture matrix and a strapdown initial position matrix, so as to complete a second transfer alignment.

10. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the transfer alignment method based on spatiotemporal registration according to any one of claims 1 to 8 is implemented.

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