Light measurement miss distance processing method and system based on trajectory and same-frame picture constraint

Abstract

The invention provides an optical measurement miss distance processing method based on tracks and same-frame picture constraints. The method mainly comprises the steps of same-frame picture angle difference calculation, conversion from a space coordinate system to an observation station coordinate system, motion characteristic parameter representation, track speed constraint model construction and miss distance moment and miss distance calculation. That is to say, according to the method, the same-frame picture and the target motion trail speed constraint are utilized at the same time, multi-device measurement data are comprehensively applied, and key technical contents such as same-frame picture difference calculation, coordinate conversion, target trail motion characteristic representation extraction and miss distance parameterization solving model are elaborated; a data processing problem is converted into parameter estimation of a nonlinear regression model, so that a reliable miss distance result of the meeting section is obtained, and a new thought and a new solution are provided for application development of optical measurement equipment, processing of the miss distance in the air and application of optical measurement data.

Description

Technical Field

[0001] The invention belongs to the technical field of external measurement data processing, and in particular relates to a method and system for processing optical miss distance based on trajectory and same-frame image constraints. Background Art

[0002] As an important parameter for evaluating the guidance performance of aerial vehicles, the miss amount plays an important role in the evaluation of the effectiveness of aircraft and has always been a parameter that is focused on in its flight test. The miss amount usually refers to the minimum distance of the motion trajectory of two flying targets during the aerial encounter. Due to the advantages of optical measurement such as intuitive images, high processing accuracy, and indirect measurement, it has been the main means for test sites to obtain the miss amount for many years. During the implementation of the test, the target site usually uses multiple photoelectric theodolites, explosion point measuring instruments and other equipment to conduct intersection measurements of the encounter section under good geometric conditions. The optical measurement equipment is required to synchronously obtain the encounter image of the two targets in the air, and the miss amount is obtained by feature extraction and intersection data processing of the image. In recent years, with the development of various new aircraft tests, the reliability and accuracy of the miss amount processing in the encounter section have become increasingly higher, and the original intersection-based processing method has gradually shown its limitations. For example, the same frame image cannot be applied if there are less than two points; there are many intersection baselines in the same frame, and the results are difficult to select; the measurement data has redundant observations and the application is insufficient; the overall consistency of the data is not good, and the focus is on the single point value of the miss amount, and the trajectory consistency is less considered. The existence of these problems directly or indirectly affects the quality of the results and work efficiency of the off-target amount processing. At present, there is no effective processing system and effective processing method in China for the above-mentioned existing problems. Summary of the invention

[0003] To solve the above problems, the present invention provides a method and system for processing optical miss distance based on trajectory and same-frame constraints, which converts the data processing problem into parameter estimation of a nonlinear regression model, thereby obtaining reliable miss distance results in the encounter segment.

[0004] A method for processing optical miss distance based on trajectory and same-frame image constraints comprises the following steps:

[0005] Each measuring station images the dual targets and obtains a time-ordered frame image sequence of the dual targets;

[0006] The azimuth angle difference and the elevation angle difference between the two targets in each frame image are calculated based on the positions of the two targets in each frame image;

[0007] Polynomials are used to represent the space trajectory curves of the six coordinate components of the dual targets in the space coordinate system with respect to time, wherein the coefficients of the polynomials are unknown coefficients;

[0008] The six coordinate components of the dual targets in the spatial coordinate system are converted to the coordinate systems of each measuring station, and the mapping relationship between the dual target positions and the azimuth angle difference after the coordinate system conversion is recorded as f, and the mapping relationship between the dual target positions and the height angle difference after the coordinate system conversion is recorded as g;

[0009] Constructing a trajectory acquisition model according to the mapping relationship f, the mapping relationship g, and the spatial trajectory curve;

[0010] Substituting the azimuth angle difference, the elevation angle difference, and the six velocity components of the two targets in the spatial coordinate system in each frame image as known quantities into the trajectory acquisition model, the Gauss-Newton algorithm is used to solve the unknown coefficients, thereby obtaining the spatial trajectory curve;

[0011] The corresponding spatial trajectory curves on the three coordinate axes are subtracted to obtain the three-axis miss distance components of the dual targets, and finally the total miss distance is obtained based on the three-axis miss distance components.

[0012] Furthermore, the calculation method of the azimuth angle difference and the height angle difference between the two targets in each frame image is:

[0013] The azimuth difference between the two targets and the difference between the height and low angles The method to obtain is:

[0014]

[0015] Among them, (x Mij ,y Mij ) is the jth station at the tth station i The position of the first target M in the i-th frame image acquired at time t in the station coordinate system, (x Tij ,y Tij ) is the jth station at the tth station i The position of the second target T in the i-th frame image acquired at time t in the station coordinate system, f j To obtain the focal length of the jth measuring station in the current frame image, E j0 is the elevation angle of the j-th station.

[0016] Furthermore, the trajectory acquisition model is as follows:

[0017]

[0018] in, is the jth station at the tth i The azimuth difference of the two targets in the i-th frame image obtained at time, is the jth station at the tth i The height and low angle difference of the two targets in the i-th frame image acquired at the moment; is the x-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the x-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system;

[0019] Represents the spatial trajectory curve of the x-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the z-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the x-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of is the spatial trajectory curve representing the z-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and the time correlation Seeking guidance, for The unknown coefficient, f(t i ,β AMTij ) is the difference between the position and azimuth of the two targets in the i-th frame image The mapping relationship between AMTij is f(t i ,βAMTij ) of the unknown coefficients, g(t i ,β EMTij ) is the difference between the position and height angle of the two targets in the i-th frame image The mapping relationship between EMTij is g(t i ,β EMTij ) is the unknown coefficient, ε △AMTij for The corresponding random error, ε △EMTij for The corresponding random error, ε vMxi for The corresponding random error, ε vMyi for The corresponding random error, ε vMzi for The corresponding random error, ε vTxi for The corresponding random error, ε vTyi for The corresponding random error, ε vTzi for The corresponding random error.

[0020] Furthermore, the total off-target amount RTMT is calculated as follows:

[0021]

[0022] Among them, Rx(t i ) is the tth i The x-axis miss distance component at time, Ry(t i ) is the tth i The y-axis miss distance component at time, Rz(t i ) is the tth i The z-axis miss distance component at time, R(t i ) is the tth i The total miss amount at that time.

[0023] Furthermore, the mapping relationship f is:

[0024]

[0025] Among them, (X Mij ,Y Mij ,Z Mij ) is the jth station at the tth station i The position of the first target M in the i-th frame image acquired at time t in the station coordinate system, (X Tij ,Y Tij ,Z Tij ) is the jth station at the tth station iThe position of the second target T in the i-th frame image acquired at time t in the station coordinate system, (X oij ,Y oij ,Z oij ) is the jth station at the tth station i The position in the station coordinate system at any moment;

[0026] The mapping relationship g is:

[0027]

[0028] in, The first target M and the jth station are at the tth i The slope distance at the moment, The second target T and the jth station are at the tth i Slope distance at time.

[0029] Furthermore, the rotation vector matrix M used to transform the six coordinate components of the dual targets in the spatial coordinate system into the coordinate systems of each station is:

[0030]

[0031] Where T represents transposition, B0 and L0 are the longitude and latitude of the origin of the spatial coordinate system, respectively. j and η j are the vertical deviations of the meridian circle and the meridian circle, B j and L j are the longitude and latitude of the jth station, R y (·) is the rotation matrix around the x-axis, R y (·) is the rotation matrix around the y-axis, R z (·) is the rotation matrix around the z-axis.

[0032] An optical miss distance processing system based on trajectory and same-frame image constraints includes a processing task management subsystem, a database subsystem, a data preprocessing subsystem and a miss distance calculation subsystem;

[0033] The task management subsystem is used for comprehensive management of various basic data, including account numbers, tasks, measurement equipment, and target information; it also supports the addition, deletion, query, storage, input and output of various basic data; it also provides data access interface service functions for the use of basic data, and exchanges information with other subsystems, and records and manages operation logs;

[0034] The database subsystem is used to provide storage, backup and recovery, and interactive functions for equipment information, site information, task information, measurement and processing data, and operation log data for the execution of processing tasks;

[0035] The data preprocessing subsystem is used to read and parse the database file under the specified path, parse out different types of original measurement data, unify the data format and convert the data, and correct the physical and mathematical errors of the converted data;

[0036] The miss distance calculation subsystem is used to provide same-frame angle difference calculation, coordinate conversion, motion characteristic parameter calculation, miss time and miss distance calculation for the miss distance processing task.

[0037] Furthermore, the miss distance calculation subsystem includes a same-frame angle calculation module, a coordinate conversion module, a motion characteristic parameter calculation module, a miss time and miss distance calculation module;

[0038] The same frame angle calculation module is used to obtain a frame image sequence of the dual targets in time order after imaging the dual targets at each measuring station;

[0039] The motion characteristic parameter solving module is used to calculate the azimuth difference and the elevation difference between the two targets on each frame image based on the positions of the two targets on each frame image; a polynomial is also used to respectively characterize the spatial trajectory curves of the six coordinate components of the two targets in the spatial coordinate system with respect to time, wherein the coefficients of the polynomial are to be determined;

[0040] The coordinate conversion module is used to convert the six coordinate components of the dual targets in the spatial coordinate system into the coordinate systems of each measuring station, and record the mapping relationship between the dual target positions and the azimuth angle difference after the coordinate system conversion as f, and record the mapping relationship between the dual target positions and the height angle difference after the coordinate system conversion as g; construct a trajectory acquisition model according to the mapping relationship f, the mapping relationship g, and the spatial trajectory curve;

[0041] The miss time and miss amount calculation module is used to substitute the azimuth angle difference, the height angle difference, and the six velocity components of the two targets in the spatial coordinate system in each frame image as known quantities into the trajectory acquisition model, and then use the Gauss-Newton algorithm to solve the undetermined coefficients to obtain the spatial trajectory curve; subtract the corresponding spatial trajectory curves on the three coordinate axes to obtain the three-axis miss amount components of the two targets, and finally obtain the total miss amount according to the three-axis miss amount components.

[0042] Beneficial effects:

[0043] 1. The present invention provides an optical measurement miss amount processing method based on trajectory and same-frame image constraints, the main contents of which include same-frame image angle difference calculation, conversion from a spatial coordinate system to a measuring station coordinate system, motion characteristic parameter representation, trajectory speed constraint model construction, miss time and miss amount calculation; that is, the present invention simultaneously utilizes the same-frame image and target motion trajectory speed constraints, comprehensively applies multi-device measurement data, and describes key technical contents such as same-frame image difference calculation, coordinate conversion, target trajectory motion characteristic representation extraction and miss amount parameterization solution model, converts data processing problems into parameter estimation of a nonlinear regression model, thereby obtaining reliable miss amount results for the encounter segment, and provides a new idea and solution for the application development of optical measurement equipment, the processing of aerial miss amount, and the application of optical measurement data.

[0044] 2. The present invention provides an optical measurement miss amount processing system based on trajectory and same-frame constraints, which mainly includes four subsystems: a processing task management subsystem, a database subsystem, a data preprocessing subsystem and a miss amount calculation subsystem. The processing method is mainly concentrated in the miss amount calculation subsystem. Its main technical feature is that the method simultaneously utilizes the same-frame constraints and the target motion trajectory speed constraints, comprehensively applies multi-device measurement data, and converts the data processing problem into parameter estimation of a nonlinear regression model, thereby obtaining reliable miss amount results for the encounter segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart of a method for processing optical miss distance based on trajectory and same-frame image constraints provided by the present invention;

[0046] Figure 2 The overall technical integration framework of the optical miss distance processing system based on trajectory and same-frame image constraints provided by the present invention;

[0047] Figure 3 The present invention provides an operation flow of an optical miss-measurement processing system based on trajectory and same-frame image constraints. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0049] The present invention aims to make full use of the trend constraint of the target motion trajectory on the basis of the same-frame error cancellation technology, comprehensively apply the measurement data of multiple devices, model the dynamic measurement data, transform the data processing problem into the parameter estimation problem of the regression model, and solve it using the nonlinear optimization theory, so as to achieve the update of the multi-station rendezvous processing mode, solve the problems existing in the current optical measurement miss amount processing, and obtain reliable miss amount processing result parameters of the encounter section of two aircraft in the air.

[0050] Specifically, Figure 1 As shown, a method for processing optical miss distance based on trajectory and same-frame image constraints includes the following steps:

[0051] S1: Each station images the dual targets and obtains a time-ordered frame image sequence of the dual targets;

[0052] S2: Calculate the azimuth angle difference and the elevation angle difference between the two targets in each frame image based on the positions of the two targets in each frame image;

[0053] It should be noted that, usually in the process of collecting raw information, the measurement information of a single device is based on the measuring station coordinate system (the origin of the coordinate is at the center of the device, the x-axis points to the astronomical north, north is positive, the y-axis is the perpendicular line of the device through the origin, upward is positive, and the z-axis constitutes a right-hand system); the measurement information includes the angle value and the image miss value. The device measures the azimuth, elevation and low angle (large angle, encoder angle) as A j0 ,E j0 The image miss value is based on the miss value as the image screen coordinate system (the origin is in the upper left corner of the image, the horizontal axis is positive to the right, and the y axis is positive vertically downward). The miss value is x,y, x0, y0 is the center of the optical axis of the device (unit of length) calculated to the center of the image. According to the geometric relationship between the object and the image and the first-order approximation of the function expansion, the angle difference of the same frame of two targets obtained by the same detector at a certain station (theodolite), that is, the azimuth difference and the difference between the height and low angles The method to obtain is:

[0054]

[0055] Among them, (x Mij ,y Mij ) is the jth station at the tth station i The position of the first target M in the i-th frame image acquired at time t in the station coordinate system, (x Tij ,y Tij ) is the jth station at the tth station i The position of the second target T in the i-th frame image acquired at time t in the station coordinate system, f j To obtain the focal length of the jth measuring station in the current frame image, E j0 is the elevation angle of the j-th station.

[0056] S3: Polynomials are used to represent the spatial trajectory curves of the six coordinate components of the dual targets in the spatial coordinate system with respect to time, wherein the coefficients of the polynomials are unknown coefficients;

[0057] S4: Convert the six coordinate components of the dual targets in the spatial coordinate system to the coordinate systems of each measuring station respectively, and record the mapping relationship between the dual target positions and the azimuth angle difference after the coordinate system conversion as f, and record the mapping relationship between the dual target positions and the height angle difference after the coordinate system conversion as g;

[0058] During the flight of the target in space, the target's motion parameters change continuously, and its motion trajectory is a space curve that satisfies certain smooth characteristics, that is, it corresponds to a continuous function that changes with time. Based on this, the mapping relationship f is:

[0059]

[0060] Among them, (X Mij ,Y Mij ,Z Mij ) is the jth station at the tth station i The position of the first target M in the image coordinate system in the i-th frame image acquired at time (X Tij ,Y Tij ,Z Tij ) is the jth station at the tth station i The position of the second target T in the image coordinate system in the i-th frame image acquired at time (X oij ,Y oij ,Z oij ) is the jth station at the tth station i The position at the moment in the image coordinate system;

[0061] The mapping relationship g is:

[0062]

[0063] in, The first target M and the jth station are at the tth i The slope distance at the moment, The second target T and the jth station are at the tth i Slope distance at time.

[0064] Furthermore, the rotation vector matrix M used to transform the six coordinate components of the dual targets in the spatial coordinate system into the coordinate systems of each station is:

[0065]

[0066] Where T represents transposition, B0 and L0 are the longitude and latitude of the origin of the spatial coordinate system, respectively. j and η j are the vertical deviations of the meridian circle and the meridian circle, B j and L j are the longitude and latitude of the jth station, Ry (·) is the rotation matrix around the x-axis, R y (·) is the rotation matrix around the y-axis, R z (·) is the rotation matrix around the z-axis.

[0067] S5: constructing a trajectory acquisition model according to the mapping relationship f, the mapping relationship g, and the spatial trajectory curve;

[0068] It should be noted that since the motion trajectory is a spatial curve that satisfies certain smooth characteristics, its first-order derivative is also continuous, and it can also be used for encounter segment processing, that is, the model adds velocity constraints to improve the reliability of the results. Therefore, considering the above, the encounter segment miss distance measurement equation can be expressed as a function of the target motion parameter coefficients; based on this, the trajectory acquisition model is as follows:

[0069]

[0070] in, is the jth station at the tth i The azimuth difference of the two targets in the i-th frame image obtained at time, is the jth station at the tth i The height and low angle difference of the two targets in the i-th frame image acquired at the moment; is the x-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the x-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system;

[0071] Represents the spatial trajectory curve of the x-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the z-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the x-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of is the spatial trajectory curve representing the z-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and the time correlation Seeking guidance, for The unknown coefficient, f(t i ,β AMTij ) is the difference between the position and azimuth of the two targets in the i-th frame image The mapping relationship between AMTij is f(t i ,β AMTij ) of the unknown coefficients, g(t i ,β EMTij ) is the difference between the position and height angle of the two targets in the i-th frame image The mapping relationship between EMTij is g(t i ,β EMTij ) is the unknown coefficient, ε △AMTij for The corresponding random error, ε △EMTij for The corresponding random error, ε vMxi for The corresponding random error, ε vMyi for The corresponding random error, ε vMzi for The corresponding random error, ε vTxi for The corresponding random error, ε vTyi for The corresponding random error, ε vTzi for The corresponding random error.

[0072] S6: Substituting the azimuth angle difference, the elevation angle difference, and the six velocity components of the two targets in the spatial coordinate system in each frame image as known quantities into the trajectory acquisition model, and using the Gauss-Newton algorithm to solve the unknown coefficients, thereby obtaining the spatial trajectory curve;

[0073] It should be noted that the trajectory acquisition model is represented by a matrix:

[0074] Y v =F v (t i ,β)+ε v

[0075] Thus, we can get the method model of air-to-air missile optical miss distance processing based on ballistic motion position characteristics and same-frame image constraints. This model is a nonlinear equation system, and the estimation of β can be considered as the following nonlinear optimization problem, that is, solving β so that:

[0076]

[0077] RSS(β)=(YF(β)) T P(YF(β))

[0078] P is the weight matrix, RSS is the minimum residual, and the β nonlinear iterative estimation can be given by the Gauss-Newton algorithm. The specific steps are as follows.

[0079] ① Calculate the Jacobian matrix

[0080] ② Calculate the parameter estimate β k , ω is the adjustment factor.

[0081] ③ Calculate the residual θ = V T PV, V = (YF (β k ));

[0082] ④If θ k -θ k-1 <ε, turn ⑤;

[0083] Otherwise, if θ k <θ k-1 , let the number of iterations k = k + 1, and then go to ①;

[0084] Otherwise, if θ k >θ k-1 , let k=k+1, ω=ω / 2, and then turn to ①;

[0085] ⑤After the iteration, take is the optimal estimate of the unknown parameter vector.

[0086] ⑥ Eliminate the corresponding problematic measurement data according to the θ situation and repeat calculation steps ①-⑤.

[0087] S7: Subtract the corresponding spatial trajectory curves on the three coordinate axes to obtain the three-axis miss distance components of the dual targets, and finally obtain the total miss distance according to the three-axis miss distance components.

[0088] The calculation method of the total off-target amount RTMT is as follows:

[0089]

[0090] Among them, Rx(t i ) is the tth i The x-axis miss distance component at time, Ry(t i ) is the tth i The y-axis miss distance component at time, Rz(t i ) is the tth i The z-axis miss distance component at time, R(t i ) is the tth i The total miss amount at that time.

[0091] It should be noted that the coefficient The precision weight matrix is The accuracy of the total miss distance can be obtained from the error propagation formula as follows:

[0092]

[0093] Furthermore, based on the above optical miss distance processing method, the present invention also provides an optical miss distance processing system based on trajectory and same-frame image constraints, such as Figure 2 As shown in the figure, it consists of four subsystems: processing task management subsystem, database subsystem, data preprocessing subsystem and miss distance calculation subsystem. The task management subsystem provides functions such as creating, querying, saving, deleting and displaying output of processing tasks for the whole system. The database subsystem provides storage, backup, recovery and interaction functions such as equipment information, site information, task information, measurement processing data and operation log data for the execution of processing tasks. The data preprocessing subsystem provides functions such as data extraction, format conversion, wild value removal and data smoothing for miss distance processing; the miss distance calculation subsystem provides functions such as angle difference calculation of the same frame, coordinate conversion, motion feature parameter calculation, miss time and miss distance calculation for miss distance processing tasks.

[0094] The system complies with the requirements of upgradeability, extensibility, and interconnection, adopts an open architecture with a modular and component-based approach, and the system architecture adopts a hierarchical design approach, deploying the four subsystems on the business application layer, component algorithm layer, data support layer, and hardware foundation layer respectively.

[0095] First, the processing task management subsystem consists of modules such as task information management, original measurement data management, process data management, result data management, and processing model configuration parameters. It mainly realizes the unified management of each task data and supports the addition, deletion, query, storage, input and output of task data.

[0096] Among them, the task information management module: the task information management module is mainly used to create data processing tasks according to the task file, and supports the addition, modification, preview and other maintenance of tasks. The original measurement data management module: the original measurement data management module is used to manage the original measurement data, supports the classification of the original measurement data, and has the functions of adding, modifying, previewing and maintaining the original measurement data. The process data management module: the process data management module is used to manage the process data, supports the classification of process data, and has the functions of adding, modifying, previewing and maintaining the process data. The result data management module: the result data management module is used to manage the result data, supports the classification of result data, and has the functions of adding, modifying, previewing and maintaining the result data. The processing model configuration parameter module: the processing model configuration parameters are used to manage the parameter configuration required for the model in the processing task, flexibly configure the processing model parameters according to the needs, and support the modification, release and maintenance of the model parameters.

[0097] Secondly, the database subsystem consists of modules such as user authority management, equipment information management, target information management, data services, and system operation log recording and management. It mainly realizes the comprehensive management of various basic data, and has the management of accounts, tasks, measurement equipment, and target information. It supports the functions of adding, reducing, querying, saving, inputting and outputting data, and provides data access interface service functions for data use; it can exchange information with other data processing subsystems; and it has the function of recording and managing operation logs.

[0098] Among them, the user authority management module: includes the authority management of administrators, data processing users, etc. Administrators can manage the operating permissions of data processing users and data users; data processing users can read, process and archive mission data. Equipment information management module: The equipment information management module is used to manage the main parameter information, site information and other data of optical measurement equipment, and supports operations such as increase, decrease, query, save, input and output of equipment information. Target information management module: The target information management module is used to manage the geometric dimensions, performance indicators and other information of aircraft in the mission, and supports operations such as increase, decrease, query, save, input and output of target information. Data service management module: The data service management module supports providing data access services for data usage sources. System operation log recording and management module: The system operation log recording and management module supports recording the operation behaviors of system users such as login, query, save, modify, and delete data, and supports functions such as exporting and querying log information.

[0099] Thirdly, the data preprocessing subsystem consists of modules such as data extraction, data format conversion, error correction, outlier diagnosis and processing, etc. It mainly realizes the function of reading the database file under the specified path, supports parsing of data files, parses different types of raw measurement data, unifies the data format and converts the data, and can correct physical and mathematical errors in measurement.

[0100] Among them, data extraction module: the data automatic module is mainly used to batch extract structured data such as optical measurement and interpretation data, and classify and store the data, and support operations such as previewing and maintaining the data. Data format conversion module: the data format conversion module is mainly used to unify the format of data in different formats; error correction module: includes physical correction and mathematical correction. Physical correction refers to the correction of angle errors caused by equipment design and structure; mathematical correction refers to the suppression of random noise generated during the data acquisition process; wild value elimination module: the wild value elimination module is used to diagnose and process data outliers, and diagnose and process wrong points, key points, and missing points in optical measurement data.

[0101] Fourthly, the miss distance processing subsystem consists of modules such as same-frame angle calculation, coordinate conversion, motion characteristic parameter solution, miss time and miss distance calculation, and tracking part correction. It mainly realizes the calculation of optical miss distance. Based on the processing of the preprocessing subsystem, the constructed miss distance processing model is used to obtain the minimum distance value and time of the aircraft meeting in the air.

[0102] Among them, the same-frame angle calculation module is mainly used to obtain the high-precision angle difference between two flying targets in the air; the coordinate conversion module is mainly used to unify the measurement space coordinate system benchmarks of each device, so that the measurement data of each optical measurement device can be processed and calculated under the same benchmark conditions; the motion characteristic parameter solution module is mainly used to build the same-frame processing model of the motion trajectory and solve the target trajectory motion characteristic parameters; the miss time and miss amount calculation module is mainly used to realize the size and time of the miss amount of the air target; the tracking part correction module is mainly used to realize the miss amount between the designated parts of the air target. Usually, the optical measurement image interpretation part is not completely consistent with the definition part of the miss amount in the processing result, and part correction is required. This module uses the relative geometric dimensions between parts, combined with the motion situation, to perform velocity vector correction and output the miss amount value required for the final processing.

[0103] It can be seen that the optical measurement miss amount processing system provided by the present invention realizes processing algorithm integration through an extensible computing framework based on the original optical measurement data, and provides four subsystem functions of processing task management, database, data preprocessing and miss amount solution, such as Figure 3 The system operation process is described as follows:

[0104] 001. The optical miss-target amount processing system based on trajectory and same-frame constraints is deployed on the application server using a C / S architecture. Processing personnel and administrators start the system through client and server programs.

[0105] 002. When the system starts running, the server program of the system runs the database, and is responsible for the listener capturing the system client startup connection signal, loading the database connection configuration parameters, and providing the database connection interface.

[0106] 003. After the system user security verification is passed, the system client loads the information data such as device parameters, site parameters and algorithm components in the database, and starts the computing framework engine to perform system initialization operations.

[0107] 004. After the system is successfully started and the initialization such as loading the algorithm is completed, it provides four subsystem functions: task management subsystem, database, data preprocessing and miss distance calculation, and interacts with the database for data access.

[0108] 005. During the operation of the system, the whole process management of the miss amount processing task is realized through the processing task management subsystem. The new processing task is realized through the task information management function, and the original data file collected by the task is entered into the original data in the system database through the original data management function.

[0109] 006. The data preprocessing subsystem organizes the raw data and ensures the quality of the input data. After the task is created, the system starts the miss amount processing process. Through the data preprocessing algorithm component, the imported raw data is converted into a format, outliers are removed, data is smoothed, and other operations are performed to obtain "clean" process data, which is stored in the database process data to provide input for the subsequent miss amount calculation.

[0110] 007. The miss distance calculation subsystem is used to calculate the miss distance parameters in the encounter stage. The system imports the pre-processed data, configures the model parameters, and applies the miss distance calculation function to calculate the miss distance. First, the angle difference of each optical measurement device in the same frame is calculated. The miss distance of the image obtained by the interpretation is processed through the angle difference module in the same frame, and it is converted from pixels to radian angle difference according to the dimension conversion relationship.

[0111] 008. The miss distance solver system checks the complexity of the target motion characteristics, selects the corresponding motion curve function, expresses the target motion characteristics in the form of a parameter function, and extracts the initial value of the motion trend based on the target motion trajectory end data.

[0112] 009. The miss distance calculation subsystem parametrically represents the target motion trend, and based on the coordinate transformation relationship, realizes the unified spatial representation of the measurement equipment trajectory parameters, and constructs the miss distance calculation processing model based on the optical measurement principle.

[0113] 010. The miss distance solver system solves the motion characteristic parameters. The measurement processing model is converted into a nonlinear optimal estimation of the parameters, and the optimal estimated value of the parameters is iteratively solved using a nonlinear solution method. When the iterative value meets the set requirements, the iterative solution ends.

[0114] 011. The miss distance solver system calculates the miss distance parameters. The target motion characteristic parameters are used to represent the motion trajectory of the aerial target. According to the definition of miss distance, the miss distance is expressed as a function of time. The minimum value of the function and its corresponding time are calculated to obtain the initial value of the miss distance.

[0115] 012. The miss amount calculation subsystem corrects the miss amount parameter interpretation position. According to the processing requirements, based on the geometric relationship between the target interpretation position and the processing requirement position, the interpretation position is corrected by tracking the miss amount position correction model to solve the final miss amount value.

[0116] 013. The processing task management subsystem realizes result data management and report submission. After the miss amount processing results are stored in the database, the result data management function of the processing task management subsystem produces a data result format report according to the data report format template, submits the task processing results, and the single miss amount processing task is completed.

[0117] 014. The processing task management subsystem can realize diversified task data management according to the operation requirements. The query function provided by task management can realize the query and process tracking of task information, original data, process data and result data; the statistical function provided by task management can realize the summary statistics and display of historical result data.

[0118] 015. The database subsystem realizes data sharing, storage and security protection for the whole system. During operation, the database subsystem functions are used to read, exchange and store data; database tools are used to regularly back up database files and manage versions.

[0119] 016. The database subsystem has adopted security strategies to protect the security of system operation, mainly including: authorization of user rights and database storage; complete logging of user operations and events in the system for auditing purposes.

[0120] 017. When the task management system is shut down, the system server program runs to monitor and capture the client shutdown signal, close the database connection interface, and terminate the service.

[0121] 018. The system executes shutdown, cleans up residual information, releases resources, and ends system operation.

[0122] In summary, the present invention provides a method for processing optical miss amount based on trajectory and same-frame constraints, and for the first time proposes the construction, processing method and model of an optical miss amount processing system using trajectory and same-frame constraints, and discloses an optical miss amount processing architecture design and method model using trajectory and same-frame constraints, and describes key technical contents such as functional composition, same-frame frame difference calculation, coordinate conversion, target trajectory motion characteristic representation extraction and miss amount parameterization solution model in the optical miss amount processing system with trajectory same-frame constraints, providing a new idea and solution for the application development of optical measurement equipment, the processing of aerial miss amount and the application of optical measurement data.

[0123] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may certainly make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for processing optical miss distance based on trajectory and same-frame constraints, characterized in that: The following steps are involved: Each station images the dual targets and obtains a time-ordered frame image sequence of the dual targets; The azimuth angle difference and the elevation angle difference between the two targets in each frame image are calculated based on the positions of the two targets in each frame image; Polynomials are used to represent the space trajectory curves of the six coordinate components of the dual targets in the space coordinate system with respect to time, wherein the coefficients of the polynomials are unknown coefficients; The six coordinate components of the dual targets in the spatial coordinate system are converted to the coordinate systems of each measuring station, and the mapping relationship between the dual target positions and the azimuth angle difference after the coordinate system conversion is recorded as f, and the mapping relationship between the dual target positions and the height angle difference after the coordinate system conversion is recorded as g; Constructing a trajectory acquisition model according to the mapping relationship f, the mapping relationship g, and the spatial trajectory curve; Substituting the azimuth angle difference, the elevation angle difference, and the six velocity components of the two targets in the spatial coordinate system in each frame image as known quantities into the trajectory acquisition model, the Gauss-Newton algorithm is used to solve the unknown coefficients, thereby obtaining the spatial trajectory curve; The corresponding spatial trajectory curves on the three coordinate axes are subtracted to obtain the three-axis miss distance components of the dual targets, and finally the total miss distance is obtained based on the three-axis miss distance components.

2. The optical miss distance processing method based on trajectory and same-frame image constraints as claimed in claim 1, characterized in that: The calculation method of the azimuth angle difference and the height angle difference between the two targets in each frame image is: The azimuth difference between the two targets and the difference between the height and low angles The method to obtain is: Among them, (x Mij ,y Mij ) is the jth station at the tth station i The position of the first target M in the i-th frame image acquired at time t in the station coordinate system, (x Tij ,y Tij ) is the jth station at the tth station i The position of the second target T in the i-th frame image acquired at time t in the station coordinate system, f j To obtain the focal length of the jth measuring station in the current frame image, E j0 is the elevation angle of the j-th station.

3. The optical miss distance processing method based on trajectory and same-frame image constraints as claimed in claim 1, characterized in that: The trajectory acquisition model is as follows: in, is the jth station at the tth i The azimuth difference of the two targets in the i-th frame image obtained at time, is the jth station at the tth i The height and low angle difference of the two targets in the i-th frame image acquired at the moment; is the x-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the first target M in the i-th frame image in the spatial coordinate system, is the x-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the y-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system, is the z-axis velocity component of the second target T in the i-th frame image in the spatial coordinate system; Represents the spatial trajectory curve of the x-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the z-axis displacement component of the first target M in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the x-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of Represents the spatial trajectory curve of the y-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and time Seeking guidance, for The undetermined coefficients of is the spatial trajectory curve representing the z-axis displacement component of the second target T in the i-th frame image in the spatial coordinate system and the time correlation Seeking guidance, for The unknown coefficient, f(t i ,β AMTij ) is the difference between the position and azimuth of the two targets in the i-th frame image The mapping relationship between AMTij is f(t i ,β AMTij ) of the unknown coefficients, g(t i ,β EMTij ) is the difference between the position and height angle of the two targets in the i-th frame image The mapping relationship between EMTij is g(t i ,β EMTij ) is the unknown coefficient, ε △AMTij for The corresponding random error, ε △EMTij for The corresponding random error, ε vMxi for The corresponding random error, ε vMyi for The corresponding random error, ε vMzi for The corresponding random error, ε vTxi for The corresponding random error, ε vTyi for The corresponding random error, ε vTzi for The corresponding random error.

4. The optical miss distance processing method based on trajectory and same-frame image constraints as claimed in claim 3 is characterized in that: The calculation method of the total off-target amount RTMT is as follows: Among them, Rx(t i ) is the tth i The x-axis miss distance component at time, Ry(t i ) is the tth i The y-axis miss distance component at time, Rz(t i ) is the tth i The z-axis miss distance component at time, R(t i ) is the tth i The total miss amount at that time.

5. The optical miss distance processing method based on trajectory and same-frame image constraints as claimed in claim 1, characterized in that: The mapping relationship f is: Among them, (X Mij ,Y Mij ,Z Mij ) is the jth station at the tth station i The position of the first target M in the i-th frame image acquired at time t in the station coordinate system, (X Tij ,Y Tij ,Z Tij ) is the jth station at the tth station i The position of the second target T in the i-th frame image acquired at time t in the station coordinate system, (X oij ,Y oij ,Z oij ) is the jth station at the tth station i The position in the station coordinate system at any moment; The mapping relationship g is: in, The first target M and the jth station are at the tth i The slope distance at the moment, The second target T and the jth station are at the tth i Slope distance at time.

6. The optical miss distance processing method based on trajectory and same-frame image constraints as claimed in claim 1, characterized in that: The rotation vector matrix M used to transform the six coordinate components of the dual targets in the spatial coordinate system into the coordinate system of each station is: Where T represents transposition, B0 and L0 are the longitude and latitude of the origin of the spatial coordinate system, respectively. j and η j are the vertical deviations of the meridian circle and the meridian circle, B j and L j are the longitude and latitude of the jth station, R y (·) is the rotation matrix around the x-axis, R y (·) is the rotation matrix around the y-axis, R z (·) is the rotation matrix around the z-axis.

7. An optical miss distance processing system based on trajectory and same-frame image constraints, characterized in that: It includes processing task management subsystem, database subsystem, data preprocessing subsystem and miss distance calculation subsystem; The task management subsystem is used for comprehensive management of various basic data, including account numbers, tasks, measurement equipment, and target information; it also supports the addition, deletion, query, storage, input and output of various basic data; it also provides data access interface service functions for the use of basic data, and exchanges information with other subsystems, and records and manages operation logs; The database subsystem is used to provide storage, backup and recovery, and interactive functions for equipment information, site information, task information, measurement and processing data, and operation log data for the execution of processing tasks; The data preprocessing subsystem is used to read and parse the database file under the specified path, parse out different types of original measurement data, unify the data format and convert the data, and correct the physical and mathematical errors of the converted data; The miss distance calculation subsystem is used to provide same-frame angle difference calculation, coordinate conversion, motion characteristic parameter calculation, miss time and miss distance calculation for the miss distance processing task.

8. The optical miss distance processing system based on trajectory and same-frame constraints as claimed in claim 7, characterized in that: The miss distance calculation subsystem includes a same-frame angle calculation module, a coordinate conversion module, a motion characteristic parameter calculation module, and a miss time and miss distance calculation module; The same frame angle calculation module is used to obtain a frame image sequence of the dual targets in time order after imaging the dual targets at each measuring station; The motion characteristic parameter solving module is used to calculate the azimuth difference and the elevation difference between the two targets on each frame image based on the positions of the two targets on each frame image; a polynomial is also used to respectively characterize the spatial trajectory curves of the six coordinate components of the two targets in the spatial coordinate system with respect to time, wherein the coefficients of the polynomial are to be determined; The coordinate conversion module is used to convert the six coordinate components of the dual targets in the spatial coordinate system into the coordinate systems of each measuring station, and record the mapping relationship between the dual target positions and the azimuth angle difference after the coordinate system conversion as f, and record the mapping relationship between the dual target positions and the height angle difference after the coordinate system conversion as g; construct a trajectory acquisition model according to the mapping relationship f, the mapping relationship g, and the spatial trajectory curve; The miss time and miss amount calculation module is used to substitute the azimuth angle difference, the height angle difference, and the six velocity components of the two targets in the spatial coordinate system in each frame image as known quantities into the trajectory acquisition model, and then use the Gauss-Newton algorithm to solve the undetermined coefficients to obtain the spatial trajectory curve; subtract the corresponding spatial trajectory curves on the three coordinate axes to obtain the three-axis miss amount components of the two targets, and finally obtain the total miss amount according to the three-axis miss amount components.

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