A rendezvous survey system and method based on a four-station configuration

Abstract

The present application relates to intersection measurement system, specifically to a kind of intersection measurement system and method based on four station configuration, solve the technical problem that existing two station configuration intersection measurement system cannot meet the positioning of target under limit intersection angle state, four photoelectric tracking and measuring equipment of the intersection measurement system based on four station configuration of the present application are square distribution, and the baseline distance A of adjacent two is X, X is the preset target observation distance;At the same observation time, four photoelectric tracking and measuring equipment cooperates observation target, and the intersection angle between adjacent two photoelectric tracking and measuring equipment is calculated by first photoelectric tracking and measuring equipment, compared with the intersection angle of only one group in traditional two station configuration, four groups of intersection angle can be obtained, and according to intersection angle optimization principle, the data of the photoelectric tracking and measuring equipment with the best positioning accuracy is selected to carry out intersection positioning, improve target positioning accuracy and measurable working condition coverage.

Description

TECHNICAL FIELD

[0001] The present application relates to intersection measurement system, specifically to an intersection measurement system and method based on four station configuration. BACKGROUND

[0002] Intersection measurement is a measurement method for determining the position and motion speed information of a space target by using the space position between stations and the line-of-sight determination data of the target. It is an important method for rapid positioning of space targets, and has the advantages of low algorithm complexity and high real-time positioning accuracy. Among them, the intersection measurement method based on two stations is commonly used. It uses the line-of-sight determination data of two measurement stations and the station coordinates to realize target positioning. The main factors affecting the positioning capability include: the measurement accuracy of line-of-sight determination data, the observed intersection angle, the station position accuracy, and the time system error between stations. Among them, the influence of the intersection angle on the positioning accuracy is relatively more complex. As shown in the following formula (1), when the intersection angle is 30°-150°, the positioning accuracy is relatively high. As the intersection angle approaches 0° or 180°, the positioning accuracy is lower, and it cannot meet the actual application requirements. Figure 2

[0003] The intersection angle is closely related to the station layout. The intersection angle is determined by the geometric configuration of the measurement station and the target. Common geometric distributions are shown in the following formula (2), (3) and (4). Figure 1 a, the positioning accuracy in this case is good. The other two extreme geometric distributions are shown in the following formula (5) and (6). Figure 1 b and Figure 1 c, the positioning accuracy in these two cases is very poor. At present, the two-station intersection positioning method has certain limitations. In the case of poor geometric configuration, the target positioning of two-station intersection cannot meet the actual application requirements. Figure 1 Figure 1 SUMMARY

[0004] The purpose of the present application is to solve the technical problem that the existing two-station configuration intersection measurement system cannot meet the target positioning in the extreme intersection angle state, and to provide an intersection measurement system and method based on four-station configuration.

[0005] In order to achieve the above-mentioned purpose of the application, the present application provides the following technical solutions:

[0006] An intersection measurement system based on four-station configuration, characterized in that: it comprises four photoelectric tracking and measuring devices, which are first photoelectric tracking and measuring device to fourth photoelectric tracking and measuring device.

[0007] ​​​The first photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device are in a square distribution, and the first photoelectric tracking and measuring device is electrically connected with the second photoelectric tracking and measuring device, the third photoelectric tracking and measuring device and the fourth photoelectric tracking and measuring device respectively.

[0008] The distance between two adjacent photoelectric tracking and measuring devices is defined as a baseline distance A, and A= X,

[0009] Wherein X is a preset target observation distance.

[0010] Further, the first photoelectric tracking and measuring device comprises a tracking and image processing module and a positioning module; the second photoelectric tracking and measuring device, the third photoelectric tracking and measuring device and the fourth photoelectric tracking and measuring device comprise a tracking and image processing module;

[0011] The tracking and image processing module and the positioning module are electrically connected, the tracking and image processing module is used for target tracking, coordinate extraction and angular trajectory calculation, and the positioning module is used for real-time calculation of three-dimensional trajectory and speed of the target.

[0012] The positioning module of the first photoelectric tracking and measuring device is electrically connected with the tracking and image processing module of the second photoelectric tracking and measuring device, the third photoelectric tracking and measuring device and the fourth photoelectric tracking and measuring device respectively.

[0013] The application also provides a rendezvous measurement method based on a four-station configuration, which adopts the rendezvous measurement system based on the four-station configuration, and the special features are as follows:

[0014] S1, the first photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device are arranged in a square distribution, and the baseline distance A between two adjacent photoelectric tracking and measuring devices is set according to a preset target observation distance X, so that A= X.

[0015] S2, the first photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device extract the coordinates of the target in the image in real time and calculate the angular trajectory of the target, and the second photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device send the station coordinates and the calculated angular trajectory of the target to the first photoelectric tracking and measuring device;

[0016] S3, the first photoelectric tracking and measuring device calculates the rendezvous angle between two adjacent photoelectric tracking and measuring devices by using the angular trajectory of the target measured by the four photoelectric tracking and measuring devices.

[0017] S4, selecting a pair of photoelectric tracking and measuring devices with optimal intersection angle, the imaging time of the photoelectric tracking and measuring devices containing fixed deviation, at this time keeping the angle track of one photoelectric tracking and measuring device unchanged, the other photoelectric tracking and measuring device performing Lagrange interpolation processing on the target angle track based on the imaging time of the photoelectric tracking and measuring device with unchanged angle track;

[0018] S5, obtaining the three-dimensional trajectory and velocity of the target through intersection calculation by using the target angle track obtained after Lagrange interpolation and the station coordinates of the two photoelectric tracking and measuring devices;

[0019] S6, repeating steps S2 to S5 to complete the target intersection measurement based on the four-station configuration in the specified time period.

[0020] Further, step S2 is specifically: the tracking and image processing modules of the first photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device extract the coordinates of the target in the image in real time and calculate the target angle track, and the station coordinates and the calculated target angle track of the second photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device are sent to the positioning module of the first photoelectric tracking and measuring device.

[0021] Further, step S3 is specifically: the positioning module of the first photoelectric tracking and measuring device calculates the intersection angle between the adjacent two photoelectric tracking and measuring devices by using the target angle track calculated by the tracking and image processing modules of the four photoelectric tracking and measuring devices.

[0022] Further, the calculation formula of the intersection angle in step S3 is:

[0023]

[0024] In the formula: θ is the intersection angle, and(l1, m1, n1) and (l2, m2, n2) are the target angle tracks calculated by the adjacent two photoelectric tracking and measuring devices. Further, the method of performing Lagrange interpolation on the target angle track in step S4 is as follows:

[0025] Collecting the angle tracks of adjacent time t1, t2, t3, which are (l1, m1, n1), (l2, m2, n2), and (l3, m3, n3), respectively, and using the angle tracks of t1, t2, and t3 to perform Lagrange interpolation calculation to obtain the target angle track (l, m, n) at time t

[0026]

[0027]

[0028] In the formula: l1, l2, l3 are first component of angular trajectory at t1, t2, t3 respectively, m1, m2, m3 are second component of angular trajectory at t1, t2, t3 respectively, n1, n2, n3 are third component of angular trajectory at t1, t2, t3 respectively.

[0029] Compared with the prior art, the present application has the beneficial effects that:

[0030] The four photoelectric tracking and measuring devices are arranged in a square distribution, and the baseline distance A between adjacent two of the first photoelectric tracking and measuring device to the fourth photoelectric tracking and measuring device is set according to a preset target observation distance X, so that A = X; at the same observation time, the four photoelectric tracking and measuring devices cooperatively observe the target, and the intersection angle between adjacent two photoelectric tracking and measuring devices is calculated by the first photoelectric tracking and measuring device, four groups of intersection angles are obtained, and according to the intersection angle optimization principle, the data of the photoelectric tracking and measuring device with the best positioning accuracy is selected for intersection positioning, so that the target positioning accuracy and the measurable working condition coverage rate are improved. X; at the same observation time, the four photoelectric tracking and measuring devices cooperatively observe the target, and the intersection angle between adjacent two photoelectric tracking and measuring devices is calculated by the first photoelectric tracking and measuring device, four groups of intersection angles are obtained, and according to the intersection angle optimization principle, the data of the photoelectric tracking and measuring device with the best positioning accuracy is selected for intersection positioning, so that the target positioning accuracy and the measurable working condition coverage rate are improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the geometric configuration of the measurement station and the target when the two-station configuration is used;

[0032] Figure 2 It is a relationship curve between the intersection angle and the positioning error;

[0033] Figure 3 It is a schematic diagram of the intersection measurement system based on the four-station configuration according to an embodiment of the present application;

[0034] Figure 4 It is a schematic diagram of the position distribution of the target and the four photoelectric tracking and measuring devices in the intersection measurement method based on the four-station configuration according to an embodiment of the present application; Figure 1

[0035] Figure 5 It is a schematic diagram of the position distribution of the target and the four photoelectric tracking and measuring devices in the intersection measurement method based on the four-station configuration according to an embodiment of the present application; Figure 2

[0036] Figure 6 It is a schematic diagram of the position distribution of the target and the four photoelectric tracking and measuring devices in the intersection measurement method based on the four-station configuration according to an embodiment of the present application; Figure 3

[0037] The reference signs are explained as follows:

[0038] ​​​1-first photoelectric tracking and measuring device, 2-second photoelectric tracking and measuring device, 3-third photoelectric tracking and measuring device, 4-fourth photoelectric tracking and measuring device. DETAILED DESCRIPTION

[0039] The application will be further described below in conjunction with the accompanying drawings and exemplary embodiments.

[0040] Reference Figure 1 The four-station configuration-based rendezvous measurement system of the application comprises four photoelectric tracking and measuring devices in square distribution, namely, first photoelectric tracking and measuring device 1, second photoelectric tracking and measuring device 2, third photoelectric tracking and measuring device 3 and fourth photoelectric tracking and measuring device 4, and the distance between adjacent two photoelectric tracking and measuring devices is baseline distance A, so A = X, wherein X is a preset target observation distance.

[0041] The first photoelectric tracking and measuring device 1 comprises a tracking and image processing module and a positioning module, the tracking and image processing module and the positioning module are electrically connected, the tracking and image processing module is used for target tracking, coordinate extraction and angular trajectory calculation, and the positioning module is used for real-time calculation of three-dimensional trajectory and speed of the target, wherein the tracking and image processing module is based on FPGA and eight-core DSP, and the positioning module is based on eight-core DSP.

[0042] In the embodiment, the final rendezvous angle calculation is performed in the positioning module of the first photoelectric tracking and measuring device 1, so the second photoelectric tracking and measuring device 2, the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 comprise tracking and image processing modules, the positioning module of the first photoelectric tracking and measuring device 1 is electrically connected with the tracking and image processing modules of the second photoelectric tracking and measuring device 2, the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 respectively, the target angular trajectory processed by the tracking and image processing modules of the second photoelectric tracking and measuring device 2, the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 and the respective station coordinates can be transmitted remotely to the positioning module of the first photoelectric tracking and measuring device 1 for next calculation.

[0043] Meanwhile, the application provides a four-station configuration-based rendezvous measurement method, which adopts the above-mentioned four-station configuration-based rendezvous measurement system and comprises the following steps:

[0044] S1, arrange the first photoelectric tracking and measuring device 1 to the fourth photoelectric tracking and measuring device 4 in square distribution, and set the baseline distance A between adjacent two of the first photoelectric tracking and measuring device 1 to the fourth photoelectric tracking and measuring device 4 according to the preset target observation distance X, so that A = X. ​

[0045] S2, the tracking and image processing modules of the first optoelectronic tracking and measuring device 1 to the fourth optoelectronic tracking and measuring device 4 extract the coordinates of the target in the image in real time and calculate the target angular trajectory, and the second optoelectronic tracking and measuring device 2 to the fourth optoelectronic tracking and measuring device 4 send the station coordinates and the calculated target angular trajectory to the positioning module of the first optoelectronic tracking and measuring device 1;

[0046] S3, the positioning module of the first optoelectronic tracking and measuring device 1 calculates the intersection angle between the adjacent two optoelectronic tracking and measuring devices by using the target angular trajectory calculated by the tracking and image processing modules of the four optoelectronic tracking and measuring devices;

[0047] The calculation formula of the intersection angle is:

[0048]

[0049] In the formula, θ is the intersection angle, and are the target angular trajectories calculated by the adjacent two optoelectronic tracking and measuring devices, respectively;

[0050] S4, select the pair of optoelectronic tracking and measuring devices with the optimal intersection angle, and the imaging time of the optoelectronic tracking and measuring device contains a fixed deviation, at this time, keep the angular trajectory of one of the optoelectronic tracking and measuring devices unchanged, and perform Lagrange interpolation processing on the target angular trajectory based on the imaging time of the optoelectronic tracking and measuring device with the unchanged angular trajectory by the other optoelectronic tracking and measuring device;

[0051] The method for performing Lagrange interpolation on the target angular trajectory is as follows:

[0052] Collect the angular trajectories at adjacent time t1, t2, t3, which are (l1, m1, n1), (l2, m2, n2), (l3, m3, n3), respectively, and calculate the target angular trajectory (l, m, n) at time y by using the angular trajectories at t1, t2, t3 by Lagrange interpolation

[0053]

[0054] In the formula, l1, l2, l3 are the first components of the angular trajectories at t1, t2, t3, respectively, m1, m2, m3 are the second components of the angular trajectories at t1, t2, t3, respectively, and n1, n2, n3 are the third components of the angular trajectories at t1, t2, t3, respectively;

[0055] S5, use the target angular trajectory obtained by the Lagrange interpolation and the station coordinates of the two optoelectronic tracking and measuring devices to calculate the three-dimensional trajectory and the speed of the target by intersection;

[0056] S6, repeating steps S2 to S5, completing the target rendezvous measurement based on the four-station configuration within a specified time period.

[0057] To verify the positioning accuracy of the rendezvous measurement system in this embodiment, three targets and four positions of the photoelectric tracking and measuring devices are selected for verification.

[0058] First, as shown in Figure 4 , the target is located at the upper right corner of the square formed by the four photoelectric tracking and measuring devices, the preset angular trajectory accuracy is 50μrad, and the baseline length of the adjacent two stations is 700km; at this time, the actual observation distances of the first photoelectric tracking and measuring device 1 to the fourth photoelectric tracking and measuring device 4 are 1027.034km, 341.760km, 880.227km and 1308.739km respectively.

[0059] After calculation, the rendezvous angle of the first photoelectric tracking and measuring device 1 and the second photoelectric tracking and measuring device 2 is 13.8462°, and the rendezvous positioning error is 228.75m; the rendezvous angle of the second photoelectric tracking and measuring device 2 and the third photoelectric tracking and measuring device 3 is 48.1260°, and the rendezvous positioning error is 67.41m; the rendezvous angle of the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 is 29.8855°, and the rendezvous positioning error is 164.68m; the rendezvous angle of the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 is 32.0867°, and the rendezvous positioning error is 163.69m. According to the relationship between the rendezvous angle and the positioning error as shown in Figure 1 , the closer the rendezvous angle is to 90°, the smaller the positioning error is, and the higher the accuracy is, so the rendezvous angle of the second photoelectric tracking and measuring device 2 and the third photoelectric tracking and measuring device 3 is optimal, and the rendezvous positioning error is the smallest. According to the rendezvous angle optimization principle, the rendezvous positioning result of the second photoelectric tracking and measuring device 2 and the third photoelectric tracking and measuring device 3 should be used as the final target positioning result.

[0060] Second, as shown in Figure 5 , the target is located at the upper left corner of the square formed by the four photoelectric tracking and measuring devices, the preset angular trajectory accuracy is 50μrad, and the baseline length of the adjacent two stations is 700km; at this time, the actual observation distances of the first photoelectric tracking and measuring device 1 to the fourth photoelectric tracking and measuring device 4 are 320.624km, 1020.196km, 1248.519km and 787.909km respectively.

[0061] Calculations show that the intersection angle between the first photoelectric tracking and measuring device 1 and the second photoelectric tracking and measuring device 2 is 2.4530°, with a intersection positioning error of 1267.72m; the intersection angle between the second photoelectric tracking and measuring device 2 and the third photoelectric tracking and measuring device 3 is 34.0943°, with a intersection positioning error of 148.91m; the intersection angle between the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 is 30.8199°, with a intersection positioning error of 146.93m; and the intersection angle between the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 is 62.4612°, with a intersection positioning error of 51.75m. The intersection angle between the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 is optimal, resulting in the smallest intersection positioning error. Therefore, based on the principle of selecting the optimal intersection angle, the intersection positioning result of the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 should be adopted as the final target positioning result.

[0062] Finally, as Figure 6 As shown, the target is located inside the square formed by four photoelectric tracking and measuring devices and is close to the upper left. The preset angular trajectory accuracy is 50 μrad, and the baseline length between two adjacent stations is 700 km. At this time, the actual observation distances of the first photoelectric tracking and measuring device 1 to the fourth photoelectric tracking and measuring device 4 are 196.977 km, 526.118 km, 809.197 km and 645.600 km, respectively.

[0063] Calculations show that the intersection angle between the first photoelectric tracking and measuring device 1 and the second photoelectric tracking and measuring device 2 is 147.2913°, with a intersection positioning error of 53.97m; the intersection angle between the second photoelectric tracking and measuring device 2 and the third photoelectric tracking and measuring device 3 is 58.7593°, with a intersection positioning error of 61.51m; the intersection angle between the third photoelectric tracking and measuring device 3 and the fourth photoelectric tracking and measuring device 4 is 56.1761°, with a intersection positioning error of 67.51m; and the intersection angle between the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 is 97.7733°, with a intersection positioning error of 37.87m. The intersection angle between the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 is optimal, resulting in the smallest intersection positioning error. Therefore, based on the principle of selecting the optimal intersection angle, the intersection positioning result of the first photoelectric tracking and measuring device 1 and the fourth photoelectric tracking and measuring device 4 should be adopted as the final target positioning result.

[0064] In summary, the four-station intersection measurement system in this embodiment has an optimal combination of stations with intersection angles when locating the target, and its positioning error is small. Compared with the traditional two-station intersection measurement system, the four-station intersection measurement system improves the target positioning accuracy. In application scenarios with positioning accuracy requirements, the four-station intersection measurement system greatly improves the coverage of measurable target conditions.

[0065] The above embodiments are merely intended to describe the specific implementation of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made by those skilled in the art to the technical solutions of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A four-station intersection measurement method, employing a four-station intersection measurement system, comprising four photoelectric tracking and measurement devices, namely, a first photoelectric tracking and measurement device (1) to a fourth photoelectric tracking and measurement device (4); the first photoelectric tracking and measurement devices (1) to the fourth photoelectric tracking and measurement devices (4) are arranged in a square, and the first photoelectric tracking and measurement device (1) is electrically connected to the second photoelectric tracking and measurement device (2), the third photoelectric tracking and measurement device (3), and the fourth photoelectric tracking and measurement device (4), respectively; the distance between two adjacent photoelectric tracking and measurement devices is defined as the baseline distance A, then... in: X is a preset target observation distance; characterized by the following steps: S1. Arrange the first photoelectric tracking and measuring device (1) to the fourth photoelectric tracking and measuring device (4) in a square distribution, and set the baseline distance A between adjacent devices from the first photoelectric tracking and measuring device (1) to the fourth photoelectric tracking and measuring device (4) according to the preset target observation distance X, so that... ; S2. The first photoelectric tracking and measuring device (1) to the fourth photoelectric tracking and measuring device (4) extract the coordinates of the target in the image in real time and calculate the target angular trajectory. The second photoelectric tracking and measuring device (2) to the fourth photoelectric tracking and measuring device (4) send their respective station coordinates and the calculated target angular trajectory to the first photoelectric tracking and measuring device (1). S3, First photoelectric tracking and measuring device (1) Calculate the intersection angle between two adjacent photoelectric tracking and measuring devices by using the target angle trajectory measured by four photoelectric tracking and measuring devices; S4. Select a pair of photoelectric tracking and measuring devices with the optimal intersection angle. The imaging time of the photoelectric tracking and measuring devices includes a fixed deviation. At this time, keep the angular trajectory of one of the photoelectric tracking and measuring devices unchanged, and perform Lagrange interpolation on the target angular trajectory based on the imaging time of the photoelectric tracking and measuring device with the unchanged angular trajectory. S5. Using the target angular trajectory obtained after Lagrange interpolation and the station coordinates of the two photoelectric tracking and measuring devices, the three-dimensional trajectory and velocity of the target are obtained through intersection calculation. S6. Repeat steps S2 to S5 to complete the target intersection measurement based on the four-station configuration within the specified time period.

2. The intersection measurement method based on a four-station configuration according to claim 1, characterized in that: Step S2 is as follows: The tracking and image processing modules of the first photoelectric tracking and measurement device (1) to the fourth photoelectric tracking and measurement device (4) extract the coordinates of the target in the image in real time and calculate the target angular trajectory. The second photoelectric tracking and measurement device (2) to the fourth photoelectric tracking and measurement device (4) send their respective station coordinates and the calculated target angular trajectory to the positioning module of the first photoelectric tracking and measurement device (1).

3. The intersection measurement method based on a four-station configuration according to claim 2, characterized in that: Step S3 is as follows: The positioning module of the first photoelectric tracking and measuring device (1) uses the target angle trajectory calculated by the tracking and image processing modules of the four photoelectric tracking and measuring devices to calculate the intersection angle between two adjacent photoelectric tracking and measuring devices.

4. The intersection measurement method based on a four-station configuration according to claim 3, characterized in that: The formula for calculating the intersection angle in step S3 is: In the formula: θ is the intersection angle, and These are the target angular trajectories calculated by two adjacent photoelectric tracking and measurement devices.

5. The intersection measurement method based on a four-station configuration according to claim 4, characterized in that: In step S4, the method for performing Lagrange interpolation on the target angular trajectory is as follows: The angular trajectories at adjacent times t1, t2, and t3 are collected, which are (l1, m1, n1), (l2, m2, n2), and (l3, m3, n3) respectively. The target angular trajectory (l, m, n) at time t is calculated by Lagrange interpolation using the angular trajectories of t1, t2, and t3. In the formula: l1, l2, l3 are the first components of the angular trajectory at times t1, t2, t3 respectively; m1, m2, m3 are the second components of the angular trajectory at times t1, t2, t3 respectively; and n1, n2, n3 are the third components of the angular trajectory at times t1, t2, t3 respectively.

6. The intersection measurement method based on a four-station configuration according to claim 1, characterized in that: The first photoelectric tracking and measurement device (1) includes a tracking and image processing module and a positioning module; the second photoelectric tracking and measurement device (2), the third photoelectric tracking and measurement device (3) and the fourth photoelectric tracking and measurement device (4) include a tracking and image processing module; The tracking and image processing module and the positioning module are electrically connected. The tracking and image processing module is used for target tracking, coordinate extraction and angular trajectory calculation, and the positioning module is used for real-time calculation of the target's three-dimensional trajectory and velocity. The positioning module of the first photoelectric tracking and measuring device (1) is electrically connected to the tracking and image processing modules of the second photoelectric tracking and measuring device (2), the third photoelectric tracking and measuring device (3), and the fourth photoelectric tracking and measuring device (4).

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