Target correction method and system for auxiliary photoelectric equipment of movable platform

Abstract

The invention provides a mobile platform auxiliary photoelectric equipment target correction method and system. The method comprises the following steps: S1, establishing an auxiliary photoelectric searching and tracking equipment coordinate system and a mobile platform coordinate system; s2, adjusting the posture of the movable platform to enable the auxiliary photoelectric searching and tracking equipment to be aligned with the point source target; s3, commanding the moving platform detection equipment to obtain target information, and performing coordinate system conversion on the target information to obtain a target coordinate in an auxiliary photoelectric search and tracking coordinate system; and S4, resolving the converted coordinates, and adjusting the auxiliary photoelectric searching and tracking equipment according to a resolving result to enable the auxiliary photoelectric searching and tracking equipment to point to the target. According to the invention, through a coordinate system conversion mode, the target information acquired by the movable platform detection equipment is converted to the coordinate system of the auxiliary photoelectric searching and tracking equipment, and the servo controller is driven to rapidly turn to the target; the problem that in a traditional moving platform boresight method, due to installation deviation or inaccurate target pointing provided by the moving platform, auxiliary photoelectric detection equipment cannot capture the target is solved, and good practicability is achieved.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric detection, and in particular to a moving platform-assisted photoelectric equipment target calibration method and system. Background Art

[0002] In the field of photoelectric detection, auxiliary photoelectric equipment can more accurately detect multi-dimensional information of the target, including target position, target energy, target distance, etc., thereby assisting the airborne / vehicle-mounted / ship-mounted moving platform to obtain accurate spatial information of the target. However, due to installation deviations, the moving platform may provide inaccurate target pointing, and the auxiliary photoelectric detection equipment may not be able to capture the target. Therefore, it is necessary to design a target calibration method that takes into account the calibration errors caused by installation deviations and optical axis pointing, and forms a spatial relative position transformation method from the moving platform to the auxiliary photoelectric equipment coordinate system.

[0003] The moving platform itself is equipped with a target detector, which is used to initially obtain the approximate position or rough pointing information of the target. It is usually a small low-cost radar. The auxiliary optoelectronic equipment is installed at any position of the moving platform. The calibration before use usually ignores the installation deviation and the optical axis pointing error, which leads to the relevant errors that cannot be ignored when detecting close-range targets, and will cause a large target pointing deviation, which makes it impossible for the auxiliary optoelectronic equipment to quickly locate and capture the target. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a moving platform assisted optoelectronic equipment target calibration method and system.

[0005] A moving platform assisted optoelectronic device target calibration method provided by the present invention comprises:

[0006] Step S1: Establishing the coordinate system of the auxiliary optoelectronic tracking device and the coordinate system of the moving platform;

[0007] Step S2: Adjust the posture of the moving platform so that the auxiliary optoelectronic tracking device is aligned with the point source target, and record the posture error angle;

[0008] Step S3: command the moving platform detection device to obtain target information, perform coordinate system conversion on the target information based on the attitude error angle, and obtain the target coordinates in the auxiliary photoelectric tracking coordinate system;

[0009] Step S4: Calculate the converted coordinates and adjust the auxiliary optoelectronic tracking device according to the calculation results to point it to the target.

[0010] Preferably, step S2 includes calibrating the rotation center between the moving platform detection device and the auxiliary photoelectric search and tracking device before the target calibration test, and recording the spatial relative position relationship between the two; based on the coordinate system of the auxiliary photoelectric search and tracking device, defining Δx as the distance between the two in the X-axis direction, Δy as the distance between the two in the Y-axis direction, and Δz as the distance between the two in the Z-axis direction.

[0011] Preferably, the step S2 further comprises lighting up a ground point source target, and executing subsequent steps after the energy of the target light source is stabilized.

[0012] Preferably, the auxiliary photoelectric tracking device is installed on a moving platform, and after the target light source energy is stable, it is powered on, and the posture of the moving platform is adjusted so that the optical axis zero position of the auxiliary photoelectric tracking device is aligned with the target, and the transfer matrix Rpt_gd from the moving platform coordinate system to the auxiliary photoelectric tracking device coordinate system is calculated:

[0013]

[0014] In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

[0015] Preferably, step S3 includes the following sub-steps:

[0016] Step S3.1: After the moving platform detection device discovers and intercepts the target, it processes and outputs the azimuth pointing angle phi_pt_h and the pitch pointing angle phi_pt_v, as well as the distance r between the moving platform and the target;

[0017] Step S3.2: The moving platform data processing host computer performs coordinate system conversion through the target information of the moving platform detection device to obtain the target coordinates of the target in the auxiliary optoelectronic search and tracking device coordinate system.

[0018] Preferably, step S4 includes calculating a final azimuth pointing angle phi_h and a final elevation pointing angle phi_v of the target relative to the auxiliary optoelectronic device:

[0019] phi_v=arcsin(Yt / Rt)

[0020] phi_h=arctan(Zt / Xt)

[0021]

[0022] Where Xt is the eastward target position of the target in the inertial coordinate system, Yt is the celestial target position of the target in the inertial coordinate system, Zt is the northward coordinate position of the target in the inertial coordinate system, and Rt is the spatial distance between the moving platform and the target.

[0023] A moving platform assisted optoelectronic equipment target calibration system provided by the present invention comprises:

[0024] Module M1: Establish the coordinate system of the auxiliary optoelectronic tracking device and the coordinate system of the moving platform;

[0025] Module M2: adjust the attitude of the moving platform so that the auxiliary optoelectronic search and tracking device is aligned with the point source target, and record the attitude error angle;

[0026] Module M3: Command the platform detection device to obtain target information, convert the target information into a coordinate system based on the attitude error angle, and obtain the target coordinates in the auxiliary optoelectronic search and tracking coordinate system;

[0027] Module M4: Calculate the converted coordinates and adjust the auxiliary optoelectronic search and tracking equipment according to the calculation results to point it to the target.

[0028] Preferably, the module M2 includes calibrating the rotation center between the moving platform detection device and the auxiliary photoelectric search and tracking device before the target calibration test, and recording the spatial relative position relationship between the two; based on the coordinate system of the auxiliary photoelectric search and tracking device, defining Δx as the distance between the two in the X-axis direction, Δy as the distance between the two in the Y-axis direction, and Δz as the distance between the two in the Z-axis direction.

[0029] Preferably, the module M2 further includes lighting up a ground point source target, and executing subsequent modules after the energy of the target light source is stabilized.

[0030] Preferably, the auxiliary photoelectric tracking device is installed on a moving platform, and after the target light source energy is stable, it is powered on, and the posture of the moving platform is adjusted so that the optical axis zero position of the auxiliary photoelectric tracking device is aligned with the target, and the transfer matrix Rpt_gd from the moving platform coordinate system to the auxiliary photoelectric tracking device coordinate system is calculated:

[0031]

[0032] In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

[0033] Preferably, the module M3 includes the following submodules:

[0034] Module M3.1: After the moving platform detection device finds and intercepts the target, it processes and outputs the azimuth pointing angle phi_pt_h and the pitch pointing angle phi_pt_v, as well as the distance r between the moving platform and the target;

[0035] Module M3.2: The moving platform data processing host computer performs coordinate system conversion through the target information of the moving platform detection device to obtain the target coordinates in the auxiliary optoelectronic search and tracking device coordinate system.

[0036] Preferably, the module M4 comprises solving and obtaining a final azimuth pointing angle phi_h and a final elevation pointing angle phi_v of the target compared to the auxiliary optoelectronic device:

[0037] phi_v=arcsin(Yt / Rt)

[0038] phi_h=arctan(Zt / Xt)

[0039]

[0040] Where Xt is the eastward target position of the target in the inertial coordinate system, Yt is the celestial target position of the target in the inertial coordinate system, Zt is the northward coordinate position of the target in the inertial coordinate system, and Rt is the spatial distance between the moving platform and the target.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention can convert the target information obtained by the moving platform detection device into the coordinate system of the auxiliary photoelectric search and tracking device through the coordinate system conversion method, and drive the servo controller to quickly turn to the target, thereby overcoming the problem in the traditional moving platform calibration method that the moving platform may provide inaccurate target pointing and the auxiliary photoelectric detection device may be unable to capture the target due to installation deviation, and has good practicality.

[0043] 2. The present invention takes installation deviation and optical axis pointing error into consideration during target calibration, and reduces related errors when detecting close-range targets, thereby reducing target pointing deviation, so that the auxiliary optoelectronic device can quickly locate and capture the target.

[0044] Other beneficial effects of the present invention will be explained in the specific implementation manner through the introduction of specific technical features and technical solutions. Through the introduction of these technical features and technical solutions, those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0046] Figure 1 The figure is a flow chart of the method of the present invention.

[0047] Figure 2 It is a schematic diagram of the relationship between the coordinate system of the moving platform and the coordinate system of the auxiliary optoelectronic equipment in the present invention.

[0048] Figure 3 This is a diagram of the spatial transformation relationship during the process of the moving platform detecting the target (object) in the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] The moving platform itself is equipped with a target detector, which is used to initially obtain the approximate position or rough pointing information of the target. It is usually a small low-cost radar. The auxiliary optoelectronic search and tracking device is installed at any position of the moving platform. By adjusting the attitude of the moving platform, the optical axis of the auxiliary optoelectronic search and tracking device is aligned with the point source target, and the attitude error angle is recorded. After the moving platform detector finds and intercepts the target, the accurate position of the target in the coordinate system of the auxiliary optoelectronic search and tracking device is calculated through the spatial relative position relationship conversion.

[0051] Reference Figure 1 As shown, the present invention provides a method for calibrating a target of an optoelectronic device with the aid of a moving platform, the steps of which are as follows:

[0052] Step 1: Use the optical rotation center O of the auxiliary optoelectronic tracking device gd is the coordinate origin, X gd is the optical axis direction of the auxiliary photoelectric tracking device (forward is positive), Y gd is the longitudinal axis of the auxiliary optoelectronic device (positive upward), Z gd Perpendicular to X gd , Y gd , establish the coordinate system of auxiliary photoelectric tracking equipment; take the center of mass of the moving platform O pt is the coordinate origin, X pt is the axial direction of the moving platform (positive to the head), Y pt is the longitudinal axis of the moving platform (downward is positive), Z pt Perpendicular to X pt , Y pt , establish the moving platform coordinate system. Before the target calibration test, calibrate the rotation center between the moving platform target detection equipment and the auxiliary optoelectronic search and tracking equipment, record the spatial relative position relationship between the two, and refer to Figure 2 and Figure 3 As shown, based on the coordinate system of the auxiliary photoelectric search and tracking device, Δx is the distance between the two in the X direction (the auxiliary device is positive when it is behind the platform detection device), Δy is the distance between the two in the Y direction (the auxiliary device is positive when it is above the platform detection device), and Δz is the distance between the two in the Z direction (the auxiliary device is positive when it is to the right of the platform detection device);

[0053] Step 2: Light up the ground point source target, and when the output energy value of the ground power source target is stable within a certain range (i.e., the target energy modulation rate is within 5%), that is, there will be no extinguishing, energy jump, etc., then enter step 3;

[0054] Step 3: Power on the optoelectronic tracking device installed on the moving platform, and adjust the attitude of the moving platform (yaw adjustment angle ΔPsi, pitch adjustment angle ΔTheta, roll adjustment angle ΔGamma) so that the optical axis zero position of the optoelectronic tracking device is aligned with the target, that is, the target falls in the center of the image field of view;

[0055] From this, the transfer matrix R from the moving platform coordinate system to the auxiliary optoelectronic tracking device coordinate system can be calculated: pt_gd :

[0056]

[0057] In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

[0058] Step 4: After the target detection device on the moving platform finds and intercepts the target, the inertial device in the target detection device accumulates the changes in the azimuth and pitch directions and the initial attitude, and outputs the azimuth and pitch pointing angles phi_pt_h and phi_pt_v, as well as the distance r between the moving platform and the target.

[0059] Step 5: The host computer for dynamic platform data processing performs coordinate system conversion through the target information of the platform detection device to obtain the target coordinates in the coordinate system of the auxiliary optoelectronic search and tracking device. Then, the azimuth and pitch pointing angles phi_h and phi_v of the target compared with the auxiliary optoelectronic search and tracking device can be calculated:

[0060] phi_v=arcsin(Yt / Rt)

[0061] phi_h=arctan(Zt / Xt)

[0062]

[0063] Where Xt is the eastward target position of the target in the inertial coordinate system (with the initial position of the moving platform as the origin, X is the geographic easting, Y is the geographic celestial direction, and Z is the geographic northing, that is, the local northeast celestial coordinate system), Yt is the celestial target position of the target in the inertial coordinate system, Zt is the northward coordinate position of the target in the inertial coordinate system, and Rt is the spatial distance between the moving platform and the target.

[0064] The present invention can convert the target information obtained by the moving platform detection equipment into the coordinate system of the auxiliary photoelectric search and tracking equipment by means of coordinate system conversion, and drive the servo controller to quickly turn to the target, thereby overcoming the problems in the traditional moving platform target calibration method that the moving platform may provide inaccurate target pointing and the auxiliary photoelectric detection equipment may be unable to capture the target due to installation deviation, and has good practicality.

[0065] The present invention also provides a moving platform assisted optoelectronic equipment target calibration system, which can be implemented by executing the process steps of the moving platform assisted optoelectronic equipment target calibration method, that is, those skilled in the art can understand the moving platform assisted optoelectronic equipment target calibration method as a preferred implementation of the moving platform assisted optoelectronic equipment target calibration system.

[0066] Specifically, a moving platform assisted optoelectronic equipment target calibration system includes:

[0067] Module M1: Establish the coordinate system of the auxiliary optoelectronic tracking device and the coordinate system of the moving platform;

[0068] Module M2: adjust the attitude of the moving platform so that the auxiliary optoelectronic search and tracking device is aligned with the point source target, and record the attitude error angle;

[0069] Module M3: Command the platform detection device to obtain target information, convert the target information into a coordinate system based on the attitude error angle, and obtain the target coordinates in the auxiliary optoelectronic search and tracking coordinate system;

[0070] Module M4: Calculate the converted coordinates and adjust the auxiliary optoelectronic search and tracking equipment according to the calculation results to point it to the target.

[0071] The module M2 includes calibrating the rotation center between the moving platform detection device and the auxiliary photoelectric search and tracking device before the target calibration test, and recording the spatial relative position relationship between the two; based on the coordinate system of the auxiliary photoelectric search and tracking device, defining Δx as the distance between the two in the X-axis direction, Δy as the distance between the two in the Y-axis direction, and Δz as the distance between the two in the Z-axis direction.

[0072] The module M2 also includes lighting up a ground point source target, and executing subsequent modules after the energy of the target light source is stabilized.

[0073] The auxiliary photoelectric tracking device is installed on the moving platform. After the target light source energy is stable, it is powered on. The moving platform posture is adjusted so that the optical axis zero position of the auxiliary photoelectric tracking device is aligned with the target. The transfer matrix Rpt_gd from the moving platform coordinate system to the auxiliary photoelectric tracking device coordinate system is calculated:

[0074]

[0075] In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

[0076] The module M3 includes the following submodules:

[0077] Module M3.1: After the moving platform detection device finds and intercepts the target, it processes and outputs the azimuth pointing angle phi_pt_h and the pitch pointing angle phi_pt_v, as well as the distance r between the moving platform and the target;

[0078] Module M3.2: The moving platform data processing host computer performs coordinate system conversion through the target information of the moving platform detection device to obtain the target coordinates in the auxiliary optoelectronic search and tracking device coordinate system.

[0079] The module M4 includes solving and obtaining the final azimuth pointing angle phi_h and the final elevation pointing angle phi_v of the target compared to the auxiliary optoelectronic device:

[0080] phi_v=arcsin(Yt / Rt)

[0081] phi_h=arctan(Zt / Xt)

[0082]

[0083] Where Xt is the eastward target position of the target in the inertial coordinate system, Yt is the celestial target position of the target in the inertial coordinate system, Zt is the northward coordinate position of the target in the inertial coordinate system, and Rt is the spatial distance between the moving platform and the target.

[0084] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0085] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0086] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for calibrating a target of an optoelectronic device using a moving platform, characterized in that: include: Step S1: Establishing the coordinate system of the auxiliary optoelectronic tracking device and the coordinate system of the moving platform; Step S2: Adjust the posture of the moving platform so that the auxiliary optoelectronic tracking device is aligned with the point source target, and record the posture error angle; Step S3: command the moving platform detection device to obtain target information, perform coordinate system conversion on the target information based on the attitude error angle, and obtain the target coordinates in the auxiliary photoelectric tracking coordinate system; Step S4: Calculate the converted coordinates and adjust the auxiliary optoelectronic tracking device according to the calculation results to point it to the target.

2. The method for calibrating target of optoelectronic equipment using a moving platform as claimed in claim 1, characterized in that: The step S2 includes calibrating the rotation center between the moving platform detection device and the auxiliary photoelectric search and tracking device before the target calibration test, and recording the spatial relative position relationship between the two; based on the coordinate system of the auxiliary photoelectric search and tracking device, defining Δx as the distance between the two in the X-axis direction, Δy as the distance between the two in the Y-axis direction, and Δz as the distance between the two in the Z-axis direction.

3. The method for calibrating target of optoelectronic equipment using a moving platform as claimed in claim 2, characterized in that: The step S2 also includes lighting up the ground point source target, and executing subsequent steps after the energy of the target light source is stabilized.

4. The method for calibrating target of optoelectronic equipment using a moving platform as claimed in claim 3, characterized in that: The auxiliary photoelectric tracking device is installed on the moving platform. After the target light source energy is stable, it is powered on. The moving platform posture is adjusted so that the optical axis zero position of the auxiliary photoelectric tracking device is aligned with the target. The transfer matrix Rpt_gd from the moving platform coordinate system to the auxiliary photoelectric tracking device coordinate system is calculated: In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

5. The method for calibrating target of optoelectronic equipment using a moving platform as claimed in claim 3, characterized in that: The step S3 comprises the following sub-steps: Step S3.1: After the moving platform detection device discovers and intercepts the target, it processes and outputs the azimuth pointing angle phi_pt_h and the pitch pointing angle phi_pt_v, as well as the distance r between the moving platform and the target; Step S3.2: The moving platform data processing host computer performs coordinate system conversion through the target information of the moving platform detection device to obtain the target coordinates of the target in the auxiliary optoelectronic search and tracking device coordinate system.

6. The method for calibrating target of optoelectronic equipment using a moving platform as claimed in claim 5, characterized in that: The step S4 includes calculating and obtaining the final azimuth pointing angle phi_h and the final elevation pointing angle phi_v of the target compared to the auxiliary optoelectronic device: phi_v=arcsin(Yt / Rt) phi_h=arctan(Zt / Xt) Where Xt is the eastward target position of the target in the inertial coordinate system, Yt is the celestial target position of the target in the inertial coordinate system, Zt is the northward coordinate position of the target in the inertial coordinate system, and Rt is the spatial distance between the moving platform and the target.

7. A moving platform assisted optoelectronic equipment target calibration system, characterized in that: include: Module M1: Establish the coordinate system of the auxiliary optoelectronic tracking device and the coordinate system of the moving platform; Module M2: adjust the attitude of the moving platform so that the auxiliary optoelectronic search and tracking device is aligned with the point source target, and record the attitude error angle; Module M3: Command the platform detection device to obtain target information, convert the target information into a coordinate system based on the attitude error angle, and obtain the target coordinates in the auxiliary optoelectronic search and tracking coordinate system; Module M4: Calculate the converted coordinates and adjust the auxiliary optoelectronic search and tracking equipment according to the calculation results to point it to the target.

8. The moving platform assisted optoelectronic equipment target calibration system according to claim 7, characterized in that: The module M2 includes calibrating the rotation center between the moving platform detection device and the auxiliary photoelectric search and tracking device before the target calibration test, and recording the spatial relative position relationship between the two; based on the coordinate system of the auxiliary photoelectric search and tracking device, defining Δx as the distance between the two in the X-axis direction, Δy as the distance between the two in the Y-axis direction, and Δz as the distance between the two in the Z-axis direction.

9. The moving platform assisted optoelectronic equipment target calibration system according to claim 8, characterized in that: The module M2 also includes lighting up a ground point source target, and executing subsequent modules after the energy of the target light source is stabilized.

10. The moving platform assisted optoelectronic equipment target calibration system according to claim 9, characterized in that: The auxiliary photoelectric tracking device is installed on the moving platform. After the target light source energy is stable, it is powered on. The moving platform posture is adjusted so that the optical axis zero position of the auxiliary photoelectric tracking device is aligned with the target. The transfer matrix Rpt_gd from the moving platform coordinate system to the auxiliary photoelectric tracking device coordinate system is calculated: In the above formula, A is the yaw adjustment angle ΔPsi, B is the pitch adjustment angle ΔTheta, and C is the roll adjustment angle ΔGamma.

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