Calibration system for calibrating integration error in photoelectric pod

Abstract

The invention relates to a calibration system for calibrating integration errors in a photoelectric pod, which comprises towers and a GPS (Global Positioning System) ground control field, the GPS ground control field is arranged between the two towers, and the photoelectric pod positioned above the GPS ground control field and a track for supporting the photoelectric pod are arranged between the two towers. The photoelectric pod is driven by a driving device arranged on the tower and horizontally moves above the GPS ground control field, a plurality of GPS ground control points are arranged on the GPS ground control field, and the GPS ground control points comprise three large marking balls which are located at the center of the field and have different colors and a plurality of white small marking balls located around the large balls; the large marking ball and the small white marking ball are hollow, and incandescent lamps are reserved in the large marking ball and the small white marking ball, so that low cost, day and night time, no airspace requirement and no flight can be realized, the integrated error of an optical system and an inertial navigation system in the photoelectric pod can be calibrated, and an original flight calibration field can be replaced.

Description

Technical Field

[0001] The invention belongs to the field of optical measurement and remote sensing in a photoelectric pod, and in particular relates to a calibration system for calibrating integrated errors in a photoelectric pod. Background Art

[0002] Digital aerial remote sensing is one of the important means of earth observation and has been widely used in land and resources survey, mapping, environmental disaster monitoring, etc. Photoelectric pods have become an indispensable method for aerial photogrammetry. Since the optical system and inertial navigation system in the photoelectric pod have different spatial reference and time systems, the calibration of the relative parameters between the optical system and the inertial navigation system is the most important part of system integration.

[0003] In the current digital aerial remote sensing industry, an air-to-ground calibration field is usually established to calibrate the integrated errors of the optical system and inertial navigation system in the optoelectronic pod. The aircraft is equipped with aerial survey equipment and performs actual flight calibration along a certain route. Ordinary optoelectronic pods are only equipped with visible light optical systems and need to be calibrated during the day. The target cannot be seen at night. Those with both visible light and infrared optical systems cannot take both into account at the same time. At the same time, existing calibration fields often mark individual targets and do not set corresponding target arrangements according to the situation. In addition, the aircraft needs to fly in person, and its supporting flight field, airspace application, pilots, high cost, safety and other limiting factors. Therefore, it is urgent to invent an integrated error calibration field that can be low-cost, day and night, and does not require airspace, so as to solve the above-mentioned problems. Summary of the invention

[0004] The present invention provides a calibration system for calibrating the integrated error in an optoelectronic pod, which can achieve low cost, day and night, no need for airspace requirements, and can complete the calibration of the integrated error of the optical system and the inertial navigation system in the optoelectronic pod without flying, so as to solve the existing technical problems of high cost, poor calibration effect, inability to use at night, and inability to take into account both visible light and infrared methods.

[0005] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are:

[0006] A calibration system for calibrating integrated errors in an optoelectronic pod comprises towers and a GPS ground control field. There are two towers with the same height. The GPS ground control field is arranged between the two towers. An optoelectronic pod above the GPS ground control field and a track for supporting the optoelectronic pod are arranged between the two towers. The optoelectronic pod is driven by a driving device arranged on the towers and moves horizontally. A plurality of GPS ground control points are arranged on the GPS ground control field. The GPS ground control points comprise three large marking balls of different colors located at the exact center of the field and a plurality of small white marking balls located around the large balls. The large marking balls and the small white marking balls are both hollow inside, and incandescent lamps are reserved inside the large marking balls and the small white marking balls.

[0007] Furthermore, including target strike mode and area mapping mode, three large balls are arranged in the center of the site. The diameter of the large ball is 80 cm. The colors are red, yellow and blue respectively. There is no order difference between the three colors. The imaging center position of the optical system inside the optoelectronic pod is quickly calibrated with the three large balls in the center of the GPS ground control point target site. The horizontal point spacing of each GPS ground control point is 8 meters and the vertical spacing is 8 meters. N small white marker balls are arranged around the site. The GPS ground control point covers the entire ground area photographed by the optoelectronic pod. The entire frame of the optical system imaging inside the optoelectronic pod is finely calibrated with N small white marker balls arranged in the GPS ground control point target site.

[0008] Furthermore, the diameter of the small ball is 40 cm, and there are 64 small white marking balls, which are evenly distributed around the big ball.

[0009] Furthermore, the target material of the large and small balls is made of 67 balls with black numbers painted on the top outer sides, with the letter "P" in front of the number, and the size of the letter "P" is 8cm×4cm font.

[0010] Furthermore, the big red ball is ball number 1, the big yellow ball is ball number 2, the big blue ball is ball number 3, and the remaining small white balls are numbered 4 to 67.

[0011] Furthermore, the target materials of the large ball and the small ball are made of hollow hard plastic.

[0012] Furthermore, there is a steel wire connecting the middle of the tower, and the optoelectronic pod moves horizontally along the steel wire. The optoelectronic pod is equipped with an aerial survey camera for optical detection, an inertial navigation system for collecting coordinates, and a supporting power supply.

[0013] Furthermore, a driving device is arranged at the top of the tower, and the driving device drives the steel wire to move horizontally, thereby driving the photoelectric pod fixedly connected to the steel wire to move horizontally.

[0014] Furthermore, the distance between the towers is 70m and the tower height is 40m.

[0015] Furthermore, the coordinate positions of the GPS ground control points are collected through GPS base stations arranged on both sides of the GPS ground control field.

[0016] The optical system of the present invention has two uses: first, target striking, where the target is at the center of the optical system, and the geographical location information of the center point target is obtained; second, regional surveying, where areas of special concern are investigated and the location information image of the entire area is obtained.

[0017] There are generally two optical systems configured in the optoelectronic pod. The first is the visible light optical system, which images objects in the visible light band, and the second is the infrared thermal imaging optical system, which images objects with different heat radiation.

[0018] By adopting the above technical solution, the present invention can also bring the following beneficial effects:

[0019] 1. The present invention provides a calibration system for calibrating the integrated error in the optoelectronic pod, which adds a hollow sphere with a built-in incandescent lamp. Even in poor light or at night, the inertial navigation integrated error of the optoelectronic pod can be calibrated. At the same time, the infrared optical system is very sensitive to the heat of the incandescent lamp, and the function of comparing the integrated error of the infrared optical system and the inertial navigation system is added, which can replace the original flight calibration field and complete the calibration of the integrated error of the optical system and the inertial navigation system in the optoelectronic pod.

[0020] 2. The present invention mentions a calibration system for calibrating the integrated error in the optoelectronic pod. Three large red, yellow and blue balls are located in the middle of the field for rapid calibration with the center positions of the visible light optical system and the infrared optical system, while the small balls distributed around them are used for fine calibration of the entire image of the optoelectronic pod. The entire calibration process is less affected by weather conditions and has a very low cost compared to airplane flight. It can provide multiple sets of repeated data in a short time and can repeat the test unlimited times to provide better and more comprehensive data, which has a very large room for promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a calibration system for calibrating the integrated error in the optoelectronic pod of the present invention;

[0023] Figure 2This is a schematic diagram of the target distribution of GPS ground control points in this example;

[0024] Among them: 1. Tower; 2. GPS ground control field; 3. Optoelectronic pod; 4. Steel wire; 5. Drive device. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0027] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0028] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0029] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0030] Example 1

[0031] In one embodiment of the present invention, see Figure 1 and Figure 2 The present invention mentions a calibration system for calibrating the observation and inertial navigation integration errors of an optoelectronic pod 3, comprising a tower 1 and a GPS ground control field 2. There are two towers 1, and the two towers 1 have the same height. The GPS ground control field 2 is arranged between the two towers 1. An optoelectronic pod 3 above the GPS ground control field 2 and a track supporting the optoelectronic pod 3 are arranged between the two towers 1. The optoelectronic pod 3 is driven by a driving device 5 arranged on the tower 1 and moves horizontally. A plurality of GPS ground control points are arranged on the GPS ground control field 2. The GPS ground control points include three large marking balls of different colors located in the center of the field and a plurality of white small marking balls located around the large balls. The large marking balls and the white small marking balls are both hollow inside, and white energy-saving battery lights are reserved inside the large marking balls and the white small marking balls.

[0032] It includes target strike mode and regional mapping mode. Three large balls are arranged in the center of the field. The diameter of the large ball is 80 cm. The colors are red, yellow and blue respectively. There is no order difference between the three colors. The optical system imaging center position inside the optoelectronic pod 3 is quickly checked with the three large balls in the center of the GPS ground control point target field. The horizontal point spacing of each GPS ground control point is 8 meters and the vertical spacing is 8 meters. N small white marker balls are arranged around the field. The GPS ground control point covers the entire ground area photographed by the optoelectronic pod 3. The optical system imaging of the optoelectronic pod 3 inside the entire frame is finely checked with N small white marker balls arranged in the GPS ground control point target field. The diameter of the ball is 40 cm, and there are 64 small white marker balls, which are evenly distributed around the large ball. The target material of the large and small balls is painted with black numbers on the top and outside of the 67 balls, and the number is preceded by the word "P". The size of the "P" is 8cm×4cm font. The big red ball is number 1, the big yellow ball is number 2, the big blue ball is number 3, and the remaining small white balls are numbered 4 to 67. The target material of the big and small balls is hollow hard plastic.

[0033] There is a steel wire 4 connected in the middle of the tower 1, and the optoelectronic pod 3 moves horizontally along the steel wire 4. The optoelectronic pod 3 is provided with an aerial survey camera for optical detection, an inertial navigation system for collecting coordinates, and a supporting power supply for power supply. The driving device 5 is arranged at the top of the tower 1, and the driving device 5 drives the steel wire 4 to move horizontally, thereby driving the optoelectronic pod 3 fixedly connected to the steel wire 4 to move horizontally. The distance between the towers 1 is 70m, and the height of the tower 1 is 40m. The coordinate position of the GPS ground control point is collected through the GPS base stations arranged on both sides of the GPS ground control field 2.

[0034] During the use of the present invention, the driving device 5 drives the steel wire 4 to move horizontally, thereby driving the photoelectric pod 3 fixedly connected to the steel wire 4 to move horizontally, so that the photoelectric pod 3 passes above the GPS ground control field 2, simulating the situation where an airplane drives the photoelectric pod 3 to fly over the GPS ground control field 2.

[0035] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A calibration system for calibrating integrated errors in an optoelectronic pod, characterized in that: The invention comprises a tower (1) and a GPS ground control field (2). The number of the towers (1) is two. The two towers (1) have the same height. The GPS ground control field (2) is arranged between the two towers (1). An optoelectronic pod (3) above the GPS ground control field (2) and a track supporting the optoelectronic pod (3) are arranged between the two towers (1). The optoelectronic pod (3) is driven by a driving device (5) arranged on the tower (1) and moves horizontally. A plurality of GPS ground control points are arranged on the GPS ground control field (2). The GPS ground control points include three large marking balls of different colors located in the center of the field and a plurality of small white marking balls located around the large balls. The large marking balls and the small white marking balls are both hollow inside. Incandescent lamps are reserved inside the large marking balls and the small white marking balls.

2. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: It includes target strike mode and regional mapping mode. Three large balls are arranged in the center of the site. The diameter of the large balls is 80 cm. The colors are red, yellow and blue respectively. There is no order difference between the three colors. It is used to provide fast verification for the target strike mode. The horizontal point spacing of each GPS ground control point is 8 meters and the vertical spacing is 8 meters. N small white marker balls are arranged around the site. The GPS ground control points cover the entire ground area photographed by the optoelectronic pod (3) to provide fine verification for regional mapping.

3. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 2, characterized in that: The diameter of the small ball is 40 cm, and there are 64 small white marking balls evenly distributed around the large ball.

4. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The target material of the large and small balls is 67 balls with black numbers painted on the top outer sides, preceded by a "P" in a font size of 8cm×4cm.

5. A calibration system for calibrating observation and inertial navigation integrated errors of an optoelectronic pod (3) as claimed in claim 1, characterized in that: The big red ball is ball No. 1, the big yellow ball is ball No. 2, the big blue ball is ball No. 3, and the remaining small white balls are numbered 4-67.

6. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The target materials of the large ball and the small ball are hollow hard plastic.

7. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The tower (1) is connected in the middle by a steel wire (4), and the optoelectronic pod (3) moves horizontally along the steel wire (4). The optoelectronic pod is provided with an aerial survey camera for optical detection, an inertial navigation system for collecting coordinates, and a matching power supply for power supply.

8. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The driving device (5) is arranged on the top of the tower (1), and the driving device (5) drives the steel wire (4) to move horizontally, thereby driving the photoelectric pod (3) fixedly connected to the steel wire (4) to move horizontally.

9. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The distance between the towers (1) is 70m, and the height of the towers (1) is 40m.

10. A calibration system for calibrating integrated errors in an optoelectronic pod as claimed in claim 1, characterized in that: The coordinate positions of the GPS ground control points are collected through GPS base stations arranged on both sides of the GPS ground control field (2).

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