Multi-target positioning method based on single-point positioning of photoelectric hanging cabin

Abstract

The invention provides a multi-target positioning method based on single-point positioning of a photoelectric pod, and relates to the technical field of inertial navigation, and the method comprises the following steps: S1, connecting inertial navigation data into the photoelectric pod in flight, obtaining the position and attitude information of a local machine, then carrying out laser ranging on a central target of a field of view, and obtaining the target of the field of view; the laser optical axis is consistent with the optical axis of the current observation sensor; s2, acquiring the pixel position of a point of which the position needs to be mastered in the image, and calculating the coordinate of any selected point in the image; according to the method, on one hand, the laser ranging distance, current attitude information and local position information at the same moment are combined, on the other hand, the ground height is obtained through the target height obtained through last laser or in an advanced binding mode, and the current attitude information and the local position information are combined; and the two methods are mutually switched to calculate the position information of the selected point and the distance deviation from the center. According to the method, the distance of the center of the target can be measured through laser, and geographic coordinates of any point in a photoelectric pod observing and aiming picture are obtained.

Description

Technical Field

[0001] The invention relates to the technical field of inertial navigation, and in particular provides a multi-target positioning method based on single-point positioning of an optoelectronic pod. Background Art

[0002] The optoelectronic pod is an optoelectronic reconnaissance device that integrates multiple sensors such as visible light, infrared, and laser. It has the ability to detect and identify during day and night. It can provide information on the target's azimuth, pitch angle, distance, and geographic coordinates relative to the carrier aircraft during the mission execution, and conduct reconnaissance and evaluation of the strike effect.

[0003] Generally, the geographic coordinates of the target of the optoelectronic pod are solved by active positioning based on laser ranging. The traditional active positioning method is to send the aircraft attitude and position information to the optoelectronic pod, and convert the coordinates to the coordinate system of the optoelectronic pod through coordinate system conversion. Combined with the internal laser ranging distance of the optoelectronics, the autonomous positioning of the optoelectronic pod can be achieved. However, this method can only obtain the geographic coordinates of the single target at the center of the picture, that is, the position where the optical axis points. If you want to obtain the geographic coordinates of other points in the picture, you need to manually control the optoelectronic pod to move the optical axis to the target to be measured in the picture, and then perform laser ranging to obtain it. The existing technology cannot achieve the simultaneous acquisition of multi-point target information.

[0004] At the same time, lasers cannot be used in all scenarios or the optoelectronic pod does not have a laser rangefinder installed. In this case, the optoelectronic pod cannot accurately locate the coordinates of any target point in the picture. Summary of the invention

[0005] The purpose of this application is to provide a multi-target positioning technology based on single-point positioning of an optoelectronic pod, so as to realize the position calculation of any target in the picture at the same time.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A multi-target positioning method based on single-point positioning of an optoelectronic pod, the method comprising the following steps:

[0008] S1: During flight, the optoelectronic pod accesses the inertial navigation data, obtains the position and attitude information of the aircraft, and then performs laser ranging on the target in the center of the field of view, while ensuring that the laser optical axis is consistent with the optical axis of the current observation sensor;

[0009] S2: Get the pixel position of the point in the picture whose position needs to be known, and calculate the coordinates of any selected point in the image.

[0010] The multi-target positioning method based on single-point positioning of an optoelectronic pod provided by the present invention also has the following characteristics: the coordinates of any selected point in the calculated image include:

[0011] Obtain the line vector between the optoelectronic pod and the target, and convert the line vector to the earth coordinate system;

[0012] Add the line vector in the earth coordinate system to the local coordinate system in the earth coordinate system to obtain the coordinates of the center target of the image cross;

[0013] Calculate the corresponding field of view angle of each field of view of the sensor, select other points, and calculate the deviation of the visual axis angle between the two points;

[0014] The slope is calculated based on the coordinates of the target at the center of the image cross, the aircraft height, and the visual axis angle deviation;

[0015] The coordinates of the selected point target on the screen are calculated based on the axis of sight, pitch angle and slope of the selected point.

[0016] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention also has the following characteristics: obtaining the line vector between the optoelectronic pod and the target includes active positioning acquisition and passive positioning acquisition.

[0017] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention also has the following characteristics: in passive positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where the slant distance r between the optoelectronic pod and the target is:

[0018]

[0019] Among them, H B is the height of the aircraft ellipsoid, H m is the target height, and fy is the pitch angle of the electro-optical pod’s line of sight.

[0020] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention also has the following characteristics: in active positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where r is the distance between the optoelectronic pod and the target.

[0021] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention also has the following characteristics: the conversion to the earth coordinate system includes:

[0022] Convert the coordinate system of the line vector between the optoelectronic pod and the target to the geographic coordinate system of the carrier aircraft;

[0023] Convert the line vector in the aircraft's geographic coordinate system to the earth's coordinate system.

[0024] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention also has the following characteristics: the connecting line vector in the geographic coordinate system of the carrier aircraft is:

[0025]

[0026] in, is the first coordinate system transformation matrix, L l is the line vector between the optoelectronic pod and the target;

[0027] The connecting line vector in the Earth coordinate system is:

[0028]

[0029] in, is the second coordinate system transformation matrix.

[0030] The multi-target positioning method based on single-point positioning of the photoelectric pod provided by the present invention also has the following characteristics: the corresponding field of view angle of each viewing angle of the sensor is:

[0031]

[0032] Among them, α is the horizontal field of view angle, β is the vertical field of view angle, h is the horizontal dimension, v is the vertical dimension, and f is the focal length value under each field of view.

[0033] The multi-target positioning method based on single-point positioning of the photoelectric pod provided by the present invention also has the following characteristics: the line of sight angle deviation between the two points is:

[0034]

[0035] Among them, α is the horizontal field of view angle, β is the vertical field of view angle, X and Y are the total pixel values ​​of the picture, px and py are the pixel deviations between the selected point and the center point of the picture.

[0036] Beneficial Effects

[0037] The multi-target positioning method based on single-point positioning of the optoelectronic pod provided by the present invention combines the laser ranging distance and the current attitude information and the position information of the aircraft at the same time on the one hand, and obtains the ground height by the target height obtained by the last laser or by pre-binding on the other hand, and combines the current attitude information and the position information of the aircraft, and the two methods are switched to calculate the selected point position information and the distance deviation from the center. The method can measure the distance to the target center by laser and obtain the geographic coordinates of any point in the optoelectronic pod sighting screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, 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 disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A flowchart of a method provided by an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the active positioning single-point solution provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0042] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0043] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0044] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0045] like Figure 1-2As shown, the embodiment of the present application provides a multi-target positioning method based on single-point positioning of an optoelectronic pod, the method comprising the following steps:

[0046] S1: During flight, the optoelectronic pod accesses the inertial navigation data, obtains the position and attitude information of the aircraft, and then performs laser ranging on the target in the center of the field of view, while ensuring that the laser optical axis is consistent with the optical axis of the current observation sensor;

[0047] S2: Get the pixel position of the point whose position needs to be known in the picture, and calculate the coordinates of any selected point in the image.

[0048] In this method, the height H of the carrier ellipsoid needs to be obtained through the aircraft platform B , heading angle Pitch angle θ, roll angle γ, carrier longitude λ, carrier latitude φ: optoelectronic pod boresight azimuth fw, pitch angle fy; optoelectronic pod uses tracking mode to lock and capture the target, and outputs the following data through the method provided by the embodiment of the present invention: target longitude λ m 、Target latitude φ m 、Target height H m , target longitude λ i , target latitude Target height H i , relative distance D from the center point.

[0049] In some embodiments, calculating the coordinates of any selected point in the image includes:

[0050] Obtain the line vector between the optoelectronic pod and the target, and convert the line vector to the earth coordinate system;

[0051] Add the line vector in the earth coordinate system to the local coordinate system in the earth coordinate system to obtain the coordinates of the center target of the image cross; obtain the longitude λ of the center target of the image cross m 、Target latitude φ m 、Target height H m ;

[0052] Calculate the corresponding field of view angle of each field of view of the sensor, select other points, and calculate the deviation of the visual axis angle between the two points;

[0053] The slope is calculated based on the coordinates of the target at the center of the image cross, the aircraft height, and the visual axis angle deviation;

[0054] Calculate the coordinates of the target at the screen selection point according to the viewing axis azimuth, pitch angle, and slope of the selection point to obtain the target longitude λ of the screen selection point i , target latitude Target height H i .

[0055] In some embodiments, obtaining the connection vector between the optoelectronic pod and the target includes active positioning acquisition and passive positioning acquisition.

[0056] In some embodiments, in passive positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where the slant distance r between the optoelectronic pod and the target is:

[0057]

[0058] Among them, H B is the height of the carrier ellipsoid, H m is the target height, and fy is the pitch angle of the electro-optical pod’s line of sight.

[0059] In some embodiments, in active positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where r is the distance between the optoelectronic pod and the target.

[0060] In some embodiments, converting it to the earth coordinate system includes:

[0061] Convert the coordinate system of the line vector between the optoelectronic pod and the target to the geographic coordinate system of the carrier aircraft;

[0062] Convert the line vector in the aircraft's geographic coordinate system to the earth's coordinate system.

[0063] In some embodiments, the line vector in the carrier's geographic coordinate system is:

[0064]

[0065] in, is the first coordinate system transformation matrix, L l is the line vector between the optoelectronic pod and the target;

[0066] The connecting line vector in the Earth coordinate system is:

[0067]

[0068] in, is the second coordinate system transformation matrix.

[0069] In some embodiments, the corresponding field of view angle of each viewing angle of the sensor is:

[0070]

[0071] Among them, α is the horizontal field of view angle, β is the vertical field of view angle, h is the horizontal dimension, v is the vertical dimension, and f is the focal length value under each field of view.

[0072] In some embodiments, the visual axis angle deviation between the two points is:

[0073]

[0074] Among them, α is the horizontal field of view angle, β is the vertical field of view angle, X and Y are the total pixel values ​​of the picture, px and py are the pixel deviations between the selected point and the center point of the picture.

[0075] When the method provided in any of the aforementioned embodiments is used for artillery calibration, the relative distance difference can be obtained by subtracting the position of the selected point from the position of the center point in the geographic coordinate system, and the artillery moves accordingly based on the given difference.

[0076] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A multi-target positioning method based on single-point positioning of an optoelectronic pod, characterized in that: The method comprises the following steps: S1: During flight, the optoelectronic pod accesses the inertial navigation data, obtains the position and attitude information of the aircraft, and then performs laser ranging on the target in the center of the field of view, while ensuring that the laser optical axis is consistent with the optical axis of the current observation sensor; S2: Get the pixel position of the point in the picture whose position needs to be known, and calculate the coordinates of any selected point in the image.

2. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 1 is characterized in that: The calculation of the coordinates of any selected point in the image includes: Obtain the line vector between the optoelectronic pod and the target, and convert the line vector to the earth coordinate system; Add the line vector in the earth coordinate system to the local coordinate system in the earth coordinate system to obtain the coordinates of the center target of the image cross; Calculate the corresponding field of view angle of each field of view of the sensor, select other points, and calculate the deviation of the visual axis angle between the two points; The slope is calculated based on the coordinates of the target at the center of the image cross, the aircraft height, and the visual axis angle deviation; The coordinates of the selected point target on the screen are calculated based on the selected point's visual axis azimuth, pitch angle, and slope.

3. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 2 is characterized in that: The obtaining of the connection vector between the optoelectronic pod and the target includes active positioning acquisition and passive positioning acquisition.

4. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 3 is characterized in that: In passive positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where the slant distance r between the optoelectronic pod and the target is: Among them, H B is the height of the carrier ellipsoid, H m is the target height, and fy is the pitch angle of the electro-optical pod’s line of sight.

5. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 3 is characterized in that: In active positioning acquisition, the line vector between the optoelectronic pod and the target is L l =[r,0,0], where r is the distance between the optoelectronic pod and the target.

6. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 2 is characterized in that: The converting of the line vector to the earth coordinate system comprises: Convert the coordinate system of the line vector between the optoelectronic pod and the target to the geographic coordinate system of the carrier aircraft; Convert the line vector in the aircraft's geographic coordinate system to the earth's coordinate system.

7. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 6 is characterized in that: The connecting line vector in the aircraft geographic coordinate system is: in, is the first coordinate system transformation matrix, L l is the connection vector between the optoelectronic pod and the target; The connecting line vector in the Earth coordinate system is: in, is the second coordinate system transformation matrix.

8. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 2 is characterized in that: The corresponding field of view of each viewing angle of the sensor is: Among them, α is the horizontal field of view angle, β is the vertical field of view angle, h is the horizontal dimension, v is the vertical dimension, and f is the focal length value under each field of view.

9. The multi-target positioning method based on single-point positioning of an optoelectronic pod according to claim 2 is characterized in that: The visual axis angle deviation between the two points is: Among them, α is the horizontal field of view angle, β is the vertical field of view angle, X and Y are the total pixel values ​​of the picture, px and py are the pixel deviations between the selected point and the center point of the picture.

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