Moving target velocity vector extraction method and system

Abstract

The invention relates to the technical field of non-electrical variable control, and discloses a moving target velocity vector extraction method and system, so as to improve the accurate tracking performance of an aircraft on a moving target. The method comprises the following steps: capturing a tracking target by using an image matching guidance mode, obtaining a frame angle, an attitude angle and a camera distance, and calculating a real-time sight line elevation angle and a real-time sight line azimuth angle; according to the variable quantity of the target imaging center position, the variable quantity of the attitude angle, the variable quantity of the altitude angle, the variable quantity of the machine eye distance and the machine eye distance in the continuous two-frame image updating period, the component of the relative movement speed of the machine eye in the sight line system is calculated; calculating three components of the speed of the aircraft in a sight line system according to the three components of the speed of the launching system obtained by the navigation module; and finally, synthesizing and decomposing the original solution according to the relative motion and the involved motion to calculate three components of the moving speed of the target in the sight line system.

Description

Technical Field

[0001] The present invention relates to a control or regulation method and system for non-electrical variables in intelligent manufacturing, and in particular to a moving target velocity vector extraction method and system. Background Art

[0002] At present, with the increasing requirements of modern flight scenes and functions, higher requirements are placed on the target tracking capability of aircraft. Aircraft are developing towards the direction of tracking moving targets. Therefore, in order to avoid excessive consumption of kinetic energy in the process of tracking moving targets, the velocity vector of the target can be tracked by the parallel approach method for guidance. However, except for the radar guidance system, other systems of the current guidance module cannot obtain the velocity vector of the moving target. In addition, the application effect of the radar guidance system is not good under the complex background interference conditions on the ground, so the aircraft cannot track and guide the velocity vector of the ground moving target.

[0003] It can be seen that there is an urgent need for a mobile target velocity vector extraction method that has a wide range of usage scenarios, strong target tracking capabilities, and can improve the performance of aircraft. Summary of the invention

[0004] The present invention aims to disclose a method and system for extracting a moving target velocity vector, so as to improve the precise tracking performance of an aircraft on a moving target.

[0005] To achieve the above object, the method for extracting the moving target velocity vector disclosed in the present invention comprises: Step 1: When the aircraft enters the final guidance stage, use the image matching guidance mode to capture and track the target, and obtain the high and low frame angles output by the two-axis frame platform of the guidance module. and azimuth frame angle , the pitch angle output by the attitude measurement module , heading angle , Roll Angle , the laser ranging component outputs the distance between the machine and the target ; Step 2: Calculate the real-time sight height angle based on the geometric relationship between the coordinate system conversion and each angle variable and the sight angle ; Step 3: Calculate the change in the high and low sight angles based on the change in the target imaging center position, attitude angle, and frame angle within two consecutive image update cycles. and the change in azimuth sight angle , combined with the distance between the camera and the target Calculate the Y-axis and Z-axis components of the relative motion velocity of the target in the line of sight ; According to the change in the distance between the laser ranging component and the target output within two consecutive image update cycles , calculate the component of the relative motion velocity of the target in the line of sight system X axis ; Step 4: Obtain the three components of the velocity in the launch system output by the aircraft navigation system , calculate the transformation matrix from the launch system to the line of sight system according to the line of sight angle, and then solve the three components of the aircraft speed in the line of sight system ; Step 5: According to the principle of synthesis and decomposition of relative motion and involved motion, calculate the three components of the target moving speed in the line of sight system , , .

[0006] Preferably, the step 2 specifically includes: Step 2.1: Use the coordinate transformation matrix from the frame system to the semi-system to transform the height frame angle and azimuth frame angle output by the two-axis frame platform of the guidance module to the semi-system. and azimuth frame angle The calculation formula is as follows: ; Step 2.2: Calculate the real-time sight height angle based on the geometric relationship between the attitude angle, sight angle and frame angle and the sight angle , the calculation formula is as follows: .

[0007] Preferably, the step 3 further comprises: Step 3.1: Update the cycle based on two consecutive frames of images Change in the imaging center position of the internal target , , imaging resolution and guidance module field of view, and calculate the equivalent misalignment angle change of the target in the imaging image , ; Record the pixel coordinates of the target center point in two consecutive frames of images , , and calculate The pixel coordinate difference of the target center point within time , , the calculation formula is as follows: ; The pixel coordinate change of the target center point in the imaging plane is converted into the line of sight coordinate system. , The calculation formula is as follows: ; The elevation field of view of the known imaging guidance assembly , Heading Field of View , horizontal imaging resolution , vertical imaging resolution , calculate the equivalent misalignment angle change of the target in the imaging image , , the calculation formula is as follows: ; Step 3.2: Get the update cycle of two consecutive frames of images The height and low frame angle changes of the two-axis frame platform , Azimuth frame angle change , the calculation formula is as follows: ; in, and They are The momentary height frame angle and azimuth frame angle, and They are The altitude frame angle and azimuth frame angle of the moment; Step 3.3: According to the three attitude angles output in real time by the attitude measurement device , solve the update cycle of two consecutive frames Change in pitch angle of internal aircraft , yaw angle change , the calculation formula is as follows: ; in, , They are Pitch angle and yaw angle at all times, , They are Pitch angle and yaw angle at all times; Step 3.4: Calculate the update period of two consecutive frames of images according to the above conditions Change in the height of the internal target , Azimuth sight angle change , the calculation formula is as follows: ; Step 3.5: Combine the camera-eye distance The Y-axis and Z-axis components of the relative motion velocity of the target in the line of sight system are calculated by comparing the change in the line of sight angle , the calculation formula is as follows: ; Step 3.6: According to the laser ranging component in two consecutive image update cycles The change in the internal output distance between the target and the target , calculate the component of the relative motion velocity of the target in the line of sight system X axis , the calculation formula is as follows: .

[0008] Preferably, the specific solution process of step 4 is as follows: .

[0009] Preferably, the specific solution process of step 5 is as follows: .

[0010] To achieve the above-mentioned purpose, the mobile target velocity vector extraction system disclosed in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned method when executing the computer program.

[0011] In summary, the present invention first uses the image matching guidance mode to capture and track the moving target, combines the imaging center coordinates, attitude angles and frame angles output by the imaging guidance component, attitude measurement module and two-axis frame platform, calculates the change in the sight angle of the aircraft within two consecutive image update cycles, and then finally solves the three components of the target moving speed in the sight system based on the aircraft-to-eye distance obtained by the laser ranging component. By reusing the imaging guidance system and the laser ranging method, the problem of extracting the velocity vector of the moving target is at least partially solved, the ability to accurately strike the moving target is enhanced, and the target adaptability and use performance of the aircraft are improved.

[0012] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a flow chart of the method for extracting the moving target velocity vector disclosed in Example 1 of the present invention. DETAILED DESCRIPTION

[0014] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0015] Example 1 See also Figure 1 , is a flow chart of the mobile target velocity vector extraction method disclosed in this embodiment. Figure 1As shown, the method of this embodiment mainly includes the following steps: Step 1: When the aircraft enters the terminal guidance stage, the image matching guidance mode is used to capture and track the target, obtain the height frame angle and azimuth frame angle output by the two-axis frame platform of the guidance module, the pitch angle, heading angle, and roll angle output by the attitude measurement module, and the laser ranging component outputs the aircraft-target distance.

[0016] In this embodiment, the high and low frame angles are expressed as , the azimuth frame angle is expressed as , the pitch angle is expressed as , the heading angle is expressed as The roll angle is expressed as , the aircraft-target distance is the distance between the aircraft and the target, which is expressed as .

[0017] Among them, the two-axis frame platform is also called a two-axis two-frame platform. The elevation frame angle is the up and down rotation angle of the elevation frame of the gimbal relative to the zero position. The azimuth frame angle is the left and right rotation angle of the azimuth frame of the gimbal relative to the zero position. The pitch angle is the angle between the longitudinal axis of the aircraft body and the horizontal plane. The yaw angle is the angle between the projection of the body axis on the upper side and the earth's axis. Specifically for the present invention, the yaw angle is the angle between the projection line of the longitudinal axis of the body on the longitudinal plane of the launch system and the forward axis of the launch system. The roll angle is the angle between the vertical symmetry plane of the aircraft body and the plumb plane of the earth. Launch system: The coordinate origin is fixedly connected to the launch point 0 of the aircraft, The axis is perpendicular to the horizontal plane of the launch point and points upward. Axis and The axis is vertical and points in the direction of the target point. Axis and The planes are perpendicular and form a right-handed coordinate system.

[0018] Step 2: Calculate the real-time sight elevation angle and sight azimuth angle based on the geometric relationship between the coordinate system transformation and each angle variable.

[0019] Furthermore, the step 2 specifically includes: Step 2.1, using the coordinate transformation matrix from the frame system to the half-system (h system), first transform the height frame angle and azimuth frame angle output by the two-axis frame platform of the guidance module to the half-system, where the frame system is the plane coordinate system formed by the symmetry axis of the gimbal imaging plane, and the half-system is the origin and the center of mass of the body. , The longitudinal symmetry line of the body points upward. The coordinate system formed by the horizontal symmetry lines of the body; They are the high and low frame angles and azimuth frame angles in the half system respectively; the calculation formula is as follows: .

[0020] Step 2.2, calculate the real-time sight angle based on the geometric relationship between the attitude angle, sight angle and frame angle and sight azimuth , the calculation formula is as follows: .

[0021] Step 3: Calculate the changes in the elevation and azimuth sight angles according to the changes in the target imaging center position, attitude angle, and frame angle within two consecutive image update cycles, and calculate the components of the relative motion speed of the target in the Y and Z axes of the sight system in combination with the target distance; calculate the component of the relative motion speed of the target in the X axis of the sight system according to the changes in the target distance output by the laser ranging component within two consecutive image update cycles.

[0022] The line of sight coordinate system is mainly used to describe the seeker or sensor equipment with similar functions. The direction of its optical axis is the direction of the line connecting the aircraft and the target point, which is the x-axis of the line of sight system. The z-axis is in the plumb plane containing the x-axis and is perpendicular to the x-axis. The y-axis is established as the right-hand coordinate system; the origin of the coordinate system is the optical center position.

[0023] Furthermore, the step 3 specifically includes: Step 3.1, update cycle according to two consecutive frames of image Change in the imaging center position of the internal target , imaging resolution and guidance module field of view, etc., to calculate the equivalent misalignment angle change of the target in the imaging image (high and low), (position).

[0024] In specific implementation, the center of the image is used as the coordinate origin. , the left direction is the positive direction of the horizontal axis, and the upward direction is the positive direction of the vertical axis. The target center point is recorded in two consecutive frames of images (the image update cycle is ) , , and calculate The pixel coordinate difference of the target center point within time , , the calculation formula is as follows: .

[0025] The pixel coordinate difference of the target center point in the imaging plane is converted to the line of sight system, and the pixel coordinate change in the line of sight coordinate system is , The solution is as follows: .

[0026] Calculate the equivalent misalignment angle change of the target in the image (high and low), (azimuth); known pitch angle of the imaging guidance assembly , Heading Field of View , horizontal imaging resolution , vertical imaging resolution , the equivalent misalignment angle change of the target in the imaging field of view can be calculated, and the calculation formula is as follows: .

[0027] Step 3.2: Calculate the update cycle of two consecutive frames of images based on the frame angle data output in real time by the two-axis frame platform of the guidance module Inner height frame angle change , Azimuth frame angle change .

[0028] In specific implementation, it is known that High and low frame angles at all times , Azimuth frame angle , High and low frame angles at all times , Azimuth frame angle , and The calculation is done using the following formula: .

[0029] Step 3.3, according to the attitude angle output by the attitude measurement device in real time, calculate the update cycle of two consecutive frames of images Change in pitch angle of internal aircraft , yaw angle change .

[0030] In specific implementation, it is known that High and low frame angles at all times , Azimuth frame angle , High and low frame angles at all times , Azimuth frame angle , and The calculation is done using the following formula: .

[0031] Step 3.4: Calculate the update period of two consecutive frames of images according to the above conditions Change in the height angle of the inner target sight line and the change in sight azimuth .

[0032] In specific implementation, it can be solved by the following formula: .

[0033] Step 3.5, combine the change in the aircraft-target distance and the sight angle to calculate the Y-axis and Z-axis components of the aircraft-target relative motion speed in the sight system .

[0034] In specific implementation, it can be solved by the following formula: .

[0035] It is worth noting that: in the calculation parameters of this step, the same as step 1, The value of corresponds to each frame of image.

[0036] Step 3.6, according to the laser ranging component in two consecutive frame image update cycles The change in the internal output distance between the target and the target , calculate the component of the relative motion velocity of the target in the line of sight system X axis .

[0037] When it comes to specific implementation, Moment and The output distances of the aircraft and target at each moment are and , two consecutive image update cycles The calculation method of the change in the internal aircraft target distance is: .

[0038] The component of the relative motion velocity of the target in the X-axis of the line of sight The solution method is: .

[0039] Step 4, obtain the three components of the velocity in the launch system output by the aircraft navigation system (ie: ), calculate the transformation matrix from the launch system to the line of sight system according to the line of sight angle, and finally solve the three components of the aircraft speed in the line of sight system (that is, the following formula in ).

[0040] During specific implementation, the specific solution process of step 4 is as follows: .

[0041] Step 5: According to the principle of synthesis and decomposition of relative motion and involved motion, calculate the three components of the target moving speed in the line of sight system (i.e., , , ).

[0042] During specific implementation, the specific solution process of step 5 is as follows: .

[0043] It is worth noting that in steps 4 and 5, the target moving speed can be regarded as Time has come The average speed at that moment, corresponding to that calculated in step 3.5 above hour, The value of The value of the moment.

[0044] Example 2 This embodiment discloses a moving target velocity vector extraction system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above method is implemented.

[0045] Preferably, the system of this embodiment includes: The guidance module includes at least: an imaging guidance component, a laser ranging component and a two-axis frame platform, which is used to capture and track the target through image matching, and output the coordinate position of the target imaging center in the image, the aircraft-to-target distance and the frame angle information to the data solution module.

[0046] The navigation and positioning module is used to obtain the position and speed information of the aircraft during real-time flight and output it to the data solution module.

[0047] The attitude measurement module is used to measure the attitude information of the aircraft during flight and output it to the data solution module.

[0048] The data solving module is used to store the characteristic information of the aircraft, receive the information output from the attitude measurement module, the guidance module and the navigation and positioning module, and solve the target's velocity vector according to the moving target velocity vector extraction method as described above.

[0049] In summary, the method and system disclosed in the embodiment of the present invention first use the image matching guidance mode to capture and track the moving target, combine the imaging center coordinates, attitude angle and frame angle data output by the imaging guidance component, attitude measurement module and two-axis frame platform, calculate the change in the sight angle of the aircraft within two consecutive image update cycles, and then finally solve the three components of the target moving speed in the sight system based on the aircraft distance obtained by the laser ranging component. By reusing the imaging guidance system and the laser ranging method, the problem of extracting the velocity vector of the moving target is solved, the precision strike capability of the moving target is enhanced, and the target adaptability and use performance of the aircraft are improved.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for extracting a moving target velocity vector, characterized in that: include: Step 1: When the aircraft enters the final guidance stage, use the image matching guidance mode to capture and track the target, and obtain the high and low frame angles output by the two-axis frame platform of the guidance module. and azimuth frame angle , the pitch angle output by the attitude measurement module , heading angle , Roll Angle , the laser ranging component outputs the distance between the machine and the target ; Step 2: Calculate the real-time sight height angle based on the geometric relationship between the coordinate system conversion and each angle variable and sight azimuth ; Step 3: Calculate the change in the high and low sight angles based on the change in the target imaging center position, attitude angle, and frame angle within two consecutive image update cycles. and the change in azimuth sight angle , combined with the distance between the camera and the target Calculate the Y-axis and Z-axis components of the relative motion velocity of the target in the line of sight ; According to the change in the distance between the laser ranging component and the target output within two consecutive image update cycles , calculate the component of the relative motion velocity of the target in the line of sight system X axis ; Step 4: Obtain the three components of the velocity in the launch system output by the aircraft navigation system , calculate the transformation matrix from the launch system to the line of sight system according to the line of sight angle, and then solve the three components of the aircraft speed in the line of sight system ; Step 5: According to the principle of synthesis and decomposition of relative motion and involved motion, calculate the three components of the target moving speed in the line of sight system , , .

2. The method for extracting the moving target velocity vector according to claim 1, characterized in that: The step 2 specifically includes: Step 2.1: Use the coordinate transformation matrix from the frame system to the semi-system to transform the height frame angle and azimuth frame angle output by the two-axis frame platform of the guidance module to the semi-system. and azimuth frame angle The calculation formula is as follows: ； Step 2.2: Calculate the real-time sight height angle based on the geometric relationship between the attitude angle, sight angle and frame angle and the sight angle , the calculation formula is as follows: 。 3. The method for extracting the moving target velocity vector according to claim 2, characterized in that: The step 3 also includes: Step 3.1: Update the cycle based on two consecutive frames of images Change in the imaging center position of the internal target , , imaging resolution and guidance module field of view, and calculate the equivalent misalignment angle change of the target in the imaging image , ; Record the pixel coordinates of the target center point in two consecutive frames of images , , and calculate The pixel coordinate difference of the target center point within time , , the calculation formula is as follows: ； The pixel coordinate change of the target center point in the imaging plane is converted into the line of sight coordinate system. , The calculation formula is as follows: ； The elevation field of view of the known imaging guidance assembly , Heading Field of View , horizontal imaging resolution , vertical imaging resolution , calculate the equivalent misalignment angle change of the target in the imaging image , , the calculation formula is as follows: ； Step 3.2: Get the update cycle of two consecutive frames of images The height and low frame angle changes of the two-axis frame platform , Azimuth frame angle change , the calculation formula is as follows: ； in, and They are The momentary height frame angle and azimuth frame angle, and They are The altitude frame angle and azimuth frame angle of the moment; Step 3.3: According to the three attitude angles output in real time by the attitude measurement device , solve the update cycle of two consecutive frames Change in pitch angle of internal aircraft , yaw angle change , the calculation formula is as follows: ； in, , They are Pitch angle and yaw angle at all times, , They are Pitch angle and yaw angle at all times; Step 3.4: Calculate the update period of two consecutive frames of images Change in the height of the internal target , Azimuth sight angle change , the calculation formula is as follows: ； Step 3.5: Combine the camera-eye distance The Y-axis and Z-axis components of the relative motion velocity of the aircraft and the target in the line of sight system are calculated by comparing the change in the line of sight angle. , the calculation formula is as follows: ； Step 3.6: According to the laser ranging component in two consecutive image update cycles The change in the internal output distance between the target and the target , calculate the component of the relative motion velocity of the target in the line of sight system X axis , the calculation formula is as follows: 。 4. The method for extracting the moving target velocity vector according to claim 3, characterized in that: The specific solution process of step 4 is as follows: 。 5. The method for extracting the moving target velocity vector according to claim 4, characterized in that: The specific solution process of step 5 is as follows: 。 6. A moving target velocity vector extraction system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for extracting the moving target velocity vector described in any one of claims 1 to 5 is implemented.

7. The moving target velocity vector extraction system according to claim 6, characterized in that: The system comprises: The guidance module includes at least: an imaging guidance component, a laser ranging component and a two-axis frame platform, which is used to capture and track the target through image matching, and output the coordinate position of the target imaging center in the image, the aircraft-to-target distance and the frame angle information to the data solution module; The navigation and positioning module is used to obtain the position and speed information of the aircraft in real time during flight and output it to the data solution module; The attitude measurement module is used to measure the attitude information of the aircraft during flight and output it to the data solution module; The data solving module is used to store the characteristic information of the aircraft, receive the information outputted by the attitude measurement module, the guidance module and the navigation and positioning module, and solve the velocity vector of the target according to the method for extracting the velocity vector of the moving target as described in any one of claims 1 to 5.

Images