Method, device and equipment for guiding head to measure target position and storage medium

Abstract

The present disclosure provides a method, device, equipment and storage medium for guiding head to measure target position, the method comprising: obtaining flight information of a flight vehicle, and a guiding head frame angle and a target misalignment angle; calculating a target coordinate of a collision target based on the flight information, the guiding head frame angle and the target misalignment angle, and guiding the flight vehicle to collide with the collision target according to the target coordinate. In the present disclosure, the guiding head frame angle and the target misalignment angle of the flight vehicle guiding head are used in combination with the flight information of the flight vehicle to directly calculate the real-time target coordinate of the collision target, and the flight vehicle can be guided to accurately collide with the collision target based on the calculated target coordinate.

Description

Technical Field

[0001] This disclosure relates to the field of seeker manufacturing technology, and in particular to a method, apparatus, device and storage medium for measuring the position of a target with a seeker. Background Technology

[0002] Currently, traditional image-guided warheads on aircraft calculate the line-of-sight (LAS) angular velocity generated during target tracking by acquiring two-dimensional image information. After calculating the LAS angular velocity, it is output to the guidance computer as guidance commands, and proportional guidance law is used to guide the aircraft's munitions. In this guidance method, the LAS angular velocity only reflects the instantaneous relative angular motion between the target and the aircraft, and cannot provide the target's specific position and motion trend. Because the guidance system lacks the ability to predict the target's dynamic behavior, it forces the aircraft to rely on local feedback information for high-frequency, high-G passive corrections. This "hysteresis control" leads to a significant increase in the initial trajectory curvature of the aircraft, resulting in a surge in air resistance and kinetic energy loss. This kinetic energy loss further reduces the aircraft's available overload. Therefore, how to measure the target position using an onboard warhead and guide the aircraft to collide with the target based on the calculated position has become a pressing technical problem for those skilled in the art. Summary of the Invention

[0003] In view of this, this disclosure proposes a method, apparatus, device and storage medium for a seeker to measure the position of a target, which enables the seeker on an aircraft to have the ability to calculate the target coordinates in real time, and can guide the aircraft to accurately collide with the target based on the calculated target coordinates.

[0004] According to a first aspect of this disclosure, a method for measuring the position of a target with a seeker is provided, comprising:

[0005] Acquire flight information of the aircraft, as well as the seeker frame angle and target misalignment angle;

[0006] Based on the flight information, the seeker frame angle, and the target misalignment angle, calculate the target coordinates of the colliding target;

[0007] The aircraft is guided to collide with the target based on the target coordinates.

[0008] In one possible implementation, the flight information includes at least one of the aircraft's center of mass coordinates and attitude angles.

[0009] In one possible implementation, when calculating the target coordinates of the colliding target based on the flight information, the seeker frame angle, and the target misalignment angle, the following steps are included:

[0010] Obtain the standardized target vector in the volumetric view frame;

[0011] Based on the attitude angle, the seeker frame angle, and the target misalignment angle in the flight information, the expression of the target normalized vector in the geodetic coordinate system is calculated.

[0012] Based on the target normalization vector expressed in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the colliding target in the geodetic coordinate system are calculated.

[0013] In one possible implementation, when calculating the expression of the target normalized vector in the geodetic coordinate system based on the attitude angle, the seeker frame angle, and the target misalignment angle in the flight information, the following steps are included:

[0014] Based on the target misalignment angle, calculate the expression of the target normalized vector in the seeker frame coordinate system;

[0015] Based on the seeker frame angle and the expression of the target normalized vector in the seeker frame coordinate system, calculate the expression of the target normalized vector in the aircraft coordinate system;

[0016] Based on the attitude angle and the target normalized vector expressed in the aircraft coordinate system, the target normalized vector expressed in the geodetic coordinate system is calculated.

[0017] In one possible implementation, when calculating the target coordinates of the colliding target in the geodetic coordinate system based on the expression of the target normalized vector in the geodetic coordinate system and the centroid coordinates in the flight information, the calculation is performed based on a pre-constructed target coordinate calculation formula.

[0018] According to a second aspect of this disclosure, a device for measuring the position of a target with a seeker is provided, comprising:

[0019] The data acquisition module is used to acquire the aircraft's flight information, as well as the seeker frame angle and target misalignment angle;

[0020] The target coordinate calculation module is used to calculate the target coordinates of the colliding target based on the flight information, the seeker frame angle, and the target misalignment angle.

[0021] The collision guidance module is used to guide the aircraft to collide with the target based on the target coordinates.

[0022] In one possible implementation, the flight information includes at least one of the aircraft's center of mass coordinates and attitude angles.

[0023] In one possible implementation, the target coordinate calculation module, when calculating the target coordinates of the colliding target based on the flight information, the seeker frame angle, and the target misalignment angle, is specifically used for:

[0024] Obtain the standardized target vector in the volumetric view frame;

[0025] Based on the attitude angle, the seeker frame angle, and the target misalignment angle in the flight information, the expression of the target normalized vector in the geodetic coordinate system is calculated.

[0026] Based on the target normalization vector expressed in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the colliding target in the geodetic coordinate system are calculated.

[0027] According to a third aspect of this disclosure, a device for measuring the position of a target with a seeker is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the method described in the first aspect of this disclosure.

[0028] According to a fourth aspect of this disclosure, a non-volatile computer-readable storage medium is provided that stores computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement the method described in the first aspect of this disclosure.

[0029] This disclosure provides a method, apparatus, device, and storage medium for measuring the position of a target using a seeker. The method includes: acquiring flight information of an aircraft, as well as the seeker frame angle and the target misalignment angle; calculating the target coordinates of a collision target based on the flight information, the seeker frame angle, and the target misalignment angle; and guiding the aircraft to collide with the target based on the target coordinates. In this disclosure, the real-time target coordinates of a collision target can be directly calculated using the seeker frame angle and the target misalignment angle of the aircraft's seeker, combined with the aircraft's flight information, and the aircraft can be guided to accurately collide with the target based on the calculated target coordinates.

[0030] Furthermore, in this disclosure, after calculating the real-time target coordinates of the colliding target, the target position prediction within a certain time period can be obtained through interpolation calculation, and the target position prediction is applied to the extended proportional guidance law to achieve guidance of the aircraft munition. The extended proportional guidance law adds a pre-correction term to the proportional guidance law. Through the pre-correction term, the flight direction adjustment of the aircraft can be made more forward-looking, thereby reducing the ballistic curvature and drag loss, so that the ballistic straightening and kinetic energy optimization can be achieved during guidance.

[0031] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this disclosure together with the specification and serve to explain the principles of this disclosure.

[0033] Figure 1 A flowchart illustrating a method for measuring the position of a target using a seeker according to an embodiment of the present disclosure is shown.

[0034] Figure 2 A schematic diagram showing the relative relationship between the seeker frame coordinate system and the aircraft coordinate system according to an embodiment of the present disclosure;

[0035] Figure 3 A schematic diagram showing the relative relationship between the aircraft coordinate system and the geodetic translation coordinate system according to an embodiment of the present disclosure;

[0036] Figure 4 A flowchart illustrating an example method for measuring the position of a target using a seeker according to an embodiment of the present disclosure is shown.

[0037] Figure 5 A schematic block diagram of a device for measuring the position of a target with a seeker according to an embodiment of the present disclosure is shown.

[0038] Figure 6 A schematic block diagram of a device for measuring the position of a target with a seeker according to an embodiment of the present disclosure is shown. Detailed Implementation

[0039] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0040] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0041] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0042] <Method Implementation>

[0043] Figure 1 A flowchart illustrating a method for measuring the position of a target using a seeker according to an embodiment of the present disclosure is shown. Figure 1 As shown, the method includes steps S1100-S1300.

[0044] S1100 acquires flight information of the aircraft, as well as the seeker frame angle and target misalignment angle.

[0045] First, it should be noted that the aircraft is equipped with a seeker head, which can acquire the seeker head frame angle and target misalignment angle in real time. Simultaneously, the seeker head also has a communication interface with the navigation device, through which it can also simultaneously acquire the aircraft's flight information collected in real time by the navigation device. Thus, when measuring the target position, the seeker head can acquire the aircraft's flight information, seeker head frame angle, and target misalignment angle in real time. The aircraft's flight information may include at least one of the aircraft's center of mass coordinates and attitude angles.

[0046] like Figure 2 As shown, the seeker frame angle of the aircraft ( That is, the coordinate system of the seeker frame of the aircraft during flight. Relative to the aircraft coordinate system o- The angle between them. The target misalignment angle calculated by the seeker ( , This refers to the angle between the tracking axis and the optical axis of the seeker during image tracking. It can be calculated in real time based on the pixel value from the tracking point to the center of the field of view. For the target pitch misalignment angle, The target yaw misalignment angle. For example... Figure 3 As shown, the attitude angles in the aircraft's flight information ( That is, the aircraft coordinate system o- during flight. Relative to the geodetic translation coordinate system o- The angle between them. The centroid coordinates in the aircraft's flight information are the coordinates of the aircraft's centroid during flight.

[0047] It should be noted here that the seeker frame coordinate system o- The origin o is taken at the rotation center of the guide frame, and its o The axis coincides with the centerline of the pitch frame in the forward and backward directions, with the forward direction being positive. o The axis coincides with the yaw axis and is positive when it points upwards. o The axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system. The angle of the pitch frame is upward, with upward being positive. This is the yaw frame angle; rotating to the left is positive. Pitch frame angle. and yaw frame angle Together they form the seeker frame angle ( ).

[0048] Spacecraft coordinate system o- The origin o is taken at the center of mass of the spacecraft, and its o The axis is taken on the longitudinal axis of the aircraft, with forward being positive. o The axis is taken in the longitudinal plane of symmetry of the aircraft and is parallel to... o The axis is vertical, with upward being positive. o shaft and o The plane is perpendicular, and the direction is determined according to the right-hand coordinate system.

[0049] Geodetic translation coordinate system o- The origin o is taken at the center of mass of the spacecraft, and its o The axis is parallel to the AX axis of the geodetic coordinate system, o The axis is parallel to the AY axis of the geodetic coordinate system. The axis is parallel to the AZ axis of the geodetic coordinate system.

[0050] Definition of a geodetic coordinate system: It is fixed to the Earth's surface, with its origin "A" as the launch point. X The axis is aligned with the launch direction of the aircraft, and the direction pointing towards the launch direction is positive. AY The axis is perpendicular to the ground, with upward being positive; AY shaft and AXY The plane is perpendicular, and its positive direction is determined according to the right-hand coordinate system.

[0051] S1200 calculates the target coordinates of the colliding target based on the aircraft's flight information, the seeker frame angle, and the target misalignment angle. The specific calculation steps are as follows:

[0052] First, obtain the standardized target vector in the volumetric line-of-sight frame. Specifically, the volumetric line-of-sight frame o- The origin o is taken at the center of mass of the spacecraft, and is determined by the coordinate system of the seeker frame through a series of orbits. o Axis rotation , around o Axis rotation We obtain the vector (1,0,0) as the target normalization vector in the volumetric line of sight. This target normalization vector is used to characterize the target on the x-axis of the volumetric line of sight.

[0053] Second, based on the attitude angles, seeker frame angles, and target misalignment angles from the flight information, the target normalized vector is calculated in the geodetic coordinate system. The following section combines... Figure 4 The calculation steps are explained below. The specific calculation steps can be as follows:

[0054] First, based on the target misalignment angle, the expression of the target normalized vector in the seeker frame coordinate system is calculated. Specifically, the first transformation matrix between the volume line of sight coordinate system and the seeker frame coordinate system is determined based on the target misalignment angle. Then, based on the first transformation matrix, the expression of the target normalized vector in the seeker frame coordinate system is calculated. The expression of the target normalized vector in the seeker frame coordinate system is shown below:

[0055] (1)

[0056] In the formula, The target normalized vector is expressed in the seeker frame coordinate system, where (1,0,0) is the target normalized vector. The first transformation matrix is ​​shown below:

[0057]

[0058] in,( , () is the target misalignment angle.

[0059] Next, based on the seeker frame angles and the target normalized vector's expression in the seeker frame coordinate system, the target normalized vector's expression in the aircraft coordinate system is calculated. Specifically, first, based on the seeker frame angles (… The second transformation matrix between the seeker frame coordinate system and the aircraft coordinate system is determined. Then, based on the second transformation matrix and the expression of the target normalized vector in the seeker frame coordinate system, the expression of the target normalized vector in the aircraft coordinate system is calculated. The expression of the target normalized vector in the aircraft coordinate system is shown below:

[0060] (2)

[0061] In the formula, ( The target normalized vector is represented in the aircraft coordinate system, and the second transformation matrix is ​​shown below:

[0062]

[0063] in,( ( ) represents the angle of the seeker frame.

[0064] Finally, based on the attitude angles and the target normalized vector's expression in the aircraft coordinate system, the target normalized vector's expression in the geodetic coordinate system is calculated. Specifically, first, the third transformation matrix between the aircraft coordinate system and the geodetic translation coordinate system is determined based on the aircraft's attitude angles. Then, based on the third transformation matrix and the target normalized vector's expression in the aircraft coordinate system, the target normalized vector's expression in the geodetic translation coordinate system is calculated. The expression of the target normalized vector in the geodetic translation coordinate system is shown below:

[0065] (3)

[0066] In the formula, The third transformation matrix is ​​shown below to represent the target standardized vector in the geodetic translation coordinate system:

[0067]

[0068] in,( ( ) represents the aircraft's attitude angle.

[0069] Next, using the translation relationship between the geodetic translation coordinate system and the geodetic coordinate system, the expression of the target normalized vector in the geodetic translation coordinate system is transformed into the expression of the target normalized vector in the geodetic coordinate system. The expression of the target normalized vector in the geodetic coordinate system is shown below:

[0070] (4)

[0071] In the formula, Let the coordinates be the center of mass coordinates of the aircraft. The expression of the target standardized vector in the geodetic coordinate system.

[0072] Third, based on the target's standardized vector representation in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the colliding target in the geodetic coordinate system are calculated.

[0073] In one possible implementation, based on the target's standardized vector representation in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the colliding target in the geodetic coordinate system are calculated using a pre-constructed target coordinate calculation formula. In this disclosure, it is assumed that the targets are on the same ground or water surface, i.e., the y-axis coordinate of the colliding target in the geodetic coordinate system is 0. Based on the linear equation of the centroid coordinates and the target coordinate components on the line-of-sight axis in the geodetic coordinate system, the target coordinate calculation formula for the colliding target in the geodetic coordinate system can be obtained as follows:

[0074] (5)

[0075] In the formula, (x, y, z) are the target coordinates in the geodetic coordinate system.

[0076] S1300 guides the aircraft to collide with the target based on the target coordinates. Specifically, after calculating the real-time target coordinates, the target position prediction over a certain period of time can be obtained through interpolation, and then the aircraft is guided to collide with the target based on the target position prediction over a period of time.

[0077] In the guidance method disclosed herein, target position prediction is applied to the extended proportional guidance law to guide aircraft munitions. Since the extended proportional guidance law adds a pre-correction term to the proportional guidance law, the flight direction adjustment of the aircraft can be made more forward-looking, thereby reducing ballistic curvature and drag loss, and ultimately achieving trajectory straightening and kinetic energy optimization.

[0078] This disclosure provides a method for a seeker head to measure the position of a target, including: acquiring flight information of the aircraft, as well as the seeker head frame angle and the target misalignment angle; calculating the target coordinates of the target to be collided with based on the flight information, the seeker head frame angle, and the target misalignment angle; and guiding the aircraft to collide with the target based on the target coordinates. In this disclosure, the real-time target coordinates of the target to be collided with can be directly calculated using the seeker head frame angle and the target misalignment angle of the aircraft's seeker head, combined with the aircraft's flight information, and the aircraft can be guided to accurately collide with the target based on the calculated target coordinates.

[0079] In this disclosure, after calculating the real-time target coordinates of the colliding target, the target position prediction within a certain time period can be obtained by interpolation calculation. The target position prediction is then applied to the extended proportional guidance law to guide the aircraft munition. The extended proportional guidance law adds a pre-correction term to the proportional guidance law. Through the pre-correction term, the flight direction adjustment of the aircraft can be made more forward-looking, thereby reducing the ballistic curvature and drag loss, thus achieving ballistic straightening and kinetic energy optimization during guidance.

[0080] <Device Embodiment>

[0081] Figure 5 A schematic block diagram of an apparatus for measuring the position of a target using a seeker head according to an embodiment of the present disclosure is shown. Figure 5 As shown, the device 100 includes:

[0082] Data acquisition module 110 is used to acquire the flight information of the aircraft, as well as the seeker frame angle and target misalignment angle;

[0083] The target coordinate calculation module 120 is used to calculate the target coordinates of the colliding target based on flight information, seeker frame angle, and target misalignment angle.

[0084] The collision guidance module 130 is used to guide the aircraft to collide with the target based on the target coordinates.

[0085] In one possible implementation, the flight information includes at least one of the aircraft's center of mass coordinates and attitude angles.

[0086] In one possible implementation, the target coordinate calculation module, when calculating the target coordinates of the colliding target based on flight information, seeker frame angle, and target misalignment angle, is specifically used for:

[0087] Obtain the standardized target vector in the volumetric view frame;

[0088] Based on the attitude angles, seeker frame angles, and target misalignment angles in the flight information, the target normalized vector is calculated to represent the geodetic coordinate system.

[0089] Based on the target's standardized vector representation in the geodetic coordinate system and the centroid coordinates in the flight information, the target coordinates of the colliding target in the geodetic coordinate system are calculated.

[0090] <Equipment Example>

[0091] Figure 6 A schematic block diagram of a device for measuring the position of a target using a seeker head according to an embodiment of the present disclosure is shown. Figure 6 As shown, the device 200 for measuring the target position with a seeker includes a processor 210 and a memory 220 for storing executable instructions of the processor 210. The processor 210 is configured to implement any of the aforementioned methods for measuring the target position with a seeker when executing the executable instructions.

[0092] It should be noted here that the number of processors 210 can be one or more. Furthermore, the device 200 for measuring the target position of the guide head in this embodiment may also include an input device 230 and an output device 240. The processors 210, memory 220, input device 230, and output device 240 can be connected via a bus or other means, which are not specifically limited here.

[0093] The memory 220, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and various modules, such as the program or module corresponding to the target position measurement method of this disclosure embodiment. The processor 210 executes various functional applications and data processing of the device 200 for measuring the target position with the seeker by running the software program or module stored in the memory 220.

[0094] Input device 230 can be used to receive input digital numbers or signals. These signals may include key signals related to user settings and function control of the device / terminal / server. Output device 240 may include a display device such as a screen.

[0095] <Storage Medium Examples>

[0096] According to a fourth aspect of this disclosure, a non-volatile computer-readable storage medium is also provided, having stored thereon computer program instructions that, when executed by processor 210, implement the method for measuring the target position of any of the preceding guide heads.

[0097] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method of measuring a target position by a seeker, characterized by, The method comprises: obtaining flight information of an aircraft, and a seeker frame angle and a target misalignment angle; calculating target coordinates of a collision target based on the flight information, the seeker frame angle and the target misalignment angle; guiding the aircraft to collide with the collision target according to the target coordinates; the flight information comprises at least one of a mass center coordinate and an attitude angle of the aircraft; in the step of calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, the method comprises: obtaining a target normalized vector in the body-sight line system, specifically, the body-sight line system o- whose origin o is taken at the center of mass of the aircraft, is obtained by sequentially rotating the seeker frame coordinate system through o rotation about the x axis , rotation about the y axis o rotation about the z axis In the body-sight line system, the vector (1, 0, 0) is taken as a target normalized vector, which is used to represent the target on the x axis of the body-sight line system, wherein the origin o of the seeker frame coordinate system o- whose origin o is taken at the center of the seeker frame swivel, and its o axis coincides with the center line of the front-rear direction of the pitch frame and is positive forward, o axis coincides with the yaw axis and is positive upward, o axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system, target yaw misalignment angle calculated for the seeker, target pitch misalignment angle calculated for the seeker; calculating an expression of the target normalized vector in a geodetic coordinate system based on the attitude angle in the flight information, the seeker frame angle and the target misalignment angle, specifically, first determining a first conversion matrix between a line-of-sight coordinate system and a seeker frame coordinate system based on the target misalignment angle, and then calculating an expression of the target normalized vector in the seeker frame coordinate system based on the first conversion matrix; then, determining a second conversion matrix between the seeker frame coordinate system and an aircraft coordinate system based on the seeker frame angle, and then calculating an expression of the target normalized vector in the aircraft coordinate system based on the second conversion matrix and the expression of the target normalized vector in the seeker frame coordinate system; then, determining a third conversion matrix between the aircraft coordinate system and a geodetic translation coordinate system based on the attitude angle of the aircraft, and then calculating an expression of the target normalized vector in the geodetic translation coordinate system based on the third conversion matrix and the expression of the target normalized vector in the aircraft coordinate system; finally, converting the expression of the target normalized vector in the geodetic translation coordinate system into an expression of the target normalized vector in the geodetic coordinate system by using a translation relationship between the geodetic translation coordinate system and the geodetic coordinate system; calculating target coordinates of the collision target in the geodetic coordinate system based on the expression of the target normalized vector in the geodetic coordinate system and the mass center coordinate in the flight information, wherein a target coordinate calculation formula is as follows: In the formula, (x, y, z) is the target coordinate of the target in the geodetic coordinate system, is the mass center coordinate of the aircraft, is the expression of the target normalized vector in the geodetic coordinate system.

2. An apparatus for measuring a target position by a seeker, characterized by comprising: The method comprises: a data acquisition module configured to obtain flight information of an aircraft, and a seeker frame angle and a target misalignment angle; a target coordinate calculation module configured to calculate target coordinates of a collision target based on the flight information, the seeker frame angle and the target misalignment angle; a collision guiding module configured to guide the aircraft to collide with the collision target according to the target coordinates; the flight information comprises at least one of a mass center coordinate and an attitude angle of the aircraft; in the step of calculating the target coordinates of the collision target based on the flight information, the seeker frame angle and the target misalignment angle, the method comprises: Obtain the standardized target vector in the volume view frame, specifically, the volume view frame o- The origin o is taken at the center of mass of the spacecraft, and is determined by the coordinate system of the seeker frame through a series of orbits. o Axis rotation , around o Axis rotation We obtain that, in the stereoscopic line-of-sight frame, the vector (1,0,0) is used as the target normalized vector. This target normalized vector is used to characterize the target on the x-axis of the stereoscopic line-of-sight frame, where the seeker frame coordinate system o- The origin o is taken at the rotation center of the guide frame, and its o The axis coincides with the centerline of the pitch frame in the forward and backward directions, with the forward direction being positive. o The axis coincides with the yaw axis and is positive when it points upwards. o The axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system. The target yaw misalignment angle calculated by the seeker. The target pitch misalignment angle calculated by the seeker; Based on the attitude angle, the seeker frame angle and the target misalignment angle in the flight information, an expression of the target normalized vector in a geodetic coordinate system is calculated. Specifically, a first conversion matrix between a body line-of-sight system and a seeker frame coordinate system is determined based on the target misalignment angle, and an expression of the target normalized vector in the seeker frame coordinate system is calculated based on the first conversion matrix. Then, a second conversion matrix between the seeker frame coordinate system and an aircraft coordinate system is determined based on the seeker frame angle, and an expression of the target normalized vector in the aircraft coordinate system is calculated based on the second conversion matrix and the expression of the target normalized vector in the seeker frame coordinate system. Then, a third conversion matrix between the aircraft coordinate system and a geodetic translation coordinate system is determined based on the attitude angle of the aircraft, and an expression of the target normalized vector in the geodetic translation coordinate system is calculated based on the third conversion matrix and the expression of the target normalized vector in the aircraft coordinate system. Finally, the expression of the target normalized vector in the geodetic translation coordinate system is converted into an expression of the target normalized vector in the geodetic coordinate system by using a translation relationship between the geodetic translation coordinate system and the geodetic coordinate system. Based on the expression of the target normalized vector in the geodetic coordinate system and the mass center coordinates in the flight information, a target coordinate of the collision target in the geodetic coordinate system is calculated. The target coordinate calculation formula is as follows: In the formula, (x, y, z) is the target coordinate of the target in the geodetic coordinate system, is the mass center coordinate of the aircraft, is the expression of the target normalized vector in the geodetic coordinate system.

3. An apparatus for measuring a target position by a seeker, characterized by comprising: comprise: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the method of claim 1 when executing the executable instructions.

4. A non-transitory computer readable storage medium having stored thereon computer program instructions, the computer program instructions comprising instructions for causing a computer to perform the method of any one of claims 1 to 3. The computer program instructions, when executed by the processor, implement the method of claim 1.

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