Strapdown image sensor data processing method

Abstract

The invention discloses a data processing method for a strapdown image sensor, and the method comprises the following steps: obtaining key situation information based on the observation of an unmanned plane itself and the observation of a target; evaluating a current state based on the key situation information, and determining an unmanned aerial vehicle decision according to the evaluated state; and the unmanned aerial vehicle acts according to the determined decision. According to the strapdown image sensor data processing method disclosed by the invention, the line-of-sight angle can be accurately estimated, the accurate estimated line-of-sight angle rate, the estimated distance and the estimated distance change rate can be obtained, and the estimated line-of-sight angle and the estimated line-of-sight angle rate can be simultaneously obtained based on the observed line-of-sight angle.

Description

Technical Field

[0001] The present invention relates to a method for processing data of a strapdown image sensor, and belongs to the technical field of flight data control. Background Art

[0002] In the existing processing of strapdown image sensor data, it is necessary to use multiple observed values to more accurately estimate the line-of-sight angle and line-of-sight angular velocity of the aircraft. And there are problems such as a large estimation error and a slow estimation speed.

[0003] Therefore, it is necessary to conduct research on the problems of the existing method for processing strapdown image sensor data to solve the above problems. Summary of the Invention

[0004] In order to overcome the above problems, in-depth research has been carried out, and a method for processing data of a strapdown image sensor is proposed, including the following steps:

[0005] S1. Obtain the observed line-of-sight angle output by the strapdown image sensor;

[0006] S2. Set a tracking differentiator to process the observed line-of-sight angle to obtain an estimated line-of-sight angle and an estimated line-of-sight angle rate;

[0007] S3. Based on the estimated line-of-sight angle and the estimated line-of-sight angle rate, obtain the estimated distance between the aircraft and the target and the estimated distance change rate based on the dynamic relationship.

[0008] In S2, the tracking differentiator uses the observed value at the current moment and the estimated result at the previous moment to obtain the estimated result at the current moment.

[0009] In a preferred embodiment, the tracking differentiator is expressed as:

[0010]

[0011]

[0012]

[0013] h 0 = 2h

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] a = (a 0 + y) * sy + a 2 * (1 - sy)

[0021]

[0022] Wherein, q t represents the observed line-of-sight angle at time t, and fh, d, a, su, h 0 , a 0 , a 1 , a 2 , sy are intermediate variables, and h, r are settable parameters.

[0023] In a preferred embodiment, in S3, the dynamic relationship is expressed as

[0024]

[0025] Wherein, v represents the speed of the aircraft, θ represents the pitch angle of the aircraft, represents the estimated distance change rate between the aircraft and the target.

[0026] In a preferred embodiment, the estimated distance between the aircraft and the target is obtained through an integration process, expressed as:

[0027]

[0028] Wherein, R k represents the estimated distance between the aircraft and the target at time k.

[0029] The beneficial effects of the present invention include:

[0030] (1) It can accurately estimate the line-of-sight angle and obtain accurate estimated line-of-sight angle rate, estimated distance, and estimated distance change rate;

[0031] (2) It can simultaneously obtain the estimated line-of-sight angle and the estimated line-of-sight angle rate based on the observed line-of-sight angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Shows a schematic flow diagram of a strapdown image sensor data processing method according to a preferred embodiment of the present invention;

[0033] Figure 2 Shows the estimated line-of-sight angle and the true line-of-sight angle in Example 1;

[0034] Figure 3 Shows the estimated line-of-sight angle rate and the true line-of-sight angle rate in Example 1;

[0035] Figure 4 Shows the estimated distance and the true distance between the aircraft and the target in Embodiment 1;

[0036] Figure 5 Shows the estimated rate of change of distance and the true rate of change of distance between the aircraft and the target in Embodiment 1. Detailed implementation manners

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become more clear and definite.

[0038] The special term "exemplary" here means "serving as an example, an embodiment or illustrative". Any embodiment described as "exemplary" here does not have to be construed as superior or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0039] A method for processing data of a strapdown image sensor provided according to the present invention, as Figure 1 shown, includes the following steps:

[0040] S1. Obtain the observed line-of-sight angle output by the strapdown image sensor;

[0041] S2. Set a tracking differentiator to process the observed line-of-sight angle to obtain an estimated line-of-sight angle and an estimated line-of-sight angle rate;

[0042] S3. Based on the estimated line-of-sight angle and the estimated line-of-sight angle rate, obtain the estimated distance between the aircraft and the target and the estimated rate of change of distance based on the dynamic relationship.

[0043] In S2, the tracking differentiator uses the observed value at the current moment and the estimated result at the previous moment to obtain the estimated result at the current moment.

[0044] Further, the tracking differentiator is expressed as:

[0045]

[0046]

[0047]

[0048] h 0 = 2h

[0049]

[0050]

[0051]

[0052]

[0053]

[0054]

[0055] a = (a 0 + y) * sy + a 2 * (1 - sy)

[0056]

[0057] where q t represents the observed line-of-sight angle at time t, and fh, d, a, su, h 0 , a 0 , a 1 , a 2 , sy are intermediate variables, and h, r are settable parameters.

[0058] Preferably, h = 0.001 and r = 300000.

[0059] Different from the traditional strapdown image sensor processing method, in the present invention, by setting a unique tracking differentiator, a relatively accurate line-of-sight angle estimation can be performed based on the observed line-of-sight angle. In addition, for the traditional processing method, multiple auxiliary observation values are required to obtain the line-of-sight angle rate. In the present invention, through this tracking differentiator, the line-of-sight angle estimation and accurate line-of-sight angle rate estimation can be obtained simultaneously only relying on the observed line-of-sight angle.

[0060] In S3, the dynamic relationship is expressed as

[0061]

[0062] where v represents the speed of the aircraft, θ represents the pitch angle of the aircraft, represents the estimated distance change rate between the aircraft and the target.

[0063] Furthermore, the estimated distance between the aircraft and the target is obtained through an integration process, expressed as:

[0064]

[0065] where R k represents the estimated distance between the aircraft and the target at time k.

[0066] In summary, the current state quantity of the aircraft is obtained

[0067] Embodiment

[0068] Embodiment 1

[0069] Perform a simulation experiment, including the following steps:

[0070] S1. Obtain the observed line-of-sight angle output by the strapdown image sensor;

[0071] S2. Set up a tracking differentiator to process the observed line-of-sight angle to obtain the estimated line-of-sight angle and the estimated line-of-sight angle rate;

[0072] S3. Based on the estimated line-of-sight angle and the estimated line-of-sight angle rate, obtain the estimated distance between the aircraft and the target and the estimated distance change rate according to the dynamic relationship.

[0073] The tracking differentiator is expressed as:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] h 0 = 2h

[0080]

[0081]

[0082]

[0083]

[0084]

[0085]

[0086] a = (a 0 + y) * sy + a 2 * (1 - sy)

[0087]

[0088] The estimated distance between the aircraft and the target and the estimated distance change rate are expressed as:

[0089]

[0090]

[0091] Among them, h = 0.001 and r = 300000.

[0092] The simulation results are as Figures 2 - 5 shown, where Figure 2 shows the estimated line-of-sight angle and the true line-of-sight angle, Figure 3 shows the estimated line-of-sight angle rate and the true line-of-sight angle rate, and the two almost completely coincide; Figure 4 shows the estimated distance and the true distance between the aircraft and the target, and the two almost completely coincide; Figure 5 shows the estimated distance change rate and the true distance change rate between the aircraft and the target, and the two almost completely coincide.

[0093] It can be seen from Figures 2 - 5 this that the method in Embodiment 1 has a high accuracy of estimation results.

[0094] The present invention has been described above in combination with preferred embodiments, but these embodiments are only exemplary and only serve an illustrative role. On this basis, various substitutions and improvements can be made to the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A strapdown image sensor data processing method, characterized in that: The following steps are involved: S1. Obtain key situation information based on the drone's observation of itself and the target; S2, evaluate the current state based on key situation information, and determine the UAV decision based on the evaluated state; S3. The drone takes action according to the determined decision.

2. The strapdown image sensor data processing method according to claim 1, characterized in that: In S2, the tracking differentiator uses the observation value at the current moment and the estimation result at the previous moment to obtain the estimation result at the current moment.

3. The strapdown image sensor data processing method according to claim 1, characterized in that: The tracking differentiator is expressed as: h0=2h a=(a0+y)*sy+a2*(1-sy) Among them, q t It represents the observation sight angle at time t. fh, d, a, su, h0, a0, a1, a2, sy are intermediate variables, and h and r are configurable parameters.

4. The strapdown image sensor data processing method according to claim 1, characterized in that: In S3, the kinetic relationship is expressed as Where v represents the speed of the aircraft, θ represents the pitch angle of the aircraft, Indicates the estimated rate of change of the distance between the aircraft and the target.

5. The strapdown image sensor data processing method according to claim 1, characterized in that: The estimated distance between the aircraft and the target is obtained through the integration process, which is expressed as: Among them, R k It represents the estimated distance between the aircraft and the target at time k.

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