Angle tracking guidance method, device and equipment based on strapdown camera, medium and product

Abstract

The invention discloses an angle tracking guidance method, device and equipment based on a strapdown camera, a medium and a product, and relates to the field of angle tracking guidance. The method comprises the following steps: acquiring information data; the information data is obtained angle information of a target relative to the strapdown camera under a sight line coordinate system of the strapdown camera; the angle information comprises a course angle, a pitch angle and a rolling angle; based on the information data, angle information conversion is carried out by adopting a rotation matrix method, and calculation angle information of the aircraft is obtained; based on the angle tracking guidance rate, an angle control instruction is determined according to the calculated angle information of the aircraft; the angle control instruction is used for adjusting and controlling the flight of the aircraft. The invention aims to simply, conveniently and efficiently realize angle tracking guidance.

Description

Technical Field

[0001] The present application relates to the field of angle tracking and guidance, and in particular to an angle tracking and guidance method, device, equipment, medium and product based on a strapdown camera. Background Art

[0002] Guidance refers to the technology and methods used to direct and control an aircraft toward a target or predetermined trajectory according to a specific pattern. During the guidance process, the guidance system continuously measures the relative position of the aircraft and the target or predetermined trajectory, transmitting guidance information to the aircraft control system to control flight. Guidance can be categorized by principle, including wired guidance, radio guidance, radar guidance, infrared guidance, laser guidance, acoustic guidance, geomagnetic guidance, inertial guidance, and astronomical guidance.

[0003] Current guidance methods are mostly designed and proposed for large aircraft, resulting in relatively complex structures and algorithms. For example, a segmented guidance approach employing a multi-power reaching law sliding mode control method requires complete guidance law design throughout the entire flight process, calculating rudder and guidance commands in real time based on measured information. However, for smaller aircraft, cost is paramount, requiring the guidance system to be low-cost, simple, and easy to implement. Therefore, simply and efficiently implementing angle tracking guidance for small aircraft is crucial. Summary of the Invention

[0004] The purpose of this application is to provide an angle tracking and guidance method, device, equipment, medium and product based on a strapdown camera, which can realize angle tracking and guidance simply and efficiently.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides an angle tracking and guidance method based on a strapdown camera, comprising:

[0007] Acquiring information data; the information data is the angle information of the target relative to the strapdown camera in the strapdown camera line of sight coordinate system; the angle information includes: heading angle, pitch angle and roll angle;

[0008] Based on the information data, the angle information is converted using a rotation matrix method to obtain the calculated angle information of the aircraft;

[0009] Based on the angle tracking guidance rate, an angle control instruction is determined according to the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft.

[0010] Optionally, based on the information data, angle information conversion is performed using a rotation matrix method to obtain angle information of the aircraft, specifically including:

[0011] Based on the information data, a coordinate system transformation is performed using a rotation matrix method to obtain a transformation rotation matrix;

[0012] An inverse trigonometric transformation method is used to convert the angle information based on the conversion rotation matrix to obtain the angle information of the aircraft.

[0013] Optionally, a rotation matrix method is used to perform coordinate system conversion, and the corresponding conversion process includes: conversion between the navigation coordinate system, the body coordinate system, and the strapdown camera line of sight coordinate system;

[0014] The navigation coordinate system and the body coordinate system are transformed, and the corresponding first rotation matrix The expression is:

[0015]

[0016] The coordinate system of the body coordinate system and the strapdown camera line of sight coordinate system are transformed, and the corresponding second rotation matrix The expression is:

[0017]

[0018] in, Perform a first rotation on the navigation coordinate system to obtain the rotation matrix corresponding to the first intermediate coordinate system; Perform a second rotation on the first intermediate coordinate system to obtain a rotation matrix corresponding to the second intermediate coordinate system; Perform the third rotation on the second intermediate coordinate system to obtain the rotation matrix corresponding to the body coordinate system; R z (ψ) is the navigation coordinate system around Oz n The rotation matrix obtained by rotating the axis to the heading angle ψ; O is the origin; z n is the vertical axis corresponding to the navigation coordinate system; R y (θ) is the rotation matrix obtained by rotating the first intermediate coordinate system around the Oy1 axis with a pitch angle θ; y1 is the vertical axis corresponding to the first intermediate coordinate system; R x (γ) is the rotation matrix obtained by rotating the second intermediate coordinate system around the Ox2 axis with a rolling angle γ; x2 is the horizontal axis corresponding to the second intermediate coordinate system; R z (ψ G ) is the body coordinate system around Oz b Axis rotation relative heading angle ψ G The obtained rotation matrix; R y (θ G ) The first intermediate coordinate system rotates around the Oy1 axis with a relative pitch angle θ G The resulting rotation matrix; z b is the vertical axis corresponding to the body coordinate system.

[0019] Optionally, the expression of the conversion rotation matrix is:

[0020]

[0021] in, is the transformation rotation matrix; is the first rotation matrix; is the second rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 13 is the element value of the first row and third column in the transformation rotation matrix; C 21 C is the element value of the second row and first column in the transformation rotation matrix; 22 C is the element value of the second row and second column in the transformation rotation matrix; 23 C is the element value of the second row and third column in the transformation rotation matrix; 31 C is the element value of the third row and first column in the transformation rotation matrix; 32 C is the element value of the third row and second column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0022] Optionally, the calculated angle information of the aircraft includes: a calculated heading angle, a calculated pitch angle, and a calculated roll angle;

[0023] The calculation formula corresponding to the calculated heading angle is:

[0024]

[0025] The calculation formula corresponding to the calculated pitch angle is:

[0026]

[0027] The calculation formula corresponding to the calculated roll angle is:

[0028]

[0029] Among them, ψ c is the calculated heading angle; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; θ c is the calculated pitch angle; C 13 is the element value of the first row and third column in the transformation rotation matrix; θ G is the relative pitch angle; ψ G is the relative heading angle; θ is the pitch angle; γ is the roll angle; γ c is the calculated roll angle; C23 C is the element value of the second row and third column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0030] Optionally, the angle tracking guidance rate includes: a heading angle tracking guidance rate and a pitch angle tracking guidance rate;

[0031] The expression of the heading angle tracking guidance rate is:

[0032]

[0033] The expression of the pitch angle tracking guidance rate is:

[0034]

[0035] in, is the heading angle tracking guidance rate; ψ c is the calculated heading angle; ψ is the heading angle; k is the adjustment coefficient; is the pitch angle tracking guidance rate; θ c is the calculated pitch angle; α is the compensated angle of attack.

[0036] In a second aspect, the present application provides an angle tracking and guidance device based on a strapdown camera, comprising:

[0037] An information data acquisition module for acquiring information data; the information data is the angle information of the target relative to the strapdown camera in the strapdown camera line of sight coordinate system; the angle information includes: heading angle, pitch angle and roll angle;

[0038] An information conversion module is used to convert the angle information based on the information data using a rotation matrix method to obtain the calculated angle information of the aircraft;

[0039] The control module is used to determine an angle control instruction based on the angle tracking guidance rate and the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft.

[0040] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned strapdown camera-based angle tracking and guidance method.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned angle tracking and guidance method based on a strapdown camera.

[0042] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above-mentioned angle tracking and guidance method based on a strapdown camera.

[0043] According to the specific embodiments provided in this application, this application has the following technical effects:

[0044] The present application provides an angle tracking and guidance method, apparatus, device, medium, and product based on a strapdown camera. The method obtains information data; the information data is the angle information of a target relative to the strapdown camera in the strapdown camera's line of sight coordinate system; the angle information includes heading angle, pitch angle, and roll angle; based on the information data, the angle information is converted using a rotation matrix method to obtain calculated angle information of the aircraft; based on the angle tracking guidance rate, an angle control instruction is determined according to the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft. Because the present application converts the angle information output by the strapdown camera into the angle information of the aircraft's flight, the aircraft is controlled to fly toward the target according to a certain pattern, thereby simply and efficiently realizing angle tracking and guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is a flowchart of the angle tracking and guidance method based on a strapdown camera in this application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] This application proposes an angle tracking and guidance method based on a visible light strapdown camera, which converts the angle information output by the visible light strapdown camera installed on the aircraft into the angle control information of the aircraft's flight, thereby controlling the aircraft to fly towards the target according to a certain pattern.

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0050] In an exemplary embodiment, a strapdown camera-based angle tracking and guidance method is provided, which is applied to an aircraft equipped with a visible light strapdown camera. Figure 1 As shown, the angle tracking guidance method based on the strapdown camera includes:

[0051] Step 100: Acquire information data. The information data is the angle information of the target relative to the strapdown camera in the strapdown camera's sight coordinate system. The angle information includes heading angle, pitch angle, and roll angle.

[0052] Step 200: Based on the information data, the angle information is converted using a rotation matrix method to obtain the calculated angle information of the aircraft.

[0053] In one embodiment, based on the information data, a rotation matrix method is used to convert the angle information to obtain the angle information of the aircraft, specifically including:

[0054] Based on the information data, the coordinate system is transformed by using the rotation matrix method to obtain the transformation rotation matrix; the angle information is transformed based on the transformation rotation matrix by using the inverse trigonometric transformation method to obtain the angle information of the aircraft.

[0055] The coordinate system transformation is performed using the rotation matrix method. The corresponding transformation process includes: transformation between the navigation coordinate system, the body coordinate system, and the strapdown camera line of sight coordinate system.

[0056] The navigation coordinate system and the body coordinate system are transformed, and the corresponding first rotation matrix The expression is:

[0057]

[0058] The coordinate system of the body coordinate system and the strapdown camera line of sight coordinate system are transformed, and the corresponding second rotation matrix The expression is:

[0059]

[0060] in, Perform a first rotation on the navigation coordinate system to obtain the rotation matrix corresponding to the first intermediate coordinate system; Perform a second rotation on the first intermediate coordinate system to obtain a rotation matrix corresponding to the second intermediate coordinate system; Perform the third rotation on the second intermediate coordinate system to obtain the rotation matrix corresponding to the body coordinate system; R z (ψ) is the navigation coordinate system around Oz n The rotation matrix obtained by rotating the axis to the heading angle ψ; O is the origin; z n is the vertical axis corresponding to the navigation coordinate system; Ry (θ) is the rotation matrix obtained by rotating the first intermediate coordinate system around the Oy1 axis with a pitch angle θ; y1 is the vertical axis corresponding to the first intermediate coordinate system; R x (γ) is the rotation matrix obtained by rotating the second intermediate coordinate system around the Ox2 axis with a rolling angle γ; x2 is the horizontal axis corresponding to the second intermediate coordinate system; R z (ψ G ) is the body coordinate system around Oz b Axis rotation relative heading angle ψ G The obtained rotation matrix; R y (θ G ) The first intermediate coordinate system rotates around the Oy1 axis with a relative pitch angle θ G The resulting rotation matrix; z b is the vertical axis corresponding to the body coordinate system.

[0061] The expression of the transformation rotation matrix is:

[0062]

[0063] in, is the transformation rotation matrix; is the first rotation matrix; is the second rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 13 is the element value of the first row and third column in the transformation rotation matrix; C 21 C is the element value of the second row and first column in the transformation rotation matrix; 22 C is the element value of the second row and second column in the transformation rotation matrix; 23 C is the element value of the second row and third column in the transformation rotation matrix; 31 C is the element value of the third row and first column in the transformation rotation matrix; 32 C is the element value of the third row and second column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0064] Step 300: Based on the angle tracking guidance rate, determine the angle control instruction according to the calculated angle information of the aircraft. The angle control instruction is used to adjust and control the flight of the aircraft.

[0065] The calculated angle information of the aircraft includes: the calculated heading angle, the calculated pitch angle, and the calculated roll angle. The calculation formula corresponding to the calculated heading angle is:

[0066]

[0067] The calculation formula corresponding to the calculated pitch angle is:

[0068]

[0069] The calculation formula corresponding to the calculated roll angle is:

[0070]

[0071] Among them, ψ c is the calculated heading angle; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; θ c is the calculated pitch angle; C 13 is the element value of the first row and third column in the transformation rotation matrix; θ G is the relative pitch angle; ψ G is the relative heading angle; θ is the pitch angle; γ is the roll angle; γ c is the calculated roll angle; C 23 C is the element value of the second row and third column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0072] The angle tracking guidance rate includes the heading angle tracking guidance rate and the pitch angle tracking guidance rate. The expression of the heading angle tracking guidance rate is:

[0073]

[0074] The expression of pitch angle tracking guidance rate is:

[0075]

[0076] in, is the heading angle tracking guidance rate; ψ c is the calculated heading angle; ψ is the heading angle; k is the adjustment coefficient; is the pitch angle tracking guidance rate; θ c is the calculated pitch angle; α is the compensated angle of attack.

[0077] The method described in this application is applied to aircraft equipped with visible light strapdown cameras. The method primarily includes the following steps: a method for transforming between coordinate systems involved in the guidance process; and a method for converting the angle information output by the strapdown camera into flight control angle information for the aircraft, i.e., a solution to the strapdown camera-based angle tracking guidance method.

[0078] (1) The transformation method between coordinate systems involved in the guidance process.

[0079] For aircraft flight control, the attitude angle of the controlled aircraft is defined in the geographic navigation coordinate system. For the strapdown camera vision sensor installed on the aircraft, it can only provide the angle information of the target relative to the camera. Therefore, the coordinate system must be converted through the rotation matrix to convert the angle information to the geographic navigation coordinate system before it can be used by the flight control. There are three main coordinate systems involved in the conversion process: the navigation coordinate system, the body coordinate system, and the strapdown camera line of sight coordinate system. The conversion relationship between them is as follows:

[0080] ①Navigation coordinate system Ox n y n z n To the body coordinate system Ox b y b z b .

[0081] First rotation: navigation coordinate system Ox n y n z n Around Oz n The axis rotates the heading angle ψ to obtain the first intermediate coordinate system Ox1y1z1:

[0082]

[0083] Second rotation: The first intermediate coordinate system Ox1y1z1 rotates around the Oy1 axis by a pitch angle θ to obtain the second intermediate coordinate system Ox2y2z2:

[0084]

[0085] The third rotation: The second intermediate coordinate system Ox2y2z2 rotates around the Ox2 axis by a rolling angle γ to obtain the body coordinate system Ox b y b z b :

[0086]

[0087] The rotation matrix from the navigation coordinate system to the body coordinate system, that is, the coordinate system conversion between the navigation coordinate system and the body coordinate system, the corresponding first rotation matrix for:

[0088]

[0089] in, Perform a first rotation on the navigation coordinate system to obtain the rotation matrix corresponding to the first intermediate coordinate system; Perform a second rotation on the first intermediate coordinate system to obtain a rotation matrix corresponding to the second intermediate coordinate system; Perform the third rotation on the second intermediate coordinate system to obtain the rotation matrix corresponding to the body coordinate system; Rz (ψ) is the navigation coordinate system around Oz n The rotation matrix obtained by rotating the axis to the heading angle ψ; O is the origin; z n is the vertical axis corresponding to the navigation coordinate system; R y (θ) is the rotation matrix obtained by rotating the first intermediate coordinate system around the Oy1 axis with a pitch angle θ; y1 is the vertical axis corresponding to the first intermediate coordinate system; R x (γ) is the rotation matrix obtained by rotating the second intermediate coordinate system around the Ox2 axis by a rolling angle γ; x2 is the horizontal axis corresponding to the second intermediate coordinate system.

[0090] When the aircraft's velocity is aligned with its longitudinal axis, and the aircraft is flying at heading angles ψ, pitch angles θ, and roll angles γ, it will definitely hit the target if it lies along the longitudinal axis. The heading angles ψ, pitch angles θ, and roll angles γ are set by the aircraft's flight control.

[0091] ② Body coordinate system Ox b y b z b To the strapdown camera sight coordinate system Ox G y G z G .

[0092] Assume that the horizontal field of view angle of the strapdown camera is σ w , the vertical field of view angle is σ h , the strapdown camera imaging resolution is W×H, the coordinates of the target center point in the image are (p, v), then the heading angle of the line of sight axis between the aircraft and the target relative to the body coordinate system, that is, the relative heading angle ψ G for:

[0093]

[0094] The pitch angle of the line of sight between the aircraft and the target relative to the body coordinate system, that is, the relative pitch angle θ G for:

[0095]

[0096] Strapdown camera sight coordinate system Ox G y G z G With the body coordinate system Ox b y b z b The relationship is as follows:

[0097] First rotation: body coordinate system Ox b y b z b Around Oz b Axis rotation relative heading angle ψG Get the first intermediate coordinate system Ox1y1z1:

[0098]

[0099] Second rotation: The first intermediate coordinate system Ox1y1z1 rotates around Oy1 by a relative pitch angle θ G Get the strapdown camera sight coordinate system Ox G y G z G .

[0100]

[0101] in, Perform a first rotation on the body coordinate system to obtain the rotation matrix corresponding to the first intermediate coordinate system; Perform a second rotation on the first intermediate coordinate system to obtain the rotation matrix corresponding to the strapdown camera sight coordinate system.

[0102] The rotation matrix from the body coordinate system to the strapdown camera line of sight coordinate system, that is, the coordinate system conversion between the body coordinate system and the strapdown camera line of sight coordinate system, the corresponding second rotation matrix for:

[0103]

[0104] ③Navigation coordinate system Ox n y n z n To the strapdown camera sight coordinate system Ox G y G z G .

[0105] According to the coordinate system conversion relationship, the navigation coordinate system Ox n y n z n To the strapdown camera coordinate system Ox G y G z G The transformation rotation matrix for:

[0106]

[0107] Among them, R z (ψ G ) is the body coordinate system around Oz b Axis rotation relative heading angle ψ G The obtained rotation matrix; R y (θ G ) The first intermediate coordinate system rotates around the Oy1 axis with a relative pitch angle θ G The resulting rotation matrix; zb is the vertical axis corresponding to the body coordinate system; C 11 is the element value of the first row and first column in the transformation rotation matrix; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 13 is the element value of the first row and third column in the transformation rotation matrix; C 21 C is the element value of the second row and first column in the transformation rotation matrix; 22 C is the element value of the second row and second column in the transformation rotation matrix; 23 C is the element value of the second row and third column in the transformation rotation matrix; 31 C is the element value of the third row and first column in the transformation rotation matrix; 32 C is the element value of the third row and second column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0108] According to the obtained and Available The values of each element in are:

[0109]

[0110] C 21 =-sinψ G (cosθcosψ)+cosψ G (-cosγsinψ+sinγsinθcosψ).

[0111] C 22 =-sinψ G (cosθsinψ)+cosψ G (cosγcosψ+sinγsinθsinψ).

[0112] C 23 =-sinψ G (-sinθ)+cosψ G (sinγcosθ).

[0113]

[0114] (2) A method for converting the angle information output by the strapdown camera into aircraft flight control information (angle information of the aircraft).

[0115] By navigation coordinate system Ox n y n z n To the strapdown camera sight coordinate system Ox G y G z G The transformation rotation matrix That is, the attitude matrix of the strapdown camera line of sight in the navigation system can be obtained. According to the definition of the attitude matrix, each element is composed of the attitude angle triangle elements of the strapdown camera line of sight in the navigation system. Assume that the three attitude angles of the strapdown camera line of sight in the navigation system are ψ c ,θ c , γ c , then the following corresponding relationship exists:

[0116]

[0117] The values of each element in have been obtained through the coordinate transformation from the navigation coordinate system to the body coordinate system and then to the strapdown camera line of sight coordinate system, so it can be obtained by The trigonometric function relationship between each element value in and the attitude angle is obtained through inverse trigonometric transformation to obtain the three attitude angles ψ c ,θ c , γ c , respectively:

[0118]

[0119] Among them, ψ c is the calculated heading angle; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; θ c is the calculated pitch angle; C 13 is the element value of the first row and third column in the transformation rotation matrix; θ G is the relative pitch angle; ψ G is the relative heading angle; θ is the pitch angle; γ is the roll angle; γ c is the calculated roll angle; C 23 C is the element value of the second row and third column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

[0120] The design of the angle tracking guidance law is based on the calculated ψ c ,θ c , γ c , control the heading and pitch angles of the aircraft to follow ψ c and θ c .

[0121] Considering the inconsistency between the velocity direction and the longitudinal axis direction of the aircraft, the following heading angle tracking guidance law is used when applying the heading angle command to the aircraft flight control:

[0122]

[0123] The following pitch angle tracking guidance law is used

[0124]

[0125] in, is the heading angle tracking guidance rate; ψ c is the calculated heading angle; ψ is the heading angle; k is the adjustment coefficient; is the pitch angle tracking guidance rate; θ c is the calculated pitch angle; α is the compensated angle of attack.

[0126] Compared with the existing technology, this application uses a visible light strapdown camera as a sensor, which has a simple structure and is easy to implement. It converts the angle information output by the strapdown camera installed on the aircraft into the angle control information of the aircraft's flight, thereby controlling the aircraft to fly towards the target according to a certain rule, thereby achieving low-cost aircraft design.

[0127] Assuming that the current heading angle ψ of the aircraft is 90°, the pitch angle θ is 20°, and the roll angle γ is 10°, the navigation coordinate system Ox n y n z n To the body coordinate system Ox b y b z b The rotation matrix for:

[0128]

[0129] Assume that the horizontal field of view angle of the strapdown camera is σ w =40°, the vertical field of view is σ h =30°, the strapdown camera imaging resolution is W×H=1920×1080, and the coordinates of the target center point in the image are (p,v)=(1300,800). Then the heading angle of the line of sight axis between the aircraft and the target relative to the body coordinate system is:

[0130]

[0131] The pitch angle of the line of sight axis between the aircraft and the target relative to the body coordinate system is:

[0132]

[0133] Then the body coordinate system Ox b y b z b To the strapdown camera sight coordinate system Ox G y G z G of for:

[0134]

[0135] Then the navigation coordinate system Ox n y n z n To the strapdown camera sight coordinate system Ox G y G z G The transformation rotation matrix for:

[0136]

[0137] Control the heading and pitch angles of the aircraft to follow the pod camera and calculate the heading angle ψ c and the calculated pitch angle θ c for:

[0138]

[0139] θ c =arcsin(-C 13 )=11.56°.

[0140] Assuming the adjustment coefficient is k = 0.5 and the compensated angle of attack is α = 2°, the heading angle tracking guidance law is:

[0141]

[0142] The pitch angle tracking guidance law is:

[0143]

[0144] Based on the same inventive concept, embodiments of the present application further provide a strapdown camera-based angle tracking and guidance device for implementing the aforementioned strapdown camera-based angle tracking and guidance method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more strapdown camera-based angle tracking and guidance device embodiments provided below can be found in the above-described limitations of the strapdown camera-based angle tracking and guidance method, and will not be further elaborated here.

[0145] In an exemplary embodiment, a strapdown camera-based angle tracking guidance device is provided, comprising:

[0146] The information data acquisition module is used to acquire information data; the information data is the angle information of the target relative to the strapdown camera in the strapdown camera line of sight coordinate system; the angle information includes: heading angle, pitch angle and roll angle.

[0147] The information conversion module is used to convert angle information based on information data using a rotation matrix method to obtain the calculated angle information of the aircraft.

[0148] The control module is used to determine the angle control instruction based on the angle tracking guidance rate and the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft.

[0149] In an exemplary embodiment, a computer device is provided, which may be a server or a terminal. The computer device includes a processor, a memory, an input / output (I / O) interface, and a communication interface. The processor, the memory, and the I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The I / O interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements an angle tracking and guidance method based on a strapdown camera.

[0150] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0151] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0152] In this application, all actions to obtain signals, information, or data are performed in compliance with the relevant data protection laws and policies of the country in which they are located and with the authorization of the corresponding device owner. It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, storage, and display, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with relevant regulations.

[0153] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0154] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0155] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An angle tracking and guidance method based on a strapdown camera, characterized in that: The angle tracking and guidance method based on the strapdown camera is applied to an aircraft equipped with a visible light strapdown camera; the angle tracking and guidance method based on the strapdown camera comprises: Acquiring information data; the information data is the angle information of the target relative to the strapdown camera in the strapdown camera line of sight coordinate system; the angle information includes: heading angle, pitch angle and roll angle; Based on the information data, the angle information is converted using a rotation matrix method to obtain the calculated angle information of the aircraft; Based on the angle tracking guidance rate, an angle control instruction is determined according to the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft.

2. The angle tracking and guidance method based on a strapdown camera according to claim 1, wherein Based on the information data, the angle information is converted using a rotation matrix method to obtain the angle information of the aircraft, specifically including: Based on the information data, a coordinate system transformation is performed using a rotation matrix method to obtain a transformation rotation matrix; An inverse trigonometric transformation method is used to convert the angle information based on the conversion rotation matrix to obtain the angle information of the aircraft.

3. The angle tracking and guidance method based on a strapdown camera according to claim 2, wherein The coordinate system transformation is performed using the rotation matrix method. The corresponding transformation process includes: the transformation between the navigation coordinate system, the body coordinate system, and the strapdown camera line of sight coordinate system; The navigation coordinate system and the body coordinate system are transformed, and the corresponding first rotation matrix The expression is: The coordinate system of the body coordinate system and the strapdown camera line of sight coordinate system are transformed, and the corresponding second rotation matrix The expression is: in, Perform a first rotation on the navigation coordinate system to obtain the rotation matrix corresponding to the first intermediate coordinate system; Perform a second rotation on the first intermediate coordinate system to obtain a rotation matrix corresponding to the second intermediate coordinate system; Perform the third rotation on the second intermediate coordinate system to obtain the rotation matrix corresponding to the body coordinate system; R z (ψ) is the navigation coordinate system around Oz n The rotation matrix obtained by rotating the axis to the heading angle ψ; O is the origin; z n is the vertical axis corresponding to the navigation coordinate system; R y (θ) is the rotation matrix obtained by rotating the first intermediate coordinate system around the Oy1 axis with a pitch angle θ; y1 is the vertical axis corresponding to the first intermediate coordinate system; R x (γ) is the rotation matrix obtained by rotating the second intermediate coordinate system around the Ox2 axis with a rolling angle γ; x2 is the horizontal axis corresponding to the second intermediate coordinate system; R z (ψ G ) is the body coordinate system around Oz b Axis rotation relative heading angle ψ G The obtained rotation matrix; R y (θ G ) The first intermediate coordinate system rotates around the Oy1 axis with a relative pitch angle θ G The resulting rotation matrix; z b is the vertical axis corresponding to the body coordinate system.

4. The angle tracking and guidance method based on a strapdown camera according to claim 2, wherein The expression of the conversion rotation matrix is: in, is the transformation rotation matrix; is the first rotation matrix; is the second rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 13 is the element value of the first row and third column in the transformation rotation matrix; C 21 C is the element value of the second row and first column in the transformation rotation matrix; 22 C is the element value of the second row and second column in the transformation rotation matrix; 23 C is the element value of the second row and third column in the transformation rotation matrix; 31 C is the element value of the third row and first column in the transformation rotation matrix; 32 C is the element value of the third row and second column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

5. The angle tracking and guidance method based on a strapdown camera according to claim 1, wherein The calculated angle information of the aircraft includes: the calculated heading angle, the calculated pitch angle, and the calculated roll angle; The calculation formula corresponding to the calculated heading angle is: The calculation formula corresponding to the calculated pitch angle is: The calculation formula corresponding to the calculated roll angle is: Among them, ψ c is the calculated heading angle; C 12 is the element value of the first row and second column in the transformation rotation matrix; C 11 is the element value of the first row and first column in the transformation rotation matrix; θ c is the calculated pitch angle; C 13 is the element value of the first row and third column in the transformation rotation matrix; θ G is the relative pitch angle; ψ G is the relative heading angle; θ is the pitch angle; γ is the roll angle; γ c is the calculated roll angle; C 23 C is the element value of the second row and third column in the transformation rotation matrix; 33 The value of the element in the third row and third column of the transformation rotation matrix.

6. The strapdown camera-based angle tracking and guidance method according to claim 1, wherein: The angle tracking guidance rate includes: heading angle tracking guidance rate and pitch angle tracking guidance rate; The expression of the heading angle tracking guidance rate is: The expression of the pitch angle tracking guidance rate is: in, is the heading angle tracking guidance rate; ψ c is the calculated heading angle; ψ is the heading angle; k is the adjustment coefficient; is the pitch angle tracking guidance rate; θ c is the calculated pitch angle; α is the compensated angle of attack.

7. An angle tracking guidance device based on a strapdown camera, characterized in that: The angle tracking guidance device based on the strapdown camera comprises: An information data acquisition module for acquiring information data; the information data is the angle information of the target relative to the strapdown camera in the strapdown camera line of sight coordinate system; the angle information includes: heading angle, pitch angle and roll angle; An information conversion module is used to convert the angle information based on the information data using a rotation matrix method to obtain the calculated angle information of the aircraft; The control module is used to determine an angle control instruction based on the angle tracking guidance rate and the calculated angle information of the aircraft; the angle control instruction is used to adjust and control the flight of the aircraft.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the strapdown camera-based angle tracking and guidance method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the strapdown camera-based angle tracking and guidance method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the strapdown camera-based angle tracking and guidance method according to any one of claims 1 to 6 is implemented.

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