Aircraft tracking guidance method, system, equipment, medium and product based on angular velocity of pod camera

Abstract

The invention discloses an aircraft tracking guidance method, system and device based on the angular velocity of a pod camera, a medium and a product, and relates to the technical field of guidance control, and the method comprises the steps: obtaining the attitude angle of an aircraft, the frame angle of the pod camera and the angular velocity of the pod camera; constructing a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera, and constructing a conversion matrix based on the attitude angle of the aircraft; calculating the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the conversion matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system comprises a course angular velocity, a pitch angular velocity and a rolling angular velocity; based on the course angular velocity and the pitch angular velocity, an angular velocity tracking guidance law is calculated, and the aircraft completes tracking guidance according to the angular velocity tracking guidance law. According to the method, the aircraft guidance efficiency can be improved while the algorithm calculation cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of guidance and control technology, and in particular to an aircraft tracking and guidance method, system, equipment, medium and product based on the angular velocity of a pod camera. Background Art

[0002] Guidance technology is a means of guiding and controlling an aircraft to accurately follow a predetermined path toward a target or trajectory. During the guidance process, the guidance system continuously monitors the relative position of the aircraft and the target or predetermined trajectory and, based on this information, sends guidance commands to the aircraft's control system to achieve precise flight control. Guidance can be categorized into various types, including wired guidance, radio guidance, radar guidance, infrared guidance, laser guidance, acoustic guidance, geomagnetic guidance, inertial guidance, and astronomical guidance, depending on the guidance principle.

[0003] However, most mainstream guidance methods are designed and developed for large aircraft, resulting in relatively complex structures and algorithms, which reduces guidance efficiency to a certain extent. In contrast, for small aircraft, using the same complex algorithms for large aircraft would increase the computational cost and reduce guidance efficiency. Summary of the Invention

[0004] The purpose of this application is to provide an aircraft tracking and guidance method, system, equipment, medium and product based on the angular velocity of a pod camera, which can improve the efficiency of aircraft guidance while reducing the algorithm calculation cost.

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

[0006] In a first aspect, the present application provides an aircraft tracking and guidance method based on the angular velocity of a pod camera, comprising:

[0007] Get the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera;

[0008] Constructing a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: a rotation matrix from the navigation coordinate system to the body coordinate system and a rotation matrix from the body coordinate system to the pod camera coordinate system;

[0009] Constructing a conversion matrix based on the attitude angle of the aircraft; the conversion matrix is a conversion matrix from the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system;

[0010] Calculate the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the transformation matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity;

[0011] An angular velocity tracking guidance law is calculated based on the heading angular velocity and the pitch angular velocity, and the aircraft completes tracking guidance according to the angular velocity tracking guidance law.

[0012] In a second aspect, the present application provides an aircraft tracking and guidance system based on the angular velocity of a pod camera, comprising:

[0013] An acquisition module is used to obtain the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera;

[0014] A rotation matrix construction module is used to construct a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: a rotation matrix from the navigation coordinate system to the body coordinate system and a rotation matrix from the body coordinate system to the pod camera coordinate system;

[0015] A conversion matrix construction module is used to construct a conversion matrix based on the attitude angle of the aircraft; the conversion matrix is a conversion matrix for converting the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system;

[0016] An attitude angular velocity calculation module is used to calculate the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the transformation matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity;

[0017] The angular velocity tracking guidance law calculation module is used to calculate the angular velocity tracking guidance law based on the heading angular velocity and the pitch angular velocity. The aircraft completes tracking guidance according to the angular velocity tracking guidance law.

[0018] 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 steps of the aircraft tracking and guidance method based on the angular velocity of the pod camera as described in the first aspect above.

[0019] 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 steps of the aircraft tracking and guidance method based on the angular velocity of the pod camera as described in the first aspect above.

[0020] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the aircraft tracking and guidance method based on the angular velocity of the pod camera as described in the first aspect above.

[0021] According to the specific embodiments provided in this application, this application has the following technical effects:

[0022] The present application provides an aircraft tracking and guidance method, system, equipment, medium and product based on the angular velocity of a pod camera. Compared with the method for large aircraft, a visible light pod camera with a simple structure is adopted. According to the attitude angle of the aircraft, the frame angle of the pod camera and the angular velocity of the pod camera, the conversion matrix between the navigation coordinate system, the body coordinate system and the pod camera coordinate system is used to directly calculate the heading angular velocity and pitch angular velocity required for the guidance of the aircraft. The entire calculation process is simple, which can reduce the calculation cost and improve the efficiency of aircraft guidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 A schematic flow chart of an aircraft tracking and guidance method based on the angular velocity of a pod camera provided in one embodiment of the present application;

[0025] Figure 2 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] 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.

[0027] For small aircraft, cost is a primary consideration. The guidance system must be low-cost, simple in structure, and easy to implement. Therefore, this application proposes an aircraft tracking and guidance method based on the angular velocity of a pod camera. This method primarily includes: a method for transforming between coordinate systems involved in the guidance process; and a method for converting the angular velocity information output by the pod into aircraft flight angular velocity control information, i.e., the solution process for the angular velocity tracking and guidance method based on the pod camera.

[0028] 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.

[0029] In an exemplary embodiment, Figure 1As shown, a method for tracking and guiding an aircraft based on the angular velocity of a pod camera is provided. The method is executed by a computer device, specifically a terminal or a server, or a terminal and a server. In the embodiment of the present application, the method is described by taking the application of the method to the server as an example, and includes the following steps 1 to 8. Among them:

[0030] Step 1: Obtain the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera. The pod camera is a visible light pod camera.

[0031] Specifically, the attitude angle of the aircraft is obtained using the attitude sensor of the aircraft; the frame angle of the pod camera is obtained using the angle encoder of the pod equipment; and the angular velocity of the pod camera is obtained using the attitude sensor on the pod equipment.

[0032] Step 2: Construct a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: the rotation matrix from the navigation coordinate system to the body coordinate system and the rotation matrix from the body coordinate system to the pod camera coordinate system.

[0033] Specifically, for the flight control of an aircraft, the attitude angular velocity of the controlled aircraft is defined in the geographic navigation coordinate system. For the pod camera vision sensor installed on the aircraft, it can only provide angular velocity information of the target relative to the camera. Therefore, the coordinate system must be converted through the rotation matrix to convert the angular velocity 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 pod camera coordinate system. The conversion relationship between them is as follows:

[0034] (1) Navigation coordinate system Ox n y n z n To the body coordinate system Ox b y b z b :

[0035] First Spin: Ox n y n z n Around Oz n The axis rotates the heading angle ψ to obtain Ox1y1z1:

[0036]

[0037] in, is the rotation matrix of the first rotation from the navigation coordinate system to the body coordinate system; ψ is the heading angle of the aircraft.

[0038] Second rotation: Ox1y1z1 rotates around the Oy1 axis by a pitch angle θ to obtain Ox2y2z2:

[0039]

[0040] in, is the rotation matrix of the second rotation from the navigation coordinate system to the body coordinate system; θ is the pitch angle of the aircraft.

[0041] The third rotation: Ox2y2z2 rotates around the Ox2 axis by a rolling angle γ to obtain Ox b y b z b :

[0042]

[0043] in, is the rotation matrix from the navigation coordinate system to the body coordinate system, both representing the third rotation; γ is the roll angle of the aircraft.

[0044] The expression of the rotation matrix from the navigation coordinate system to the body coordinate system is:

[0045]

[0046] in, The rotation matrix from the navigation coordinate system to the body coordinate system.

[0047] 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.

[0048] (2) Body coordinate system Ox b y b z b To the pod camera coordinate system Ox G y G z G :

[0049] Pod coordinate system Ox G y G z G With the body coordinate system Ox b y b z b The relationship is as follows:

[0050] First Spin: Ox b y b z b Around Oz b Axis rotation heading angle ψ G (Pod camera heading frame angle) gets Ox1y1z1:

[0051]

[0052] Among them, T ψG is the rotation matrix of the first rotation from the body coordinate system to the pod camera coordinate system; ψ G is the heading frame angle of the pod camera.

[0053] Second rotation: Ox1y1z1 rotates around Oy1 by a pitch angle θ G (pod camera pitch frame angle) gets Ox G y G z G :

[0054]

[0055] in, The rotation matrix of the second rotation from the body coordinate system to the pod camera coordinate system; θ G is the pitch frame angle of the pod camera.

[0056] The expression of the rotation matrix from the body coordinate system to the pod camera coordinate system is:

[0057]

[0058] in, The rotation matrix from the body coordinate system to the pod camera coordinate system.

[0059] Step 3: Construct a transformation matrix based on the attitude angle of the aircraft; the transformation matrix is the transformation matrix from the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system.

[0060] Specifically, the MEMS sensor on the aircraft is fixedly connected to the aircraft body, so the angular velocity information output by the MEMS sensor (ie, the angular velocity of the pod camera) is the projection of the angular velocity of the aircraft body relative to the inertial space in the aircraft body coordinate system.

[0061] Angular velocity of the body relative to the inertial space It can be expressed as:

[0062]

[0063] Wherein, the subscript i represents the inertial system, the subscript n represents the North East Earth (NED) navigation coordinate system, the subscript b represents the body coordinate system, and the superscript b represents the projection on the body coordinate system.

[0064] From the above formula, we can know that the angular velocity of the body relative to the inertial space is It consists of two parts. One part is the angular velocity of the navigation coordinate system n relative to the inertial system. One part is the angular velocity of the body coordinate system relative to the navigation coordinate system

[0065] Part 1 The expression is as follows:

[0066]

[0067] in, is the projection of the angular velocity of the navigation coordinate system n relative to the inertial system in the navigation coordinate system n, which is called the command angular velocity in the inertial navigation. Among the various elements, Ω is the angular velocity of the Earth's rotation, which is 15° / h (7.3×10 - 5 rad / h), is the northbound speed of the aircraft, is the eastward speed of the spacecraft, R is the radius of the earth, is the latitude of the aircraft. When the flight speed is 30m / s, The size is about 4.7×10 -6 rad / h, so The magnitude is about 10 -5 , which can be ignored in the aircraft guidance process.

[0068] Let’s look at the second part It represents the rotational angular velocity of the body coordinate system relative to the navigation coordinate system. It is actually the angular velocity of the three attitude angles of the carrier: heading angle ψ, pitch angle θ, and roll angle γ. Pitch angular velocity Roll angular velocity This is caused by the rotation of the three attitude angles being in sequence:

[0069] First Spin: Ox n y n z n Around Oz n The axis is rotated by the heading angle ψ to obtain Ox1y1z1.

[0070] Second rotation: Ox1y1z1 rotates around the Oy1 axis by a pitch angle θ to obtain Ox2y2z2.

[0071] The third rotation: Ox2y2z2 rotates around the Ox2 axis by a rolling angle γ to obtain Ox b y b z b .

[0072] The attitude transformation matrix from the navigation coordinate system to the body coordinate system is:

[0073]

[0074] The above formula is consistent with the formula in step 2.

[0075] Combined with the before and after relationship of rotation, the heading angular velocity pass Acting on the aircraft system b, the pitch angular velocity pass Acting on the machine system b system, the rolling angular velocity Directly acts on the machine system b system, so The expression can be written as:

[0076]

[0077] in, is the angular velocity of the body coordinate system relative to the x-axis of the navigation coordinate system; is the angular velocity of the body coordinate system relative to the y-axis of the navigation coordinate system; is the angular velocity of the body coordinate system relative to the z-axis of the navigation coordinate system.

[0078] According to the solution of matrix inverse, we can get:

[0079]

[0080] The expression of the conversion matrix from the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system is:

[0081]

[0082] in, is the rotation matrix from the navigation coordinate system to the body coordinate system; θ is the pitch angle of the aircraft; ψ is the heading angle of the aircraft; γ is the roll angle of the aircraft.

[0083] The above conversion relationship can be understood as follows:

[0084] If the attitude angular velocity is applied to the aircraft flight control The control rate, then the angular velocity output by the MEMS sensor installed on the aircraft body is On the contrary, if the angular velocity output by the MEMS sensor is Then the attitude angular velocity of the aircraft relative to the navigation coordinate system is

[0085] Step 4: Based on the rotation matrix, the transformation matrix and the angular velocity of the pod camera, calculate the attitude angular velocity of the aircraft relative to the navigation coordinate system; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity.

[0086] The design of the angular velocity tracking guidance law is based on the following principle: after the target is selected, the optical axis of the pod camera will remain facing the target, that is, it will follow the target. At this time, the angular velocity information output by the MEMS sensor of the pod camera The design of the angular velocity tracking guidance law is to make the aircraft body reproduce and track this angular velocity. According to the coordinate system transformation relationship, the angular velocity that the body MEMS sensor needs to output is:

[0087]

[0088] The calculation formula of the attitude angular velocity of the aircraft relative to the navigation coordinate system is:

[0089]

[0090] in, is the rolling angular velocity of the aircraft relative to the navigation coordinate system; is the pitch angular velocity of the aircraft relative to the navigation coordinate system; is the heading angular velocity of the aircraft relative to the navigation coordinate system; γ is the roll angle of the aircraft; θ is the pitch angle of the aircraft; for The transpose of , where is the rotation matrix from the body coordinate system to the pod camera coordinate system; is the angular velocity of the pod camera.

[0091] Step 5: Based on the heading angular velocity and pitch angular velocity, the angular velocity tracking guidance law is calculated, and the aircraft completes tracking guidance according to the angular velocity tracking guidance law.

[0092] Specifically, the calculation formula of the angular velocity tracking guidance law is:

[0093]

[0094] in, is the desired pitch angular velocity; k θ and k ψ is the proportionality coefficient; is the pitch angular velocity of the aircraft relative to the navigation coordinate system; is the desired heading angular velocity; is the heading angular velocity of the aircraft relative to the navigation coordinate system.

[0095] Based on the aircraft tracking and guidance method based on the angular velocity of the pod camera proposed in this application, a specific embodiment is provided to calculate the angular velocity tracking guidance law.

[0096] Get the current heading angle ψ=90°, pitch angle θ=20°, and roll angle γ=10° of the aircraft, then the navigation coordinate system Ox n yn z n To the body coordinate system Ox b y b z b The rotation matrix for:

[0097]

[0098] Angular velocity of the body coordinate system relative to the navigation coordinate system and The transformation matrix is:

[0099]

[0100] Get the pod camera heading frame angle ψ output by the pod at this time G =15°, pod camera pitch frame angle θ G =-20°, then the body coordinate system Ox b y b z b To the pod coordinate system Ox G y G z G The rotation matrix for:

[0101]

[0102] The angular velocity information output by the MEMS sensor of the pod camera at this time is obtained as follows:

[0103]

[0104] At this time, the attitude angular velocity of the aircraft relative to the navigation coordinate system is:

[0105]

[0106] Assume that the guidance law proportional coefficient is k θ =1.3, k ψ =1.5, then the angular velocity tracking guidance law is:

[0107]

[0108] The beneficial effects of the aircraft tracking and guidance method based on the angular velocity of the pod camera proposed in this application are mainly manifested in:

[0109] Compared to methods used for large aircraft, this method uses a visible light pod camera as a sensor, resulting in a simpler structure and easier implementation. Based on the aircraft's attitude angle, the pod camera's frame angle, and the camera's angular velocity, a transformation matrix between the navigation coordinate system, the aircraft's body coordinate system, and the pod camera's coordinate system is used to convert the angular velocity information output by the visible light pod camera mounted on the aircraft into angular velocity control information for the aircraft's flight. This allows the aircraft to be controlled to fly toward its target according to a specific pattern, thus achieving low-cost aircraft design. The entire computational process is simple, reducing computational costs and improving the efficiency of aircraft guidance.

[0110] Based on the same inventive concept, embodiments of the present application also provide an aircraft tracking and guidance system based on the angular velocity of a pod camera. The solution provided by this system is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the aircraft tracking and guidance system based on the angular velocity of a pod camera provided below can be found in the limitations of the aircraft tracking and guidance method based on the angular velocity of a pod camera described above, and will not be further elaborated here.

[0111] In an exemplary embodiment, an aircraft tracking and guidance system based on the angular velocity of a pod camera is provided, comprising:

[0112] The acquisition module is used to obtain the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera.

[0113] The rotation matrix construction module is used to construct a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: the rotation matrix from the navigation coordinate system to the body coordinate system and the rotation matrix from the body coordinate system to the pod camera coordinate system.

[0114] The conversion matrix construction module is used to construct a conversion matrix based on the attitude angle of the aircraft; the conversion matrix is a conversion matrix that converts the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system.

[0115] The attitude angular velocity calculation module is used to calculate the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the transformation matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity.

[0116] The angular velocity tracking guidance law calculation module is used to calculate the angular velocity tracking guidance law based on the heading angular velocity and pitch angular velocity. The aircraft completes tracking guidance according to the angular velocity tracking guidance law.

[0117] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 2As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output 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 database of the computer device is used to store angular velocity tracking guidance laws. The input / output 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 through a network connection. When the computer program is executed by the processor, a method for tracking and guiding an aircraft based on the angular velocity of a pod camera is implemented.

[0118] Those skilled in the art will understand that Figure 2 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method embodiments when executing the computer program.

[0119] 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.

[0120] 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.

[0121] 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, stored data, displayed data, 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.

[0122] 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).

[0123] 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.

[0124] 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.

[0125] 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 aircraft tracking and guidance method based on the angular velocity of a pod camera, characterized in that: The angular velocity tracking and guidance method based on the pod camera includes: Get the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera; Constructing a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: a rotation matrix from the navigation coordinate system to the body coordinate system and a rotation matrix from the body coordinate system to the pod camera coordinate system; Constructing a conversion matrix based on the attitude angle of the aircraft; the conversion matrix is a conversion matrix from the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system; Calculating the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the conversion matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity; An angular velocity tracking guidance law is calculated based on the heading angular velocity and the pitch angular velocity, and the aircraft completes tracking guidance according to the angular velocity tracking guidance law.

2. The aircraft tracking and guidance method based on pod camera angular velocity according to claim 1, characterized in that: The expression of the rotation matrix from the navigation coordinate system to the body coordinate system is: in, is the rotation matrix from the navigation coordinate system to the body coordinate system; θ is the pitch angle of the aircraft; ψ is the heading angle of the aircraft; γ is the roll angle of the aircraft.

3. The aircraft tracking and guidance method based on pod camera angular velocity according to claim 1, characterized in that: The expression of the rotation matrix from the body coordinate system to the pod camera coordinate system is: in, is the rotation matrix from the body coordinate system to the pod camera coordinate system; θ G is the pitch frame angle of the pod camera; ψ G is the heading frame angle of the pod camera.

4. The aircraft tracking and guidance method based on pod camera angular velocity according to claim 1, characterized in that: The expression of the conversion matrix from the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system is: in, is the rotation matrix from the navigation coordinate system to the body coordinate system; θ is the pitch angle of the aircraft; ψ is the heading angle of the aircraft; γ is the roll angle of the aircraft.

5. The aircraft tracking and guidance method based on pod camera angular velocity according to claim 1, characterized in that: The calculation formula of the attitude angular velocity of the aircraft relative to the navigation coordinate system is: in, is the rolling angular velocity of the aircraft relative to the navigation coordinate system; is the pitch angular velocity of the aircraft relative to the navigation coordinate system; is the heading angular velocity of the aircraft relative to the navigation coordinate system; γ is the roll angle of the aircraft; θ is the pitch angle of the aircraft; for The transpose of , where is the rotation matrix from the body coordinate system to the pod camera coordinate system; is the angular velocity of the pod camera.

6. The aircraft tracking and guidance method based on pod camera angular velocity according to claim 1, characterized in that: The calculation formula of the angular velocity tracking guidance law is: in, is the desired pitch angular velocity; k θ and k ψ is the proportionality coefficient; is the pitch angular velocity of the aircraft relative to the navigation coordinate system; is the desired heading angular velocity; is the heading angular velocity of the aircraft relative to the navigation coordinate system.

7. An aircraft tracking and guidance system based on the angular velocity of a pod camera, characterized in that: The aircraft tracking and guidance method based on the pod camera angular velocity according to any one of claims 1 to 6, wherein the aircraft tracking and guidance system based on the pod camera angular velocity comprises: An acquisition module is used to obtain the attitude angle of the aircraft, the frame angle of the pod camera, and the angular velocity of the pod camera; A rotation matrix construction module is used to construct a rotation matrix based on the attitude angle of the aircraft and the frame angle of the pod camera; the rotation matrix includes: a rotation matrix from the navigation coordinate system to the body coordinate system and a rotation matrix from the body coordinate system to the pod camera coordinate system; A conversion matrix construction module is used to construct a conversion matrix based on the attitude angle of the aircraft; the conversion matrix is a conversion matrix for converting the angular velocity of the body coordinate system to the angular velocity of the navigation coordinate system; An attitude angular velocity calculation module is used to calculate the attitude angular velocity of the aircraft relative to the navigation coordinate system based on the rotation matrix, the conversion matrix and the angular velocity of the pod camera; the attitude angular velocity of the aircraft relative to the navigation coordinate system includes: heading angular velocity, pitch angular velocity and roll angular velocity; The angular velocity tracking guidance law calculation module is used to calculate the angular velocity tracking guidance law based on the heading angular velocity and the pitch angular velocity, and the aircraft completes tracking guidance according to the angular velocity tracking guidance law.

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 aircraft tracking and guidance method based on the angular velocity of a pod camera 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 aircraft tracking and guidance method based on the angular velocity of the pod camera 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 aircraft tracking and guidance method based on the angular velocity of the pod camera according to any one of claims 1 to 6 is implemented.

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