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

Abstract

The invention discloses an angle tracking guidance method and device based on a pod camera, equipment, a medium and a product, and relates to the field of aerospace and automatic control, and the method comprises the steps: synchronously obtaining the attitude angle information of a flight platform under a body coordinate system and the angle information of the pod camera relative to a target object under a pod camera coordinate system; determining a first rotation matrix from a navigation coordinate system to a body coordinate system and a second rotation matrix from the body coordinate system to a pod camera coordinate system based on the attitude angle information of the flight platform and the angle information of the pod camera so as to obtain a third rotation matrix from the navigation coordinate system to the pod camera coordinate system; and constructing an angle tracking guidance method based on the third rotation matrix. The angle information acquired by the pod camera is converted into the angle control information of flight of the flight platform, so that the flight platform is controlled to fly to the target according to a certain rule, and the target tracking precision and stability of the flight platform in a complex environment are improved.

Description

Technical Field

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

[0002] With the rapid development of science and technology, automation and intelligent technologies are gradually penetrating various industries and fields. In particular, in high-tech fields such as aerospace, unmanned driving, and remote monitoring, the demand for precise navigation and control is becoming increasingly urgent. Guidance technology, as one of the core technologies in these fields, shoulders the important task of guiding and controlling aircraft to their targets or trajectories according to predetermined rules.

[0003] Guidance technology refers to the techniques and methods used to guide 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 for flight control. Guidance technology 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.

[0004] Current guidance methods are mostly proposed and designed for large aircraft, resulting in relatively complex structures and algorithms. However, guidance systems for small aircraft face numerous challenges. First, small aircraft have limited payload capacity and cannot accommodate large, complex guidance equipment. Second, the flight environments of small aircraft are often more complex and variable, requiring higher guidance accuracy and stability. Finally, the guidance systems of small aircraft also need to possess autonomous navigation capabilities to cope with situations where external signals are limited or ineffective.

[0005] Therefore, in response to the many challenges faced by small aircraft guidance systems, this application proposes an angle tracking guidance method based on a pod camera. Summary of the Invention

[0006] The purpose of this application is to provide an angle tracking and guidance method, device, equipment, medium and product based on a pod camera, which can control the flight platform to fly towards the target according to a certain pattern, improve the target tracking accuracy and stability of the flight platform in complex environments, and achieve low-cost design of the flight platform.

[0007] To achieve the above objectives, this application provides the following solutions:

[0008] In a first aspect, the present application provides an angle tracking and guidance method based on a pod camera, comprising:

[0009] Acquire the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, the pitch angle and the roll angle; the angle information includes the heading frame angle and the pitch frame angle;

[0010] Based on the attitude angle information of the flight platform in the body coordinate system, the navigation coordinate system is converted to the body coordinate system using the coordinate transformation principle to obtain the first rotation matrix;

[0011] Based on the angle information of the pod camera relative to the target object in the pod camera coordinate system, the coordinate system of the aircraft is converted to the pod camera coordinate system using the coordinate transformation principle to obtain the second rotation matrix;

[0012] Based on the first rotation matrix and the second rotation matrix, the navigation coordinate system is converted to the pod camera coordinate system using the coordinate transformation principle to obtain a third rotation matrix;

[0013] Based on the third rotation matrix, a target heading angle and a target pitch angle from the flight platform to the target object in the navigation coordinate system are determined and an angle tracking guidance method is constructed; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle tracking guidance law.

[0014] In a second aspect, the present application provides an angle tracking guidance device based on a pod camera, comprising:

[0015] A data acquisition module is used to obtain the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, pitch angle and roll angle; the angle information includes the heading frame angle and the pitch frame angle;

[0016] A first rotation matrix calculation module is used to convert the attitude angle information of the flight platform in the body coordinate system into the body coordinate system using the coordinate transformation principle to obtain a first rotation matrix;

[0017] A second rotation matrix calculation module is used to convert the body coordinate system into the pod camera coordinate system based on the angle information of the pod camera relative to the target object in the pod camera coordinate system using the coordinate transformation principle to obtain a second rotation matrix;

[0018] A third rotation matrix calculation module is used to convert the navigation coordinate system into the pod camera coordinate system based on the first rotation matrix and the second rotation matrix using the coordinate transformation principle to obtain a third rotation matrix;

[0019] The angle tracking guidance module is used to determine the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system based on the third rotation matrix and construct an angle tracking guidance method; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle tracking guidance law.

[0020] 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 any one of the above-mentioned angle tracking and guidance methods based on a pod camera.

[0021] 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 any one of the above-mentioned pod camera-based angle tracking and guidance methods.

[0022] 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 any one of the above-mentioned pod camera-based angle tracking and guidance methods.

[0023] According to the specific embodiments provided in this application, this application has the following technical effects:

[0024] The present application provides an angle tracking and guidance method, device, equipment, medium and product based on a pod camera. By obtaining the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time, it provides basic data support for subsequent coordinate transformation and angle tracking and guidance, ensuring the accuracy and real-time performance of the guidance. Based on the attitude angle information of the flight platform in the body coordinate system, the coordinate transformation principle is used to transform the navigation coordinate system into the body coordinate system to obtain the first rotation matrix and the angle information of the pod camera relative to the target object based on the pod camera coordinate system. The coordinate transformation principle is used to transform the body coordinate system into the pod camera coordinate system to obtain the second rotation matrix, thereby realizing the gradual transformation from the navigation coordinate system to the body coordinate system and then to the pod camera coordinate system; through matrix multiplication operation, the first two rotation matrices are merged into a third rotation matrix, thereby realizing the fusion of the pod camera angle information and the flight platform attitude information, providing key input for constructing the angle tracking guidance method; through inverse trigonometric transformation and other methods, the target heading angle and target pitch angle are extracted from the third rotation matrix, and based on this, the heading angle tracking guidance law and the pitch angle tracking guidance law are constructed, thereby realizing precise control of the flight platform and improving the accuracy and stability of target tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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.

[0026] Figure 1 A schematic flow chart of an angle tracking and guidance method based on a pod camera provided in one embodiment of the present application;

[0027] Figure 2 A schematic diagram of the functional modules of an angle tracking and guidance device based on a pod camera provided in one embodiment of the present application;

[0028] Figure 3 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] In an exemplary embodiment, Figure 1 As shown, a pod camera-based angle tracking and guidance method is provided, which is applied to a flight platform equipped with a visible light pod camera, and includes the following steps 101 to 105. Among them:

[0032] Step 101, obtaining the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, pitch angle and roll angle; the angle information includes the heading frame angle and the pitch frame angle.

[0033] Step 102 : Based on the attitude angle information of the flight platform in the body coordinate system, the navigation coordinate system is converted to the body coordinate system using the coordinate transformation principle to obtain a first rotation matrix.

[0034] Step 103 : Based on the angle information of the pod camera relative to the target object in the pod camera coordinate system, the body coordinate system is converted to the pod camera coordinate system using the coordinate transformation principle to obtain a second rotation matrix.

[0035] Step 104 : Based on the first rotation matrix and the second rotation matrix, the navigation coordinate system is converted to the pod camera coordinate system using the coordinate transformation principle to obtain a third rotation matrix.

[0036] Step 105: Based on the third rotation matrix, determine the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system and construct an angle tracking guidance method; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle tracking guidance law.

[0037] By implementing the above steps 101 to 105, the present application not only improves the accuracy and stability of target tracking, but also enhances the autonomous navigation and guidance capabilities of the flight platform.

[0038] The flight control system of an aircraft defines its attitude angles in the geographic navigation coordinate system. The pod camera vision sensor installed on the aircraft provides information about the target's angle relative to the camera. Therefore, a coordinate system transformation using a rotation matrix is required to convert this angle information to the geographic navigation coordinate system before the flight control system can use it. This transformation involves three main coordinate systems: the navigation coordinate system, the aircraft coordinate system, and the pod camera coordinate system.

[0039] In another exemplary embodiment of the present application, the above step 102 specifically includes:

[0040] The navigation coordinate system is rotated by a first preset angle around the z-axis of the navigation coordinate system to obtain a heading angle rotation matrix in the first rotating coordinate system; the first preset angle is the heading angle of the flight platform in the body coordinate system.

[0041] The first rotating coordinate system is rotated around the y-axis of the first rotating coordinate system by a second preset angle to obtain a pitch angle rotation matrix in the second rotating coordinate system; the second preset angle is the pitch angle of the flight platform in the body coordinate system.

[0042] The second rotating coordinate system is rotated around the x-axis of the second rotating coordinate system by a third preset angle to obtain a roll angle moment rotation matrix in the body coordinate system; the third preset angle is the roll angle of the flight platform in the body coordinate system.

[0043] A first rotation matrix is obtained by performing matrix multiplication operation according to the heading angle rotation matrix, the pitch angle rotation matrix and the roll angle rotation matrix.

[0044] As an optional implementation, the navigation coordinate system Ox n y nz n To the body coordinate system Ox b y b z b , specifically including:

[0045] First rotation: navigation coordinate system Ox n y n z n Around Oz n The heading angle ψ of the flight platform in the axis rotation body coordinate system is obtained to obtain the first rotating coordinate system Ox1y1z1:

[0046]

[0047] in, Indicates the conversion from the navigation coordinate system to the first rotation coordinate system; R z (ψ) represents the heading angle rotation matrix in the first rotating coordinate system; ψ represents the heading angle of the flight platform in the body coordinate system.

[0048] Second rotation: The first rotating coordinate system Ox1y1z1 rotates the pitch angle θ of the flight platform in the body coordinate system around the Oy1 axis to obtain the second rotating coordinate system Ox2y2z2:

[0049]

[0050] in, Indicates the transformation from the first rotating coordinate system to the second rotating coordinate system; R y (θ) represents the pitch angle rotation matrix in the second rotating coordinate system; θ represents the pitch angle of the flight platform in the body coordinate system.

[0051] The third rotation: The second rotation coordinate system Ox2y2z2 rotates the rolling angle γ of the flight platform in the body coordinate system around the Ox2 axis to obtain the body coordinate system Ox b y b z b :

[0052]

[0053] in, Indicates the conversion from the second rotating coordinate system to the body coordinate system; R y (θ) represents the roll angle rotation matrix in the body coordinate system; θ represents the roll angle of the flight platform in the body coordinate system.

[0054] The conversion from the navigation coordinate system to the body coordinate system is:

[0055]

[0056] in, Indicates the conversion from the navigation coordinate system to the body coordinate system.

[0057] When the platform's velocity is aligned with its longitudinal axis, then when it flies at heading angles ψ, pitch angles θ, and roll angles γ, it will definitely hit the target if it lies along the platform's longitudinal axis. These heading angles ψ, pitch angles θ, and roll angles γ are determined by the platform's flight control system.

[0058] In another exemplary embodiment of the present application, the above step 103 specifically includes:

[0059] The body camera coordinate system is rotated by a fourth preset angle around the z-axis of the body coordinate system to obtain a heading frame angle rotation matrix in the third rotating coordinate system; the fourth preset angle is the heading frame angle of the pod camera relative to the target object in the pod camera coordinate system.

[0060] The third rotating coordinate system is rotated by a fifth preset angle around the y-axis of the third rotating coordinate system to obtain a pitch angle rotation matrix in the pod camera coordinate system; the fifth preset angle is the pitch frame angle of the pod camera relative to the target object in the pod camera coordinate system.

[0061] A second rotation matrix is obtained by performing matrix multiplication operation according to the heading frame angle rotation matrix and the pitch angle rotation matrix.

[0062] As an optional implementation, the body coordinate system Ox b y b z b To the pod camera coordinate system Ox G y G z G , specifically including:

[0063] Body coordinate system Ox b y b z b Around Oz b The heading frame angle ψ of the pod camera relative to the target object in the axis rotation pod camera coordinate system G Get the third rotated coordinate system Ox1′y1′z1′:

[0064]

[0065] in, Indicates the transformation from the body coordinate system to the third rotating coordinate system; R z (ψ G ) represents the heading frame angle rotation matrix in the third rotating coordinate system.

[0066] The third rotating coordinate system Ox1′y1′z1′ rotates the pitch frame angle of the pod camera relative to the target object in the pod camera coordinate system around Oy1′ to obtain the pod camera coordinate system Ox G y G z G :

[0067]

[0068] in, Indicates the conversion from the third rotating coordinate system to the pod coordinate system; R y (θ G ) represents the heading frame angle rotation matrix in the pod coordinate system.

[0069] The conversion from the body coordinate system to the pod coordinate system is:

[0070]

[0071] in, Indicates the coordinate system of the body to the pod coordinate system.

[0072] In another exemplary embodiment of the present application, the above step 105 specifically includes:

[0073] The values of each element in the third rotation matrix are determined by performing a matrix multiplication operation according to the first rotation matrix and the second rotation matrix.

[0074] According to the trigonometric function relationship between the values of each element in the third rotation matrix and the attitude angle information of the pod camera in the navigation coordinate system, the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system are solved by the inverse trigonometric transformation method.

[0075] According to the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system, an angle tracking guidance method is constructed.

[0076] As an optional implementation, according to the coordinate system conversion relationship, the navigation coordinate system Ox n y n z n Convert to pod coordinate system Ox G y G z G for:

[0077]

[0078] in, Indicates that from the navigation coordinate system Ox n y n z n Convert to pod coordinate system Ox G y G zG According to the obtained and The values of each element in the third rotation matrix are:

[0079]

[0080] C 21 =-sinψ G (cosθcosψ)+cosψ G (-cosγsinψ+sinγsinθcosψ).

[0081] C 22 =-sinψ G (cosθsinψ)+cosψ G (cosγcosψ+sinγsinθsinψ).

[0082] C 23 =-sinψ G (-sinθ)+cosψ G (sinγcosθ).

[0083]

[0084] By navigation coordinate system Ox n y n z n To the pod coordinate system Ox G y G z G The third rotation matrix is the attitude matrix of the pod camera in the navigation system. According to the definition of the attitude matrix, each element is composed of the attitude angle triangle elements of the pod camera in the navigation system. Assume that the target heading angle, target pitch angle and target roll angle of the pod camera in the navigation coordinate system are ψ c ,θ c and γ c , then the following corresponding relationship exists:

[0085]

[0086] The values of each element have been obtained through the coordinate transformation from the navigation coordinate system to the body coordinate system and then to the pod camera coordinate system. Therefore, the target heading angle ψ can be obtained through the trigonometric function relationship between each element value and the attitude angle through inverse trigonometric transformation. c 、Target pitch angle θ c and target roll angle γ c , respectively:

[0087]

[0088] The design of the angle tracking guidance method is based on the following principles: the target heading angle, target pitch angle and target roll angle of the pod camera in the navigation coordinate system are calculated as ψ c ,θ c and γ c , control the heading and pitch angles of the flight platform to follow the target heading angle ψ of the pod camera in the navigation coordinate system c and the target pitch angle θ c .

[0089] In this embodiment, taking into account the inconsistency between the velocity direction and the longitudinal axis direction of the aircraft, when applying a heading angle control command to the flight control of the flight platform, the heading angle tracking guidance law is:

[0090]

[0091] in, is the heading angle tracking guidance law, ψ c is the target heading angle in the navigation coordinate system, ψ is the heading angle of the flight platform in the navigation coordinate system, and k is the adjustment coefficient.

[0092] The pitch angle tracking guidance law is:

[0093]

[0094] in, is the pitch angle tracking guidance law, θ c is the target pitch angle in the navigation coordinate system, and α is the compensated attack angle.

[0095] In another exemplary embodiment of the present application, 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 for:

[0096]

[0097] Assume that the pod heading frame angle ψ output by the pod camera at this time is G =15°, pod 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 for:

[0098]

[0099] Then the navigation coordinate system Ox n y n z n To the pod coordinate system Ox G y G z G The rotation matrix for:

[0100]

[0101] Control the heading and pitch angles of the aircraft to follow the target heading angle ψ of the pod camera in the navigation coordinate system c and the target pitch angle θ c for:

[0102]

[0103] θ c =arcsin(-C 13 )=-2.6°.

[0104] Assuming the adjustment coefficient is k = 0.5 and the compensated angle of attack is α = 2°, the heading angle tracking guidance law is:

[0105]

[0106] The pitch angle tracking guidance law is:

[0107]

[0108] This application also provides an application scenario that utilizes the aforementioned pod camera-based angle tracking and guidance method. Specifically, the pod camera-based angle tracking and guidance method provided in this embodiment can be applied in autonomous UAV landing scenarios. A UAV autonomous landing scenario includes takeoff, enroute flight, approach, and landing. From takeoff, the UAV enters the enroute flight phase, and after a long cruise flight, it obtains an approach position to the target area and enters the approach phase. The pod camera-based angle tracking and guidance method provided in this embodiment is a key guidance technology in the approach phase. Specifically, during the UAV approach, the pod camera captures real-time image information of the runway or specific landmarks. An image processing algorithm is used to extract target angle information, such as the runway heading angle and slope angle. This angle information is then compared with preset landing parameters, and a control algorithm is used to adjust the UAV's flight attitude and heading, allowing it to accurately fly along the predetermined approach path to the runway, ultimately achieving a safe and precise autonomous landing. This method not only improves the accuracy and reliability of autonomous landing of UAVs, but also reduces dependence on external navigation equipment, enhances the autonomous navigation capability of UAVs, and has broad application prospects.

[0109] Compared with the related technologies, this application proposes an angle tracking and guidance method based on a visible light pod camera. This method uses a visible light pod as a sensor, has a simple structure and is easy to implement. It converts the angle information output by the visible light pod 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.

[0110] Based on the same inventive concept, embodiments of the present application also provide a pod camera-based angle tracking and guidance device for implementing the aforementioned pod 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 embodiments of the pod camera-based angle tracking and guidance device provided below can be found in the above-described limitations of the pod camera-based angle tracking and guidance method, and will not be further elaborated here.

[0111] In an exemplary embodiment, Figure 2 As shown, an angle tracking guidance device based on a pod camera is provided, comprising:

[0112] The data acquisition module 201 is used to obtain the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, pitch angle and roll angle; the angle information includes the heading frame angle and the pitch frame angle;

[0113] The first rotation matrix calculation module 202 is used to convert the attitude angle information of the flight platform in the body coordinate system into the body coordinate system using the coordinate transformation principle to obtain a first rotation matrix;

[0114] The second rotation matrix calculation module 203 is used to convert the body coordinate system into the pod camera coordinate system based on the angle information of the pod camera relative to the target object in the pod camera coordinate system using the coordinate transformation principle to obtain a second rotation matrix;

[0115] A third rotation matrix calculation module 204 is configured to convert the navigation coordinate system into the pod camera coordinate system based on the first rotation matrix and the second rotation matrix using the coordinate transformation principle to obtain a third rotation matrix;

[0116] The angle tracking guidance module 205 is used to determine the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system based on the third rotation matrix and construct an angle tracking guidance method; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle 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 3 As 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 angle tracking and guidance data. 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, it implements an angle tracking and guidance method based on a pod camera.

[0118] Those skilled in the art will understand that Figure 3The 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 angle tracking and guidance method based on a pod camera, characterized in that: The angle tracking and guidance method based on the pod camera includes: Acquire the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, the pitch angle and the roll angle; the angle information includes the heading frame angle and the pitch frame angle; Based on the attitude angle information of the flight platform in the body coordinate system, the navigation coordinate system is converted to the body coordinate system using the coordinate transformation principle to obtain the first rotation matrix; Based on the angle information of the pod camera relative to the target object in the pod camera coordinate system, the coordinate system of the aircraft is converted to the pod camera coordinate system using the coordinate transformation principle to obtain the second rotation matrix; Based on the first rotation matrix and the second rotation matrix, the navigation coordinate system is converted to the pod camera coordinate system using the coordinate transformation principle to obtain a third rotation matrix; Based on the third rotation matrix, a target heading angle and a target pitch angle from the flight platform to the target object in the navigation coordinate system are determined and an angle tracking guidance method is constructed; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle tracking guidance law.

2. The angle tracking and guidance method based on the pod camera according to claim 1, characterized in that: Based on the attitude angle information of the flight platform in the body coordinate system, the coordinate transformation principle is used to transform the navigation coordinate system into the body coordinate system to obtain the first rotation matrix, which specifically includes: Rotate the navigation coordinate system around the z-axis of the navigation coordinate system by a first preset angle to obtain a heading angle rotation matrix in the first rotating coordinate system; the first preset angle is the heading angle of the flight platform in the body coordinate system; Rotating the first rotating coordinate system around the y-axis of the first rotating coordinate system by a second preset angle to obtain a pitch angle rotation matrix in the second rotating coordinate system; the second preset angle is the pitch angle of the flight platform in the body coordinate system; Rotating the second rotating coordinate system around the x-axis of the second rotating coordinate system by a third preset angle to obtain a roll angle moment rotation matrix in the body coordinate system; the third preset angle is the roll angle of the flight platform in the body coordinate system; A first rotation matrix is obtained by performing matrix multiplication operation according to the heading angle rotation matrix, the pitch angle rotation matrix and the roll angle rotation matrix.

3. The angle tracking and guidance method based on the pod camera according to claim 1, characterized in that: Based on the angle information of the pod camera relative to the target object in the pod camera coordinate system, the coordinate system of the aircraft is transformed into the pod camera coordinate system using the coordinate transformation principle to obtain the second rotation matrix, which specifically includes: Rotate the body camera coordinate system around the z-axis of the body coordinate system by a fourth preset angle to obtain a heading frame angle rotation matrix in the third rotating coordinate system; the fourth preset angle is the heading frame angle of the pod camera relative to the target object in the pod camera coordinate system; Rotating the third rotating coordinate system around the y-axis of the third rotating coordinate system by a fifth preset angle to obtain a pitch angle rotation matrix in the pod camera coordinate system; the fifth preset angle is a pitch frame angle of the pod camera relative to the target object in the pod camera coordinate system; A second rotation matrix is obtained by performing matrix multiplication operation according to the heading frame angle rotation matrix and the pitch angle rotation matrix.

4. The angle tracking and guidance method based on the pod camera according to claim 1, characterized in that: Based on the third rotation matrix, the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system are determined and an angle tracking guidance method is constructed, which specifically includes: Determine the values of each element in the third rotation matrix by matrix multiplication operation according to the first rotation matrix and the second rotation matrix; Based on the trigonometric relationship between the values of each element in the third rotation matrix and the attitude angle information of the pod camera in the navigation coordinate system, the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system are solved by the inverse trigonometric transformation method; According to the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system, an angle tracking guidance method is constructed.

5. The angle tracking and guidance method based on the pod camera according to claim 1, characterized in that: The heading angle tracking guidance law is: in, is the heading angle tracking guidance law, ψ c is the target heading angle in the navigation coordinate system, ψ is the heading angle of the flight platform in the navigation coordinate system, and k is the adjustment coefficient.

6. The angle tracking and guidance method based on the pod camera according to claim 1, characterized in that: The pitch angle tracking guidance law is: in, is the pitch angle tracking guidance law, θ c is the target pitch angle in the navigation coordinate system, and α is the compensated attack angle.

7. An angle tracking guidance device based on a pod camera, characterized in that: The angle tracking and guidance device based on a pod camera applies the angle tracking and guidance method based on a pod camera according to any one of claims 1 to 6, and the angle tracking and guidance device based on a pod camera comprises: A data acquisition module is used to obtain the attitude angle information of the flight platform in the body coordinate system and the angle information of the pod camera relative to the target object in the pod camera coordinate system at the same time; the attitude angle information includes the heading angle, pitch angle and roll angle; the angle information includes the heading frame angle and the pitch frame angle; A first rotation matrix calculation module is used to convert the attitude angle information of the flight platform in the body coordinate system into the body coordinate system using the coordinate transformation principle to obtain a first rotation matrix; A second rotation matrix calculation module is used to convert the body coordinate system into the pod camera coordinate system based on the angle information of the pod camera relative to the target object in the pod camera coordinate system using the coordinate transformation principle to obtain a second rotation matrix; A third rotation matrix calculation module is used to convert the navigation coordinate system into the pod camera coordinate system based on the first rotation matrix and the second rotation matrix using the coordinate transformation principle to obtain a third rotation matrix; The angle tracking guidance module is used to determine the target heading angle and target pitch angle from the flight platform to the target object in the navigation coordinate system based on the third rotation matrix and construct an angle tracking guidance method; the angle tracking guidance method includes a heading angle tracking guidance law and a pitch angle 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 angle tracking and guidance method based on 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 angle tracking and guidance method based on a 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 angle tracking and guidance method based on a pod camera according to any one of claims 1 to 6 is implemented.

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