A method for testing the synchronization of a seeker frame angle and laser ranging

Abstract

The application discloses a kind of guide head frame angle and laser ranging synchronism test method, with hollow rod object as target in natural environment, guide head is periodically reciprocated with certain angular velocity, and the test of guide head frame angle and laser ranging synchronism is realized by continuously ranging target.The outstanding advantages of the present application are that the test method is simple and easy to implement, the requirement for test environment is low, the test precision is high, the guide head frame angle and laser ranging synchronism test can be completed quickly, the target positioning accuracy of the guide head is improved, it can be adapted to all platforms with laser ranging function guide head, and has a larger popularization and application space.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to a method for testing the synchronization between the seeker frame angle and laser ranging. Background Technology

[0002] Unmanned aerial vehicle (UAV) target localization technology is a crucial capability in modern warfare. With the widespread application of UAVs in surveillance, reconnaissance, and other combat missions, their core function is to achieve real-time transmission of target location information. This is particularly important when dealing with time-sensitive targets, placing higher demands on target localization capabilities. Currently, active laser ranging (ALR)-based target localization technology has become the primary solution due to its high positioning accuracy. However, within this technology system, the synchronization between the seeker frame angle and the laser ranging system is a critical influencing factor, and is of great significance for optimizing system errors and improving overall positioning accuracy.

[0003] Traditional methods have significant limitations in evaluating the synchronization between the seeker frame angle and laser ranging: on the one hand, they lack systematic testing procedures and quantitative analysis methods, relying mainly on design methods; on the other hand, it is difficult to obtain accurate time delay parameter data. This prevents relevant positioning algorithms from undergoing targeted error compensation and performance optimization. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a method for testing the synchronization of seeker frame angle and laser ranging. Using a hollowed-out rod-shaped object in a natural environment as the target, the seeker moves periodically back and forth at a certain angular velocity. The synchronization of the seeker frame angle and laser ranging is tested by continuously ranging the target. The outstanding advantages of this invention are its simplicity and ease of implementation, low requirements for the testing environment, high testing accuracy, and ability to quickly complete the synchronization test of the seeker frame angle and laser ranging, thereby improving the target positioning accuracy of the seeker. It is adaptable to all platform seekers with laser ranging capabilities and has significant potential for widespread application.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows:

[0006] Step 1: Select the target and set up the test platform according to the actual test environment;

[0007] Select a hollow rod-shaped object as the target, place the seeker head on a horizontal platform, and adjust the orientation of the seeker head so that the optical axis is initially aligned with the target;

[0008] After connecting the test power supply, power on the guide head and wait for the guide head to power on and test normally.

[0009] Step 2: Measure the seeker frame angle and laser ranging distance calibration value as the reference value for subsequent operations;

[0010] Observe the seeker head screen displayed on the host computer, and manually send pitch and yaw direction frame angle fine-tuning commands according to the target's position in the field of view until the target is located in the center of the field of view;

[0011] Send a laser ranging command and observe whether the laser ranging value is normal. If the difference between the ranging value and the estimated ranging value exceeds the set value or the ranging value is abnormal, continue to adjust the yaw frame angle until the difference between the laser ranging value and the estimated ranging value is less than the set value. Record the yaw frame angle A0 and the ranging distance L0 at this time and set them as the calibration value.

[0012] Step 3: Set the seeker head periodic motion parameters and collect measurement data in real time during the seeker head periodic motion;

[0013] Step 3-1: In the host computer, select the periodic motion mode, set the average value to A0, and select the amplitude ΔA and yaw frame angular velocity ω under the constraint of the seeker frame angle range, so that L0×ω×T 激光 Not greater than the target width, T 激光 This is the laser ranging cycle, and laser ranging is activated simultaneously.

[0014] Step 3-2: The seeker moves periodically under the command drive, while measuring the distance to the target and obtaining test data: frame angle sequence {A:A1,A2,A3,…,An}, laser range value sequence {L:L1,L2,L3,…,Ln};

[0015] Step 3-3: Analyze the test data and extract the median time T of the data points with a distance of L0 from left to right in the dataset. leftL Simultaneously, the time T for data points with frame angle A0 is calculated based on the interpolation of the recorded frame angle. leftA Similarly, analyzing the data from right to left yields T. rightL T rightA ;

[0016] Steps 3-4: Analyze all test data to obtain the feature point dataset:

[0017] {T leftL :T leftL1 T leftL2 T leftL3 ... T leftLm}

[0018] {T leftA :T leftA1 T leftA2 T leftA3 ... T leftAm}

[0019] {T rightL :T rightL1 T rightL2 TrightL3 ... T rightLn}

[0020] {T rightA :T rightA1 T rightA2 T rightA3 ... T rightAn}

[0021] Where: m is the number of feature points obtained from left to right, and n is the number of feature points obtained from right to left;

[0022] Steps 3-5: Statistical analysis to obtain the time delay T between the yaw direction frame angle and laser ranging. delay :

[0023]

[0024] Step 4: After completing the yaw direction test, continue with the pitch direction synchronization test as required;

[0025] Power off the seeker head, adjust the installation direction of the seeker head, rotate the seeker head 90° and place it, repeat steps 1 to 3 for testing, and statistically obtain the time delay between the frame angle in the pitch direction and the laser ranging.

[0026] An electronic device includes: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to enable the electronic device to perform the above-described synchronization test method.

[0027] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described synchronization test method.

[0028] A chip includes a processor for retrieving and running a computer program from a memory, causing a device on which the chip is installed to perform the above-described synchronization test method.

[0029] A computer program product includes a computer storage medium storing a computer program, the computer program including instructions executable by at least one processor, which, when executed by the at least one processor, implement the above-described synchronization test method.

[0030] The beneficial effects of this invention are as follows:

[0031] The invention's testing method is simple and easy to implement, has low requirements for the testing environment, and has high testing accuracy. It can quickly complete the testing of the seeker frame angle and laser ranging synchronization, and can be applied to various platform seeker systems with laser ranging functions. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the experimental setup for the method of the present invention;

[0033] Figure 2 This is a schematic diagram of test data involved in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of feature point extraction for laser ranging values ​​in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of frame corner feature point extraction according to an embodiment of the present invention. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] This invention proposes an innovative synchronization testing method. This method utilizes a rod-like structure in the natural environment as a target reference, continuously acquiring ranging data during the cyclical movement of the seeker head, and evaluating synchronization characteristics through feature point extraction and statistical analysis. This method has significant advantages: it is simple to operate, highly adaptable, and has high testing accuracy, enabling rapid synchronization performance evaluation. More importantly, this scheme has low requirements for the testing environment, a wide range of applications, and can be applied to various platform seeker head systems with laser ranging capabilities. This research provides important technical support for the optimization of UAV target positioning systems and has broad application prospects and promotional value.

[0038] This invention provides a method for testing the synchronization between the seeker frame angle and laser ranging. By continuously ranging a hollow rod-shaped target during the periodic reciprocating motion of the seeker, synchronization is tested, solving the problem of the difficulty in quickly, simply, and quantifiablely testing synchronization. This is mainly achieved through the following steps:

[0039] Step 1: Based on the actual test environment, select the target and set up the test platform. The specific steps are as follows:

[0040] Select a long-distance hollow rod-shaped object as the target, place the seeker head on a horizontal platform, and adjust the orientation of the seeker head so that the optical axis is initially aligned with the target;

[0041] After connecting the test power supply, power on the guide head and wait for the guide head to power on and complete the self-test.

[0042] Step 2: Measure the seeker frame angle and laser ranging distance calibration values ​​as reference values ​​for subsequent operations. The specific steps are as follows:

[0043] Observe the seeker head screen displayed on the host computer, and manually send pitch and yaw direction frame angle fine-tuning commands according to the target's position in the field of view until the target is located in the center of the field of view;

[0044] Send a laser ranging command and observe whether the laser ranging value is normal. If the ranging value is significantly different from the estimated ranging value or the ranging value is abnormal, continue to fine-tune the yaw frame angle until the laser ranging value is close to the estimated ranging value. Record the yaw frame angle A0 and the ranging distance L0 at this time and set them as calibration values.

[0045] Step 3: Based on the calibration values ​​measured in Step 2, set the seeker's cyclic motion parameters and collect measurement data in real time during the seeker's cyclic motion. The specific steps are as follows:

[0046] In the host computer, select the periodic motion mode, set the average value to A0, and select the amplitude ΔA under the constraint of the seeker frame angle range. The yaw frame angular velocity is ω(L0×ω×T). 激光 Not greater than the target width, T 激光 (for laser ranging cycle), and simultaneously activate laser ranging;

[0047] The seeker moves periodically under command and simultaneously measures the distance to the target to obtain test data: frame angle sequence {A:A1,A2,A3,…,An}, laser ranging value sequence {L:L1,L2,L3,…,Ln};

[0048] Analyze the test data and extract the median time T of the data points with a distance of L0 from left to right in the dataset. leftL Simultaneously, the time T for data points with frame angle A0 is calculated based on the interpolation of the recorded frame angle. leftA Similarly, analyzing the data from right to left yields T. rightL T rightA ;

[0049] By analyzing all the test data, we can obtain the feature point dataset:

[0050] {T leftL :T leftL1 T leftL2 T leftL3 ... T leftLm}

[0051] {T leftA :T leftA1 T leftA2 T leftA3 ... T leftAm}

[0052] {T rightL :T rightL1 T rightL2 T rightL3 ... T rightLn}

[0053] {T rightA :T rightA1 TrightA2 T rightA3 ... T rightAn}

[0054] Where: m is the number of feature points obtained from left to right, and n is the number of feature points obtained from right to left;

[0055] Statistical analysis can yield the time delay T between the yaw direction frame angle and laser ranging. delay :

[0056]

[0057] Step 4: After completing the yaw direction test, the pitch direction synchronization test can be performed as needed. The specific steps are as follows:

[0058] Power off the seeker head, adjust the installation direction of the seeker head, rotate the seeker head 90° and place it, repeat steps one to three for testing, and statistically obtain the time delay between the pitch direction frame angle and the laser ranging.

[0059] Example:

[0060] Step 1: Use a handheld laser rangefinder to measure the distance to the target;

[0061] Step 2: Place the seeker head on a horizontal test surface and roughly align it with the target manually;

[0062] Connect the power supply to the seeker head, and after confirming, power on the loitering munition. After the power-on self-test is normal, observe the target's position in the field of view through the host computer screen.

[0063] Step 3: Activate laser rangefinding and adjust the seeker frame angle until the target is centered in the field of view;

[0064] If the laser rangefinder value is close to the distance of the handheld laser rangefinder, record the rangefinder value L0 and the yaw frame angle A0 at this time as the calibration value;

[0065] If the laser ranging value is abnormal or differs significantly from the handheld laser rangefinder, fine-tune the seeker frame angle until the laser ranging value is close to the distance of the handheld laser rangefinder. Record the ranging value L0 and the yaw frame angle A0 at this time as calibration values.

[0066] Step 4: In the host computer, select the seeker command as a periodic command and set the motion parameters as follows:

[0067] Mean A0 (1°), amplitude ΔA (3°), angular velocity ω (1° / s);

[0068] After activating laser ranging, the guide head issues periodic motion commands and collects test data.

[0069] Step 5: Analyze the test data and extract the feature point sequence.

[0070] {T leftL : 6.275, 12.555}

[0071] {T leftA : 6.2832, 12.5664}

[0072] {T rightL : 3.145, 9.435}

[0073] {T rightA : 3.1416, 9.4248}

[0074] Step 5: Calculate the time delay T between the yaw frame angle and laser ranging. delay :

[0075]

Claims

1. A method for testing the synchronization between the seeker frame angle and laser ranging, characterized in that, Includes the following steps: Step 1: Select the target and set up the test platform according to the actual test environment; Select a hollow rod-shaped object as the target, place the seeker head on a horizontal platform, and adjust the orientation of the seeker head so that the optical axis is initially aligned with the target; After connecting the test power supply, power on the guide head and wait for the guide head to power on and test normally. Step 2: Measure the seeker frame angle and laser ranging distance calibration value as the reference value for subsequent operations; Observe the seeker head screen displayed on the host computer, and manually send pitch and yaw direction frame angle fine-tuning commands according to the target's position in the field of view until the target is located in the center of the field of view; Send a laser ranging command and observe whether the laser ranging value is normal. If the difference between the ranging value and the estimated ranging value exceeds the set value or the ranging value is abnormal, continue to adjust the yaw frame angle until the difference between the laser ranging value and the estimated ranging value is less than the set value. Record the yaw frame angle A0 and the ranging distance L0 at this time and set them as the calibration value. Step 3: Set the seeker head periodic motion parameters and collect measurement data in real time during the seeker head periodic motion; Step 3-1: In the host computer, select the periodic motion mode, set the average value to A0, and select the amplitude ΔA and yaw frame angular velocity ω under the constraint of the seeker frame angle range, so that L0×ω×T 激光 Not greater than the target width, T 激光 This is the laser ranging cycle, and laser ranging is activated simultaneously. Step 3-2: The seeker moves periodically under the command drive, while measuring the distance to the target and obtaining test data: frame angle sequence {A:A1,A2,A3,…,An}, laser range value sequence {L:L1,L2,L3,…,Ln}; Step 3-3: Analyze the test data and extract the median time T of the data points with a distance of L0 from left to right in the dataset. leftL Simultaneously, the time T for data points with frame angle A0 is calculated based on the interpolation of the recorded frame angle. leftA Similarly, analyzing the data from right to left yields T. rightL T rightA ; Steps 3-4: Analyze all test data to obtain the feature point dataset: {T leftL :T leftL1 、T leftL2 、T leftL3 、…、T leftLm } {T leftA :T leftA1 、T leftA2 、T leftA3 、…、T leftAm } {T rightL :T rightL1 、T rightL2 、T rightL3 、…、T rightLn } {T rightA :T rightA1 、T rightA2 、T rightA3 、…、T rightAn } Where: m is the number of feature points obtained from left to right, and n is the number of feature points obtained from right to left; Steps 3-5: Statistical analysis to obtain the time delay T between the yaw direction frame angle and laser ranging. delay : Step 4: After completing the yaw direction test, continue with the pitch direction synchronization test as required; Power off the seeker head, adjust the installation direction of the seeker head, rotate the seeker head 90° and place it, repeat steps 1 to 3 for testing, and statistically obtain the time delay between the frame angle in the pitch direction and the laser ranging.

2. An electronic device, characterized in that, include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the method as described in claim 1.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in claim 1.

4. A chip, characterized in that, include: A processor for retrieving and running a computer program from memory, causing a device on which the chip is mounted to perform the method as described in claim 1.

5. A computer program product, characterized in that, The computer program product includes a computer storage medium storing a computer program, the computer program including instructions executable by at least one processor, which, when executed by the at least one processor, implement the method as described in claim 1.

Images