Method and system for displaying view field range of seeker

Abstract

The invention relates to the technical field of aircraft seeker imaging, and discloses a seeker view field range display method and system, and the method comprises the steps: outputting the frame angle information of a seeker to a flight control computer through the seeker; the flight control computer transmits the frame angle information and the pose information of the aircraft to a ground control terminal; the view field range of the seeker is calculated through the ground control terminal according to the frame angle information and the pose information of the aircraft, the projection of the view field range of the seeker on a map is calculated, and finally the projection is displayed on a display interface of the ground control terminal. Therefore, the problem that the view field range of the seeker is displayed on the ground control terminal in the flight process of the aircraft is solved, and the detailed degree of display information can be improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft seeker imaging technology, and in particular to a method and system for displaying the field of view of a seeker. Background Technology

[0002] In aircraft like drones, a common workflow using seekers is to guide the aircraft and transmit its images back to the ground control terminal for ground operators to assess the aircraft's operational status. Typically, during flight missions, ground control personnel need to accurately understand the seeker's field of view to determine whether targets, buildings, and other objects in the transmitted images are within the region of interest, enabling timely decision-making. Existing aircraft seeker systems do not include a field of view display function. That is, ground control personnel can only see a certain area through the seeker, but cannot intuitively determine the geographical location of that area on a map. This makes it difficult for ground operators to quickly assess the information contained in the seeker's image, increasing the difficulty of control. Furthermore, due to the performance limitations of the seeker's platform hinge, the images transmitted to the ground control terminal rotate when the aircraft's flight attitude changes, causing difficulties for ground control personnel in interpreting and understanding the seeker's image information.

[0003] It is evident that the existing display methods for seekers suffer from problems such as insufficient display information and poor display quality. Summary of the Invention

[0004] This invention provides a method and system for displaying the field of view of a seeker head, in order to solve the problems of insufficient display information and poor display effect in the existing seeker head display methods.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] In a first aspect, the present invention provides a method for displaying the field of view of a seeker head, comprising:

[0007] The seeker head outputs its own frame angle information to the flight control computer;

[0008] The flight control computer transmits the frame angle information and the aircraft's own attitude information to the ground control terminal;

[0009] The ground control terminal calculates the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculates the projection of its field of view on the map, and finally displays it on the display interface of the ground control terminal.

[0010] Optionally, the method further includes:

[0011] The seeker head transmits its image information to the ground control terminal via the flight control computer;

[0012] The ground control terminal uses the aircraft's own attitude information to correct the seeker image, converting the imaging to a horizontal viewpoint.

[0013] Optionally, the frame angle information includes: pitch frame angle and yaw frame angle, wherein the pitch frame angle is positive when it is upward and the yaw frame angle is positive when it is clockwise.

[0014] Optionally, the ground control terminal calculates the seeker's field of view based on the frame angle information and the aircraft's own attitude information, including:

[0015] Define the frame angles at the four corner points of the field of view as follows:

[0016]

[0017] In the formula, k represents the corner position, k=1 represents the top left corner, k=2 represents the bottom left corner, k=3 represents the top right corner, and k=4 represents the bottom right corner; F z Indicates the pitch frame angle, Dyt_fz_view, F y Indicates the yaw frame angle, Dyt_fy_view.

[0018] The rotation matrix is ​​calculated as follows:

[0019] For each corner point k, construct a rotation matrix from the seeker frame to the inertial frame. as follows:

[0020]

[0021] In the formula, R y ,Rz,R B→G ;

[0022] Calculate the line-of-sight unit vector e for each corner point k. k as follows:

[0023]

[0024] The elevation and azimuth angles of the line of sight at each corner point k are calculated as follows:

[0025]

[0026] In the formula, e k,y e k,z e k,x ;

[0027] The line-of-sight distance for each corner point k is calculated as follows:

[0028]

[0029] In the formula, H represents the height relative to the ground;

[0030] The geographic coordinates of the ground intersection point are calculated as follows:

[0031] Wherein: Horizontal distance:

[0032] Geographic coordinates:

[0033] In the formula, (lat k ,lon k ) represents the latitude and longitude coordinates of corner point K, vincenty_direct, lat represents latitude, and lon represents longitude.

[0034] Secondly, this application also provides a field-of-view display system for a seeker head, comprising:

[0035] The seeker head is used to output its own frame angle information to the flight control computer.

[0036] The flight control computer is used to transmit the frame angle information and the aircraft's own attitude information to the ground control terminal.

[0037] The ground control terminal is used to calculate the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculate the projection of its field of view on the map, and finally display it on the display interface of the ground control terminal.

[0038] Optionally, the seeker is also used to transmit seeker image information to a ground control terminal via a flight control computer;

[0039] The ground control terminal is also used to correct the seeker image using the aircraft's own attitude information, so that the imaging is converted to a horizontal viewpoint.

[0040] Thirdly, this application also provides a field-of-view display system for a seeker head, including 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 method described in the first aspect above.

[0041] Beneficial effects:

[0042] This application provides a method for displaying the field of view of a seeker head. The seeker head outputs its own frame angle information to a flight control computer. The flight control computer then transmits this frame angle information and the aircraft's own attitude information to a ground control terminal. The ground control terminal calculates the field of view of the seeker head based on the frame angle information and the aircraft's attitude information, calculates the projection of the field of view onto a map, and finally displays it on the ground control terminal's display interface. This solves the problem of displaying the seeker head's field of view on the ground control terminal during aircraft flight, and improves the detail of the displayed information.

[0043] In a further technical solution, the seeker transmits its image information to the ground control terminal via the flight control computer. The ground control terminal then uses the aircraft's own attitude information to correct the seeker image, converting the imaging to a horizontal viewpoint. This solves the problem of image rotation displayed on the ground control terminal. Attached Figure Description

[0044] Figure 1 This is a flowchart of a preferred embodiment of a method for displaying the field of view of a seeker head;

[0045] Figure 2 This is a schematic diagram of the field of view display of the seeker head according to a preferred embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the uncorrected image of the seeker head according to a preferred embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram showing the effect of image correction for the seeker head in a preferred embodiment of the present invention. Detailed Implementation

[0048] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0050] It should be understood that the seeker field of view display method of this application can be applied to aircraft such as drones.

[0051] Please see Figure 1 This application provides a method for displaying the field of view of a seeker head, comprising:

[0052] The seeker head outputs its own frame angle information to the flight control computer;

[0053] The flight control computer transmits the frame angle information and the aircraft's own attitude information to the ground control terminal;

[0054] The ground control terminal calculates the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculates the projection of its field of view on the map, and finally displays it on the display interface of the ground control terminal.

[0055] The field of view of the seeker refers to the area it can cover.

[0056] The aforementioned method for displaying the seeker's field of view involves the seeker outputting its own frame angle information to the flight control computer; the flight control computer then transmits this frame angle information and the aircraft's own attitude information to the ground control terminal; the ground control terminal calculates the seeker's field of view based on the frame angle information and the aircraft's attitude information, calculates its projection onto the map, and finally displays it on the ground control terminal's display interface. Figure 2 As shown. This solves the problem of displaying the seeker's field of view on the ground control terminal during aircraft flight, and can improve the detail of the displayed information.

[0057] Because the aircraft's attitude is constantly adjusted during flight, the image from the seeker head received by the ground control terminal often appears rotated, such as... Figure 3 As shown. Based on this, the method of this application further includes:

[0058] The seeker head transmits its image information to the ground control terminal via the flight control computer;

[0059] The ground control terminal uses the aircraft's own attitude information to correct the seeker image, converting the imaging to a horizontal viewpoint. The specific correction steps are as follows:

[0060] 1. Obtain information transmitted by the aircraft via wireless communication;

[0061] 2. Calculate the aircraft's attitude information;

[0062] 3. The ground control terminal corrects the roll angle of the control by superimposing it on the image display control, so that the roll angle of the image display control is consistent with the actual roll angle of the aircraft during flight, thereby achieving the purpose of consistency correction.

[0063] In this embodiment, by correcting the image, an image with a horizontal viewing angle is obtained, such as... Figure 4 As shown, this can solve the problem of image rotation displayed on the ground control terminal.

[0064] In this application, the frame angle information includes: pitch frame angle and yaw frame angle, wherein the pitch frame angle is positive when it is upward and the yaw frame angle is positive when it is clockwise.

[0065] Specifically, the units for pitch and yaw frame angles are radians.

[0066] In one example, the ground control terminal calculates the seeker's field of view based on the frame angle information and the aircraft's own pose information, including:

[0067] Define the frame angles at the four corner points of the field of view as follows:

[0068]

[0069] In the formula, k represents the corner position, k=1 represents the top left corner, k=2 represents the bottom left corner, k=3 represents the top right corner, and k=4 represents the bottom right corner; F z The pitch frame angle is represented by Dyt_fz_view, and the pitch field of view angle is represented by F. y The yaw frame angle is represented by Dyt_fy_view, and the yaw field of view is represented by Dyt_fy_view. These represent the pitch and yaw frame angles of the four vertices of the seeker's field of view after transformation through the volume line-of-sight coordinate system. The pitch frame angle refers to the angle of rotation on the vertical axis of the line-of-sight coordinate system, and the pitch field of view angle refers to the field of view captured on the vertical axis of the line-of-sight coordinate system. The yaw frame angle refers to the angle of rotation on the horizontal axis of the line-of-sight coordinate system, and the yaw field of view angle refers to the field of view captured on the horizontal axis of the line-of-sight coordinate system. The linear coordinate system is a local coordinate system centered on the seeker.

[0070] The rotation matrix is ​​calculated as follows:

[0071] For each corner point k, construct a rotation matrix from the seeker frame to the inertial frame. as follows:

[0072]

[0073] In the formula, R y Ry represents the rotation matrix about the y-axis, and Rz represents the rotation matrix about the z-axis. B→G Represents the rotation matrix from the machine frame to the inertial frame;

[0074] Calculate the line-of-sight unit vector e for each corner point k. k as follows:

[0075]

[0076] The elevation and azimuth angles of the line of sight at each corner point k are calculated as follows:

[0077]

[0078] In the formula, Indicates the angle of elevation of the line of sight, referring to the angle between the line of sight and the horizontal plane. The azimuth angle represents the angle between the projection of the line of sight onto the horizontal plane and the north direction. k,y e k,z e k,x These represent the unit line-of-sight vectors along the Y, Z, and X axes, respectively.

[0079] The line-of-sight distance for each corner point k is calculated as follows:

[0080]

[0081] In the formula, H represents the height relative to the ground;

[0082] The geographic coordinates of the ground intersection point are calculated as follows:

[0083] Wherein: Horizontal distance:

[0084] Geographic coordinates:

[0085] In the formula, (lat k ,lon k ) represents the latitude and longitude coordinates of corner point K, vincenty_direct is the result of calculating the flight latitude and longitude after conversion along the azimuth angle, lat represents latitude, and lon represents longitude.

[0086] This application also provides a field-of-view display system for a seeker head, comprising:

[0087] The seeker head is used to output its own frame angle information to the flight control computer.

[0088] The flight control computer is used to transmit the frame angle information and the aircraft's own attitude information to the ground control terminal.

[0089] The ground control terminal is used to calculate the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculate the projection of its field of view on the map, and finally display it on the display interface of the ground control terminal.

[0090] It is worth noting that in this system, the seeker head is the information-generating component. A seeker head is typically a device mounted on an aircraft, and its main function is to detect, lock onto, or track targets to provide guidance and direction information. Its main roles in the system are as follows:

[0091] Target locking and tracking:

[0092] The seeker is equipped with sensors and a tracking system to lock onto and track targets during flight missions, and outputs its own frame angle information and the target's position in the field of view to the flight control computer, thereby ensuring that the aircraft can track or locate target objects during flight.

[0093] Return to image:

[0094] One of the important functions of the seeker is to provide the current seeker image to the ground control terminal, displaying the currently acquired image.

[0095] Data is sent to the ground control terminal, enabling ground control personnel to determine the aircraft's operational status based on the current seeker image and execute corresponding flight missions. During seeker imaging, the seeker's field of view refers to the area it can cover. In this system, in addition to displaying the seeker image on the ground control terminal, it is also necessary to effectively transmit and display the seeker's field of view on the ground control terminal so that ground control personnel can intuitively understand which area on the map the current seeker image corresponds to, thereby making informed decisions.

[0096] Flight control computer:

[0097] The flight control computer in this system is primarily responsible for coordinating and controlling the operation of the seeker head and the overall flight of the aircraft. Its main functions are as follows:

[0098] Seeker control:

[0099] The flight control computer is responsible for controlling the seeker's target positioning and tracking functions. Through real-time computer control, it ensures that the seeker can effectively perform its mission, lock onto the target, and provide accurate guidance information.

[0100] Aircraft attitude adjustment:

[0101] Flight control computers typically monitor the aircraft's attitude and make adjustments as needed to ensure the aircraft remains stable during flight and reaches the target area. In this system, attitude adjustments may cause the seeker image to rotate, therefore, appropriate methods need to be implemented on the ground control terminal to correct this and maintain a horizontal seeker image display.

[0102] Data processing and transmission:

[0103] The flight control computer is also responsible for processing the data generated by the seeker's sensors and transmitting this data to the ground control terminal. In addition, it needs to transmit the aircraft's own attitude information to the ground control terminal, where the seeker's field of view is calculated and converted, and finally displayed on the map interface of the ground control terminal.

[0104] Ground control terminal:

[0105] In this system, the ground control terminal is the key interface for interaction with the aircraft and the seeker, playing a crucial role in monitoring, operation, and decision-making. The functions of the ground control terminal are as follows:

[0106] Seeker field of view display:

[0107] The ground control terminal is used to display the real-time status of the seeker and flight control computer. One of its functions is to calculate the seeker's field of view based on the aircraft's attitude information after receiving information such as the seeker frame angle, and then convert and project the field of view onto the map display interface of the ground control terminal so that ground control personnel can make decisions.

[0108] In a specific implementation, the seeker is also used to transmit seeker image information to the ground control terminal via the flight control computer;

[0109] The ground control terminal is also used to correct the seeker image using the aircraft's own attitude information, so that the imaging is converted to a horizontal viewpoint.

[0110] This application also provides a seeker field of view display system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described method. This seeker field of view display system can implement various embodiments of the above-described seeker field of view display method and achieve the same beneficial effects; further details are omitted here.

[0111] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for displaying the field of view of a seeker head, characterized in that, include: The seeker head outputs its own frame angle information to the flight control computer; The flight control computer transmits the frame angle information and the aircraft's own attitude information to the ground control terminal; The ground control terminal calculates the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculates the projection of its field of view on the map, and finally displays it on the display interface of the ground control terminal.

2. The method for displaying the field of view of a seeker head according to claim 1, characterized in that, The method further includes: The seeker head transmits its image information to the ground control terminal via the flight control computer; The ground control terminal uses the aircraft's own attitude information to correct the seeker image, converting the imaging to a horizontal viewpoint.

3. The method for displaying the field of view of a seeker head according to claim 1, characterized in that, The frame angle information includes: pitch frame angle and yaw frame angle, wherein the pitch frame angle is positive when it is upward and the yaw frame angle is positive when it is clockwise.

4. The method for displaying the field of view of a seeker head according to claim 1, characterized in that, The ground control terminal calculates the seeker's field of view based on the frame angle information and the aircraft's own attitude information, including: Define the frame angles at the four corner points of the field of view as follows: In the formula, k represents the corner position, k=1 represents the top left corner, k=2 represents the bottom left corner, k=3 represents the top right corner, and k=4 represents the bottom right corner; F z The pitch frame angle is represented by Dyt_fz_view, and the pitch field of view angle is represented by F. y The yaw frame angle is represented by Dyt_fy_view, and the yaw field of view is represented by Dyt_fy_view. These represent the pitch and yaw frame angles of the four vertices of the seeker's field of view after transformation through the volume line-of-sight coordinate system; The rotation matrix is ​​calculated as follows: For each corner point k, construct a rotation matrix from the seeker frame to the inertial frame. as follows: In the formula, R y Ry represents the rotation matrix about the y-axis, and Rz represents the rotation matrix about the z-axis. B→G Represents the rotation matrix from the machine frame to the inertial frame; Calculate the line-of-sight unit vector e for each corner point k. k as follows: The elevation and azimuth angles of the line of sight at each corner point k are calculated as follows: In the formula, Indicates the angle of elevation of the line of sight, referring to the angle between the line of sight and the horizontal plane. The azimuth angle represents the angle between the projection of the line of sight onto the horizontal plane and the north direction. k,y e k,z e k,x These represent the unit line-of-sight vectors along the Y, Z, and X axes, respectively. The line-of-sight distance for each corner point k is calculated as follows: In the formula, H represents the height relative to the ground; The geographic coordinates of the ground intersection point are calculated as follows: Wherein: Horizontal distance: Geographic coordinates: In the formula, (lat k ,lon k ) represents the latitude and longitude coordinates of corner point K, vincenty_direct is the result of calculating the flight latitude and longitude after conversion along the azimuth angle, lat represents latitude, and lon represents longitude.

5. A field-of-view display system for a seeker head, characterized in that, include: The seeker head is used to output its own frame angle information to the flight control computer. The flight control computer is used to transmit the frame angle information and the aircraft's own attitude information to the ground control terminal. The ground control terminal is used to calculate the field of view of the seeker head based on the frame angle information and the aircraft's own attitude information, calculate the projection of its field of view on the map, and finally display it on the display interface of the ground control terminal.

6. The seeker field of view display system according to claim 5, characterized in that, The seeker head is also used to transmit seeker head image information to the ground control terminal via the flight control computer; The ground control terminal is also used to correct the seeker image using the aircraft's own attitude information, so that the imaging is converted to a horizontal viewpoint.

7. A seeker field-of-view display system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 4.

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