CN102928861A - Target positioning method and device for airborne equipment - Google Patents

Abstract

The invention relates to a target positioning method and a target positioning device for airborne equipment. The device comprises a signal processing unit, a laser distance measuring instrument, a thermal infrared imager, a visible light camera, a combined inertial navigation module and an angle meter, wherein output signals of the laser distance measuring instrument, the thermal infrared imager, the visible light camera, the combined inertial navigation module and the angle meter are all connected to the signal processing unit, and the signal processing unit is used for solving positional information of a target according to uploaded signals. Aerial carrier global positioning system (GPS) information, aerial carrier gesture information, angular deviation of observation equipment relative to an aerial carrier and distance measuring information of the target by the observation equipment are integrated to realize accurate positioning of longitude and latitude height of the target. The advantage of a multi-sensor is combined, a multi-dimensional spatial alternation principle is utilized so as to rapidly and effectively realize accurate target positioning in a non-contact and high-adaptability way, and the target positioning method can be applied to fields such as forest fire prevention, personnel rapid search and rescue and the like, and has wide technological and market prospects.

Description

Airborne equipment is with object localization method and device

Technical field

The invention belongs to the accurate measurement and positioning technical field of target, relate to a kind of airborne equipment with object localization method and device.

Background technology

The Technology for Target Location that Present Domestic is commonly used outward focuses mostly in the single-sensor application, for example laser ranging technique is launched modulated light signal by the laser instrument emission coefficient to measurement target, return through diffuse reflection after arriving measurement target, receive by receiving system, and receiving optical signals is converted to electric signal, then pass to signal processing circuit and carry out signal and process and can calculate air line distance between launching site and target; Obtain the pixel-shift of target distance center on image with image processing techniques, be combined into as plant bulk and lens focus and can calculate the pitching orientation angles that target departs from current observation center; Extract the object pixel size by image processing techniques, in conjunction with known target physical size and imaging system optical focal length, utilize triangular transformation can estimate out target apart from observation station air line distance; By obtaining its longitude and latitude elevation information to target bind GPS communication apparatus.

But all there is some problems in above technology, as obtains air line distance or depart from the field of view center angle and be only applicable to some special application field; Apart from there being larger error, also only can be applied to special dimension by image and target priori calculated line; And also be " impossible mission " to target bind GPS communication apparatus in fields such as personnel's search and rescue, forest fires monitoring, target strikes.So how to realize target localization rapid, effective, contactless, high-adaptability, become extremely urgent application demand in each field of army/people/police, the sky/sea/ground environment.

Summary of the invention

The purpose of this invention is to provide a kind of airborne equipment with object localization method and device, to realize rapidly, to have

The target localization of effect, contactless, high-adaptability.

For achieving the above object, airborne equipment of the present invention is as follows with the target locating set technical scheme: this device comprises that signal processing unit and output signal all are connected into the laser range finder of signal processing unit, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule, and described signal processing unit is used for calculating according to each signal of uploading the positional information of target.

Described signal processing unit is comprised of A/D, FPGA and the DSP that communication connects, described A/D comprises A/D module and 422 communication modules, described FPGA comprises video acquisition module, view data scheduler module and communication control module, and described DSP comprises that target localization resolves module.

Airborne equipment of the present invention is as follows with the step of object localization method:

(1) output signal with laser range finder, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule is connected into signal processing unit, makes up the airborne equipment target locating set;

(2) airborne equipment is arranged in the carrier aircraft with target locating set;

(3) aim at the wish target acquisition and gather respectively infrared image and visible images, come target acquisition and locking according to image, the target that locks is gathered respectively ranging information, pitching, position angle offset information gps coordinate information and carrier aircraft course, pitching, roll information and is uploaded to information process unit;

(4) information process unit calculates its coordinate in carrier aircraft is connected coordinate system by airborne equipment with target locating set azimuth pitch information and ranging information, and then be coordinate in the carrier aircraft NED coordinate system by the three-dimensional rotation conversion with coordinate conversion, the again in combination radius of a ball, the actual longitude and latitude height of carrier aircraft GPS information calculations target, the location of realize target.

Airborne equipment of the present invention is with object localization method and device, merge carrier aircraft GPS information, carrier aircraft attitude information, the relative carrier aircraft angular deviation of scope, scope the ranging information of target is realized accurate location to target longitude and latitude height, the present invention is in conjunction with the multisensor advantage, utilize hyperspace shift theory realization target rapid, effective, contactless, high-adaptability accurately to locate, can use in fields such as forest fire protection, the rapid search and rescue of personnel, possess wide technology and market outlook.

Description of drawings

Fig. 1 is the structural representation that airborne equipment is used target locating set;

Fig. 2 is the structural representation of signal processing unit;

Fig. 3 is that the carrier aircraft Gu connects carrier aircraft and target azimuth graph of a relation in the coordinate system;

Fig. 4 is earth geometric configuration schematic diagram.

Embodiment

Basic definition:

1) carrier aircraft NED coordinate system: be rectangular coordinate system, initial point is connected in the carrier aircraft center, and the OX axle points to positive north, and the OY axle points to due east, and it is downward that the OZ axle is oriented to vertical.Each axle of this coordinate system points to the carrier aircraft attitude angle irrelevant.

2) the carrier aircraft coordinate system that is connected: rectangular coordinate system, initial point are connected in the carrier aircraft center, and the OX axle overlaps with aircraft longitudinal axis, point to head.The OY axle points to the aircraft right side, and the OZ axle points to the aircraft below.Each axle of this coordinate system points to and is determined by the carrier aircraft attitude angle.

3) carrier aircraft crab angle: aircraft OX axle is seen from the top down at the angle of surface level inner projection and direct north, is 0 ° when pointing to positive north, just clockwise turns to span [180 ° ~ 180 °].

4) the carrier aircraft angle of pitch: the angle of aircraft OX axle and surface level is 0 ° during level, comes back as just span [90 ° ~ 90 °].

5) carrier aircraft roll angle: aircraft be connected coordinate system the OZ axle and comprise angle between the vertical guide of aircraft longitudinal axis (OX axle), from the aircraft dead astern along longitudinal axis eyes front, just clockwise turn to.Span [90 ° ~ 90 °].

6) scope position angle: apparent direction is at carrier aircraft the be connected projection of coordinate system OX/OY axial plane and the angle of aircraft longitudinal axis before the scope, and the sensing vector is 0 °, just clockwise turns to span [0 ° ~ 360 °].

7) the scope angle of pitch: apparent direction is at carrier aircraft the be connected projection of coordinate system OX/OY axial plane and the angle of aircraft longitudinal axis before the scope, and the sensing vector is 0 °, just clockwise turns to span [110 ° ~ 10 °].

As shown in Figure 1, airborne equipment comprises that with target locating set signal processing unit and output signal all are connected into the laser range finder of signal processing unit, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule, and signal processing unit is used for calculating according to each signal of uploading the positional information of target.Wherein front end sensors is responsible for providing calculating and is inputted, the laser ranging information that provides of laser range finder for example, the current device longitude and latitude elevation information that the scene Infrared Image Information that thermal infrared imager provides, the visible light image information that visible light camera provides, combined inertial nevigation module provide and equipment are with respect to the course/pitching of geographic coordinate system/roll information, and the current optical axis that clinometer rule provides is with respect to pitching, the offset information of equipment; Signal processing circuit as input, calculates the true longitude and latitude elevation information of target with above information via the target localization algorithm.

As shown in Figure 2, signal processing unit is comprised of A/D, FPGA and the DSP that communication connects, described A/D comprises A/D module and 422 communication modules, and described FPGA comprises video acquisition module, view data scheduler module and communication control module, and described DSP comprises that target localization resolves module.A/D is responsible for receiving the real time data that transmits from infrared, visible light, laser, combined inertial nevigation and clinometer rule, is dispatched to DSP after putting in order via FPGA, is merged by its data that a few class sensors are transmitted and resolves.

Method of the present invention is in conjunction with carrier aircraft GPS information, the carrier aircraft attitude information, scope in carrier aircraft is connected coordinate system the pitching azimuth information (wherein carrier aircraft GPS information is obtained by the combined inertial nevigation module, the carrier aircraft attitude information is obtained by the combined inertial nevigation module, scope pitching azimuth information in carrier aircraft is connected coordinate system is obtained by clinometer rule, object ranging information is obtained by laser range finder), to the GPS information of object ranging information according to three-dimensional coordinate transformation principle calculated target positions: (namely observe assembly by scope, referring to thermal infrared imager and visible light camera) azimuth pitch information and ranging information calculate its coordinate in carrier aircraft is connected coordinate system, and then be coordinate in the carrier aircraft NED coordinate system by the three-dimensional rotation conversion with coordinate conversion, the radius of a ball in combination again, its actual longitude and latitude height of carrier aircraft GPS information calculations.

Airborne equipment is as follows with the step of object localization method:

(1) output signal with laser range finder, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule is connected into signal processing unit, makes up the airborne equipment target locating set;

(2) airborne equipment is arranged in the carrier aircraft with target locating set;

(3) aim at the wish target acquisition and gather respectively infrared image and visible images, come target acquisition and locking according to image, the target that locks is gathered respectively ranging information, pitching, position angle offset information gps coordinate information and carrier aircraft course, pitching, roll information and is uploaded to information process unit;

(4) information process unit calculates its coordinate in carrier aircraft is connected coordinate system by airborne equipment with target locating set azimuth pitch information and ranging information, and then be coordinate in the carrier aircraft NED coordinate system by the three-dimensional rotation conversion with coordinate conversion, the again in combination radius of a ball, the actual longitude and latitude height of carrier aircraft GPS information calculations target, the location of realize target.

1, target is coordinate Calculation in carrier aircraft is connected coordinate system

As shown in Figure 3, known scope in carrier aircraft is connected coordinate system with respect to X-axis and Z axis deviation angle μ, φ, this deviation angle is obtained by clinometer rule, be used for measuring and observe assembly field of view center axle with respect to pitching and the deviation angle of equipment, and laser ranging length D, through trigonometric function operation, obtain target coordinate in carrier aircraft is connected coordinate system:

X′=D×sinφ×cosμ

Y′=D×sinφ×sinμ

Z′=D×cos(φ)

Annotate: the scope orientation is consistent with μ, and the pass of angle of pitch σ and φ is:

φ=|90°+σ|。

2, target is coordinate Calculation in carrier aircraft NED coordinate system (being earth coordinates)

Target needs to consider translation between two coordinate systems, rotation relationship to carrier aircraft NED coordinate system conversion from the carrier aircraft coordinate system that is connected: carrier aircraft and scope air line distance are in several meters, compare and to ignore with range finding distance (some kilometers), can think that two coordinate systems are coaxial without translation, i.e. conversion only limits to rotation relationship.

The carrier aircraft coordinate system that is connected is obtained through driftage α, pitching β, roll γ (the rotation order can not be put upside down) by carrier aircraft NED coordinate system, theoretical according to relativeness, can think that the carrier aircraft coordinate system that is connected can not put upside down through reverse roll conversion A, reverse pitching conversion B, reverse driftage conversion C(rotation order) obtain carrier aircraft NED coordinate system, that is:

$C=\left[\begin{array}{ccc}\cos \mathrm{\α}& -\sin \mathrm{\α}& 0\\ \sin \mathrm{\α}& \cos \mathrm{\α}& 0\\ 0& 0& 1\end{array}\right]$

$B=\left[\begin{array}{ccc}\cos \mathrm{\β}& 0& \sin \mathrm{\β}\\ 0& 1& 0\\ -\sin \mathrm{\β}& 0& \cos \mathrm{\β}\end{array}\right]$

$A=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\γ}& -\sin \mathrm{\γ}\\ 0& \sin \mathrm{\γ}& \cos \mathrm{\γ}\end{array}\right]$

$C\×B\×A=\left[\begin{array}{ccc}\cos \mathrm{\α}\·\cos \mathrm{\β}& \cos \mathrm{\α}\·\sin \mathrm{\β}\·\sin \mathrm{\γ}-\sin \mathrm{\α}\·\cos \mathrm{\γ}& \sin \mathrm{\α}\·\sin \mathrm{\γ}+\cos \mathrm{\α}\·\sin \mathrm{\β}\·\cos \mathrm{\γ}\\ \cos \mathrm{\β}\·\sin \mathrm{\α}& \cos \mathrm{\α}\·\cos \mathrm{\γ}+\sin \mathrm{\α}\·\sin \mathrm{\β}\·\sin \mathrm{\γ}& \sin \mathrm{\α}\·\sin \mathrm{\β}\·\cos \mathrm{\γ}-\cos \mathrm{\α}\·\sin \mathrm{\γ}\\ -\sin \mathrm{\β}& \cos \mathrm{\β}\·\sin \mathrm{\γ}& \cos \mathrm{\β}\·\cos \mathrm{\γ}\end{array}\right]$

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=C\×B\×A\×\left[\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right].$

3, target phase pair warp and weft difference in height is calculated

1) difference of longitude computing method: in the place of different latitude, the distance that identical difference of longitude is corresponding is different, and the regulation east longitude is for just, and west longitude is for bearing.If latitude of a place is θ °, difference of longitude

Corresponding distance is Ym, and then latitude is that θ ° parallel circumference is: 2 * π * R * cos (θ), this week is 360 ° of longitudes, so difference of longitude Corresponding distance is:

2) difference of latitude computing method: calculate by geocentric latitude, ignore the earth surface injustice.As shown in Figure 4, the equatorial radius of the earth is 6378136m, and the polar region radius is 6376751m, and the 6377444m that averages represents with R as basis.If difference of latitude is Δ θ, respective distances is Xm, and then conversion relation is: and Δ θ=X * 180/ (π * R).

3) difference in height Δ H is equal to Z.

4, target longitude and latitude high computational

With carrier aircraft longitude and latitude height

With target phase pair warp and weft height

Addition can obtain the actual longitude of target

Latitude θ, height H:

θ=θ'+Δθ

H=H′-ΔH。

Claims (3)

1. airborne equipment target locating set, it is characterized in that, this device comprises that signal processing unit and output signal all are connected into the laser range finder of signal processing unit, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule, and described signal processing unit is used for calculating according to each signal of uploading the positional information of target.

2. device according to claim 1, it is characterized in that: described signal processing unit is comprised of A/D, FPGA and the DSP that communication connects, described A/D comprises A/D module and 422 communication modules, described FPGA comprises video acquisition module, view data scheduler module and communication control module, and described DSP comprises that target localization resolves module.

3. an airborne equipment object localization method is characterized in that, the step of the method is as follows:

(1) output signal with laser range finder, thermal infrared imager, visible light camera, combined inertial nevigation module and clinometer rule is connected into signal processing unit, makes up the airborne equipment target locating set;

(2) airborne equipment is arranged in the carrier aircraft with target locating set;

(3) aim at the wish target acquisition and gather respectively infrared image and visible images, come target acquisition and locking according to image, the target that locks is gathered respectively ranging information, pitching, position angle offset information gps coordinate information and carrier aircraft course, pitching, roll information and is uploaded to information process unit;

(4) information process unit calculates its coordinate in carrier aircraft is connected coordinate system by airborne equipment with target locating set azimuth pitch information and ranging information, and then be coordinate in the carrier aircraft NED coordinate system by the three-dimensional rotation conversion with coordinate conversion, the again in combination radius of a ball, the actual longitude and latitude height of carrier aircraft GPS information calculations target, the location of realize target.

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