CN102928861B - 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 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 object localization method and device.

Background technology

The Technology for Target Location that Present Domestic is commonly used outward focuses mostly in single-sensor application, for example laser ranging technique launches modulated light signal by laser instrument emission coefficient to measurement target, return through diffuse reflection after arriving measurement target, received by receiving system, and receiving optical signals is converted to electric signal, then pass to signal processing circuit and carry out signal transacting 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 and can calculate as plant bulk and lens focus the pitching orientation angles that target departs from current observation center; Extract 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 its longitude and latitude elevation information can be obtained to target bind GPS communication apparatus.

But above technology all exists some problems, be only applicable to some special application field as obtained air line distance or departing from field of view center angle; There is comparatively big error by image and target priori calculated line distance, also only can be applied to special dimension; And be also " 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 that is rapid, effective, contactless, high-adaptability, to become in army/each field of the people/police, sky/sea/ground environment an extremely urgent application demand.

Summary of the invention

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

A/D, FPGA and DSP that described signal processing unit is connected by communication form, 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 target localization and resolves module.

The step of airborne equipment object localization method of the present invention is as follows:

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

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

(3) aim at wish target acquisition and gather infrared image and visible images respectively, carry out target acquisition according to image and lock, ranging information, pitching, azimuthal displacement information gps coordinate information and carrier aircraft course, pitching, roll information be uploaded to information process unit are gathered respectively to the target of locking;

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

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

Accompanying drawing explanation

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

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

Fig. 3 is that carrier aircraft Gu connects carrier aircraft and target azimuth graph of a relation in 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 carrier aircraft center, OX axle points to positive north, and OY axle points to due east, and it is downward that OZ axle is oriented to vertical.The each axle of this coordinate system points to and has nothing to do with carrier aircraft attitude angle.

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

3) carrier aircraft crab angle: aircraft OX axle, at the angle of surface level inner projection and direct north, is seen from the top down, 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 is connected the angle between the OZ axle of coordinate system and the vertical guide comprising aircraft longitudinal axis (OX axle), from aircraft dead astern along longitudinal axis eyes front, just clockwise turns to.Span [-90 ° ~ 90 °].

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

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

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

As shown in Figure 2, A/D, FPGA and DSP that signal processing unit is connected by communication form, 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 target localization and resolves module.A/D is responsible for receiving the real time data transmitted from infrared, visible ray, laser, combined inertial nevigation and clinometer rule, is dispatched to DSP, carries out fusion resolve by it to the data that a few class sensor transmits via FPGA after arranging.

Methods combining carrier aircraft GPS information of the present invention, carrier aircraft attitude information, scope in carrier aircraft is connected coordinate system pitching azimuth information (wherein carrier aircraft GPS information is obtained by combined inertial nevigation module, carrier aircraft attitude information is obtained by 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: by scope (i.e. observation assembly, 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 carrier aircraft NED coordinate system by three-dimensional rotation conversion by coordinate conversion, the radius of a ball in combination again, carrier aircraft GPS information calculates its actual longitude and latitude height.

The step of airborne equipment object localization method is as follows:

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

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

(3) aim at wish target acquisition and gather infrared image and visible images respectively, carry out target acquisition according to image and lock, ranging information, pitching, azimuthal displacement information gps coordinate information and carrier aircraft course, pitching, roll information be uploaded to information process unit are gathered respectively to the target of locking;

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

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

As shown in Figure 3, known scope in carrier aircraft is connected coordinate system relative to X-axis and Z axis deviation angle μ, φ, this deviation angle is obtained by clinometer rule, for measuring observation assembly field of view center axle relative to the pitching of equipment and deviation angle, 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)

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

φ=|90°+σ|。

2, target coordinate in carrier aircraft NED coordinate system (i.e. earth coordinates) calculates

Target needs to consider translation between Two coordinate system, rotation relationship from the carrier aircraft coordinate system that is connected to carrier aircraft NED ordinate transform: carrier aircraft and scope air line distance are in several meters, can ignore compared with range finding distance (some kilometers), can think that Two coordinate system is coaxial without translation, namely conversion is only limitted to rotation relationship.

Carrier aircraft is connected, and coordinate system passes through driftage α, pitching β by carrier aircraft NED coordinate system, roll γ (rotational order can not be put upside down) obtains, theoretical according to relativeness, can think that the carrier aircraft coordinate system that is connected can not be put upside down through reverse roll conversion A, reverse pitching conversion B, reverse driftage conversion C(rotational 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 calculates

1) difference of longitude computing method: in the place of different latitude, the distance that identical difference of longitude is corresponding is different, and regulation east longitude is just, west longitude is negative.If latitude of a place is θ °, difference of longitude corresponding distance is Ym, to be then the parallel circumference of θ ° be latitude: 2 × π × R × cos (θ), this week is longitude 360 °, so difference of longitude corresponding distance is:

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

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

4, target longitude and latitude high computational

By carrier aircraft longitude and latitude height with target phase pair warp and weft height be added, the actual longitude of target can be obtained latitude θ, height H:

θ=θ'+Δθ

H=H′-ΔH。

Claims (1)

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

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

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

(3) aim at wish target acquisition and gather infrared image and visible images respectively, carry out target acquisition according to image and lock, ranging information, pitching, azimuthal displacement information gps coordinate information and carrier aircraft course, pitching, roll information be uploaded to information process unit are gathered respectively to the target of locking;

(4) information process unit calculates its coordinate in carrier aircraft is connected coordinate system by airborne equipment target locating set azimuth pitch information and ranging information, and then be coordinate in carrier aircraft NED coordinate system by three-dimensional rotation conversion by coordinate conversion, carrier aircraft NED coordinate system: be rectangular coordinate system, initial point is connected in carrier aircraft center, OX axle points to positive north, OY axle points to due east, and it is downward that OZ axle is oriented to vertical; The radius of a ball calculates target phase pair warp and weft difference in height in combination again, and target phase pair warp and weft difference in height being combined with carrier aircraft GPS information obtains the actual longitude and latitude height of target, utilizes the location of hyperspace shift theory realize target.