阅读说明：本技术 一种基于组合惯导信息和光电转塔视频跟踪的运动目标测速测向方法 (Moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking ) 是由 渠继峰 吉书鹏 刘志广 赵冠军 许建铮 于 2019-09-29 设计创作，主要内容包括：一种基于组合惯导信息和光电转塔视频跟踪的运动目标测速测向方法,在目标测速测向过程中,光电转塔的视轴始终指向目标,同时光电转塔的激光测距仪持续测量目标到载机的直线距离；机载计算机同步实时采集在地理坐标系下载机的北向速度<Image he="67" wi="85" file="DDA0002220326410000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>东向速度<Image he="63" wi="89" file="DDA0002220326410000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>航向角α、俯仰角β、横滚角γ,和在视轴坐标系下光电转塔的方位角α<Sub>1</Sub>、俯仰角β<Sub>1</Sub>、滚转角γ<Sub>1</Sub>、方位角速度ω<Sub>z</Sub>,俯仰角速度ω<Sub>y</Sub>,以及目标到载机的直线距离D；然后通过机载计算机计算出目标的速度Vt和方向角αt。(A moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking is characterized in that in the target speed and direction measuring process, a visual axis of a photoelectric turret always points to a target, and a laser range finder of the photoelectric turret continuously measures the linear distance from the target to a carrier; on-board computer synchronously and real-timely acquiring northbound speed of downloading machine in geographic coordinate system East speed Course angle alpha, depressionElevation angle beta, roll angle gamma, and azimuth angle alpha of the photoelectric turret in a visual axis coordinate system 1 Angle of pitch beta 1 Angle of roll gamma 1 Azimuthal velocity ω z Pitch angle velocity ω y And a linear distance D from the target to the carrier; the velocity Vt and the direction angle α t of the target are then calculated by the onboard computer.)

1. A moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking is characterized in that: in the process of measuring speed and direction of a target, the visual axis of the photoelectric turret always points to the target; simultaneously, a laser range finder of the photoelectric turret continuously measures the linear distance from a target to the carrier; synchronous real-time acquisition of airborne computer in geographic coordinate systemNorthbound speed of a downloaderEast speed

2. The method for measuring speed and direction of a moving target based on combined inertial navigation information and photoelectric turret video tracking according to claim 1, which is characterized in that: in the process of measuring speed and direction of a target, the airborne computer synchronously acquires the north speed of an airborne machine under a geographic coordinate system in real time through airborne combined inertial navigationEast speed of carrier in geographic coordinate system

3. The method for measuring speed and direction of a moving target based on combined inertial navigation information and photoelectric turret video tracking according to claim 1, which is characterized in that: in the process of measuring speed and direction of a target, the onboard computer synchronously acquires a course angle alpha, a pitch angle beta and a roll angle gamma of the onboard computer under a geographic coordinate system in real time through onboard combined inertial navigation.

4. The method for measuring speed and direction of a moving target based on combined inertial navigation information and photoelectric turret video tracking according to claim 1, which is characterized in that: in the process of measuring speed and direction of a target, an airborne computer synchronously acquires data on a visual axis seat in real time through tower-borne combined inertial navigation of a photoelectric turretAzimuth angle alpha of photoelectric turret under standard system₁Angle of pitch beta₁Angle of roll gamma₁And the azimuth angle velocity omega of the photoelectric turret_zPitch angle velocity ω_y。

5. The method for measuring speed and direction of a moving target based on combined inertial navigation information and photoelectric turret video tracking according to claim 1, which is characterized in that: in the process of measuring the speed and the direction of a target, the airborne computer acquires the linear distance D from the target to an airborne machine in real time through the photoelectric turret laser distance meter.

6. The method for measuring speed and direction of a moving object based on combined inertial navigation information and photoelectric turret video tracking according to claim 4 or 5, wherein the method comprises the following steps: on-board computer according to formula

7. The method for measuring speed and direction of a moving object based on combined inertial navigation information and photoelectric turret video tracking as claimed in claim 6, wherein: on-board computer according to formula

8. The method for measuring speed and direction of a moving object based on combined inertial navigation information and photoelectric turret video tracking according to claim 2 or 7, which is characterized in that: on-board computer according to formulaThe calculated speed of the target relative to the carrier under the geographic coordinate system

9. The method for measuring speed and direction of a moving object based on combined inertial navigation information and photoelectric turret video tracking according to claim 8, which comprises the following steps: on-board computer according to formula

Technical Field

The invention relates to the technical field of real-time detection of a ground target motion state, in particular to a moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking.

Background

In recent years, high-precision airborne photoelectric reconnaissance turrets have the functions of positioning a ground static target and measuring speed and direction of a moving target; the current common method for measuring speed and direction of a moving target is realized by continuously positioning the moving target; however, because of the existence of large random noise in the positioning of the moving target, the target speed and direction errors calculated through continuous positioning are large; if the noise is attenuated by adopting methods such as smooth filtering and the like, greater measurement lag is brought, so that the contradiction between the measurement precision and the measurement real-time property exists in the conventional method for realizing speed and direction measurement of a moving target through continuous positioning.

Disclosure of Invention

The invention aims to provide a moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking; in the process of measuring the speed and the direction of a target, a visual axis of the photoelectric turret always points to the target, and meanwhile, a laser distance meter of the photoelectric turret continuously measures the linear distance from the target to the carrier; on-board computer synchronously and real-timely acquiring northbound speed of downloading machine in geographic coordinate system

East speed

Course angle alpha, pitch angle beta, roll angle gamma, and azimuth angle alpha of the photoelectric turret in a visual axis coordinate system₁Angle of pitch beta₁Angle of roll gamma₁Azimuthal velocityω_zPitch angle velocity ω_yAnd a linear distance D from the target to the carrier; the velocity Vt and the direction angle α t of the target are then calculated by the onboard computer.

In order to achieve the purpose, the invention adopts the following technical scheme: a moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking comprises the following specific processes:

s1: in the process of measuring speed and direction of a target, the visual axis of the photoelectric turret always points to the target; simultaneously, a laser range finder of the photoelectric turret continuously measures the linear distance from a target to the carrier;

s2: in the process of measuring speed and direction of a target, the airborne computer synchronously acquires the north speed of an airborne machine under a geographic coordinate system in real time through airborne combined inertial navigation

East speed of carrier in geographic coordinate system

S3: in the process of measuring speed and direction of a target, an airborne computer synchronously acquires a course angle alpha, a pitch angle beta and a roll angle gamma of an airborne machine under a geographic coordinate system in real time through airborne combined inertial navigation;

s4: in the process of measuring speed and direction of a target, an airborne computer synchronously acquires the azimuth angle alpha of the photoelectric turret in a visual axis coordinate system in real time through tower-borne combined inertial navigation of the photoelectric turret₁Angle of pitch beta₁Angle of roll gamma₁And the azimuth angle velocity omega of the photoelectric turret_zPitch angle velocity ω_y；

S5: in the process of measuring the speed and the direction of a target, an airborne computer acquires the linear distance D from the target to an airborne machine in real time through a photoelectric turret laser range finder;

s6: on-board computer according to formula

And the azimuth angle speed omega of the collected target in a visual axis coordinate system_zPitch angle velocity omega_yCalculating the linear distance D from the target to the carrier, and calculating the target speed under the visual axis coordinate system

Wherein

Is the target right direction velocity component under the visual axis coordinate system,is the velocity component of the target in the lower direction under the visual axis coordinate system;

s7: on-board computer according to formula

And the calculated target speed under the visual axis coordinate system

Calculating the speed of the target relative to the carrier under the geographic coordinate system

Wherein the content of the first and second substances,

the north component of the relative velocity in the geographic coordinate system,for the east component of the relative velocity in the geographic coordinate system,

a direction cosine matrix for quadratic coordinate transformation;

s8: on-board computer according to formula

The calculated speed of the target relative to the carrier under the geographic coordinate system

And the speed of the carrier collected by the on-board computer

Calculating the speed of the target in the geographic coordinate system

Wherein the content of the first and second substances,

to be the north speed of the target in the geographic coordinate system,

is the east velocity of the target in the geographic coordinate system;

s9: on-board computer according to formula

And the calculated speed of the target in the geographic coordinate system

The velocity Vt and the direction angle α t of the target are finally calculated.

The equations used in the on-board computer calculation process described above are derived as follows:

when the carrier carries the photoelectric turret to track the ground target, the carrier is mostly in a stable flight state, and the climbing rate of the carrier is approximately 0; assuming that the terrain of the detection area is smooth, the climbing speed of the ground moving target is also approximately 0. Under the geographic coordinate system (the geographic coordinate system selects the northeast NED coordinate system), the target speed is used

Speed of load shedding machine

The speed of movement of the target relative to the carrier is then:

wherein

For the north speed of the geographical coordinate system downloader,

for the east speed of the geographic coordinate system downloader,

is the north speed of the target in the geographic coordinate system,

is the east velocity of the target in the geographic coordinate system,

the component of the relative velocity in the north direction of the geographic coordinate system,taking the component of the relative speed in the east direction of the geographic coordinate system as 0;

will vector

Converting into visual axis coordinate, performing two times of coordinate transformation, firstly converting from geographic coordinate system to carrier body coordinate system, and the direction cosine matrix of coordinate transformation is

Alpha, beta and gamma are respectively a heading angle, a pitch angle and a roll angle of the carrier;

then fromThe coordinate system of the machine body is transformed to the coordinate system of the visual axis, and the direction cosine matrix of the coordinate transformation is

α₁、β₁、γ₁Respectively an azimuth angle, a pitch angle and a roll angle of the photoelectric turret under a visual axis coordinate system;

under a visual axis coordinate system, the moving speed of the target is

The speed of the target far away from the photoelectric turret along the visual axis direction under the visual axis coordinate system,

is the target right direction velocity component under the visual axis coordinate system,

is the velocity component of the target in the lower direction under the visual axis coordinate system;

calculating the target speed under the visual axis coordinate system:

order to

The formula four formula and the formula five formula can be obtained

Simplified by the formula six

The formula seven formula is used for inverse calculation to obtain

When the photoelectric turret stably tracks a moving target, the visual axis can always point to the moving target, a high-precision gyroscope arranged in the turret can reflect the angular velocity of the target relative to the visual axis, and the product of the angular velocity and the rotation radius is the velocity of the target relative to the carrier or the photoelectric turret, namelyD is the linear distance from the carrier to the target and can be directly obtained by laser ranging; omega_zIs the azimuth gyro output, omega_yIs the output of a pitching gyro, D, omega_z、ω_yAre all in a known amount and are,

can be obtained by calculation;

is obtained by the formula

Wherein

In order to be of a known quantity,

is calculated by formula eight, therefore

Can be obtained by calculation;

the final target motion rate can be formulated

Calculated, the direction angle can be obtained by formula

Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention relates to a moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking, wherein in the target speed and direction measuring process, a visual axis of a photoelectric turret always points to a target, and a laser range finder of the photoelectric turret continuously measures the linear distance from the target to a carrier; on-board computer synchronously and real-timely acquiring northbound speed of downloading machine in geographic coordinate system

East speed

Course angle alpha, pitch angle beta, roll angle gamma, and azimuth angle alpha of the photoelectric turret in a visual axis coordinate system₁Angle of pitch beta₁Angle of roll gamma₁Azimuthal velocity ω_zPitch angle velocity ω_yAnd a linear distance D from the target to the carrier; then calculating the speed Vt and the direction angle alpha t of the target through an airborne computer; the method solves the problem of measurement lag caused by measuring the speed and the direction angle of the moving target by continuously positioning the moving target and smoothly filtering and reducing noise in the prior art, and realizes the real-time measurement of the moving target; meanwhile, the data acquired by the method are all from high-precision equipment such as airborne combined inertial navigation, photoelectric converter tower-borne combined inertial navigation, laser range finders and the like, so that the method has the characteristic of high data precision and correspondingly improves the precision of speed and direction measurement of the target.

Drawings

Fig. 1 is a schematic diagram of a speed and direction measuring calculation process.

Detailed Description

The invention will be explained in more detail by the following examples, which are disclosed for the purpose of protecting against all changes and modifications within the scope of the invention:

a moving target speed and direction measuring method based on combined inertial navigation information and photoelectric turret video tracking comprises the following specific processes:

s1: in the process of measuring speed and direction of a target, the visual axis of the photoelectric turret always points to the target; simultaneously, a laser range finder of the photoelectric turret continuously measures the linear distance from a target to the carrier;

s2: in the process of measuring speed and direction of a target, the airborne computer synchronously acquires the north speed of an airborne machine under a geographic coordinate system in real time through airborne combined inertial navigation

East speed of carrier in geographic coordinate system

S3: in the process of measuring speed and direction of a target, an airborne computer synchronously acquires a course angle alpha, a pitch angle beta and a roll angle gamma of an airborne machine under a geographic coordinate system in real time through airborne combined inertial navigation;

s4: in the process of measuring speed and direction of a target, an airborne computer synchronously acquires the azimuth angle alpha of the photoelectric turret in a visual axis coordinate system in real time through tower-borne combined inertial navigation of the photoelectric turret₁Angle of pitch beta₁Angle of roll gamma₁And the azimuth angle velocity omega of the photoelectric turret_zPitch angle velocity ω_y；

S5: in the process of measuring the speed and the direction of a target, an airborne computer acquires the linear distance D from the target to an airborne machine in real time through a photoelectric turret laser range finder;

s6: on-board computer according to formula

And the azimuth angle speed omega of the collected target in a visual axis coordinate system_zPitch angle velocity omega_yCalculating the linear distance D from the target to the carrier, and calculating the target speed under the visual axis coordinate system

WhereinAs a coordinate of the visual axisIs the velocity component of the target in the right direction,

is the velocity component of the target in the lower direction under the visual axis coordinate system;

s7: on-board computer according to formula

And the calculated target speed under the visual axis coordinate systemCalculating the speed of the target relative to the carrier under the geographic coordinate system

Wherein the content of the first and second substances,the north component of the relative velocity in the geographic coordinate system,

for the east component of the relative velocity in the geographic coordinate system,

a direction cosine matrix for quadratic coordinate transformation;

s8: on-board computer according to formula

The calculated speed of the target relative to the carrier under the geographic coordinate system

And the speed of the carrier collected by the on-board computer

Calculating the speed of the target in the geographic coordinate system

Wherein the content of the first and second substances,

to be the north speed of the target in the geographic coordinate system,

is the east velocity of the target in the geographic coordinate system;

s9: on-board computer according to formula

And the calculated speed of the target in the geographic coordinate system

The velocity Vt and the direction angle α t of the target are finally calculated.

The following is a specific embodiment of a moving target speed and direction measuring method combining inertial navigation information and photoelectric turret video tracking:

the acquired relevant data of the loader and the photoelectric turret at a certain time are as follows:

α＝232.064，β＝1.786，γ＝9.965，α₁＝46.2，β₁＝-38.7，γ₁＝0.0，ω_z＝0.003972，ω_y＝-0.004339，D＝3969；

calculating to obtain a target speed: vt is 61.6km/h, target azimuth: 273.2 for alpha t

The present invention is not described in detail in the prior art.