阅读说明：本技术 一种基于塔架标三维位置的高速电视角度信息确定方法 (High-speed television angle information determination method based on three-dimensional position of tower logo ) 是由 乜铁宁 刘军 余慧 贾树沣 王敏 李果 傅娜 赵树强 王佳 常佳钰 于 2021-08-05 设计创作，主要内容包括：本发明公开的一种基于塔架标三维位置的高速电视角度信息确定方法,在高速电视相机视场内选定多个标志点作为塔架标,通过大地测量得到标志点相对高速电视相机所在测站系下的角度信息；对目标起飞时高速电视相机拍摄的实测图像数据进行判读,得到塔架标和箭上测量标志在实测图像中的坐标；建立角度信息和实测图像坐标间的关系模型,求得箭上测量标志的角度信息。本发明适用于航天发射火箭垂直起飞段的位置姿态的测量计算,不需要在高速电视加装码盘装置,降低了数据测量处理的复杂度；数据处理模型计算量较小,数据的处理效率高,实现了运载火箭飞行航迹的准确确定,为分析和评定火箭飞行性能提供了可靠的数据支撑。(The invention discloses a high-speed television angle information determination method based on three-dimensional positions of tower marks, which comprises the steps of selecting a plurality of mark points in a field of view of a high-speed television camera as tower marks, and obtaining angle information of the mark points relative to a survey station system where the high-speed television camera is located through geodetic measurement; judging and reading actual measurement image data shot by a high-speed television camera when a target takes off to obtain coordinates of a tower mark and a measurement mark on an arrow in the actual measurement image; and establishing a relation model between the angle information and the actual measurement image coordinates to obtain the angle information of the measurement mark on the arrow. The invention is suitable for the measurement and calculation of the position and the attitude of the vertical takeoff section of the space launch rocket, and a code disc device is not required to be additionally arranged on a high-speed television, so that the complexity of data measurement and processing is reduced; the data processing model has small calculated amount and high data processing efficiency, realizes the accurate determination of the flight path of the carrier rocket, and provides reliable data support for analyzing and evaluating the flight performance of the carrier rocket.)

1. A high-speed television angle information determination method based on a three-dimensional position of a tower mark is characterized by comprising the following steps:

step 1, selecting a plurality of mark points in a field of view of a high-speed television camera as tower marks, and obtaining angle information A of azimuth angles and pitch angles of the mark points relative to a survey station system where the high-speed television camera is located through geodetic measurement_TJBi,E_TJBi，i＝1,2,…,n；

Step 2, interpreting the data of the actual measurement image shot by the high-speed television camera when the target takes off, wherein the interpreted target comprises a tower mark and an arrow measurement mark, and obtaining the coordinate X of the tower mark in the actual measurement image_TJBi,Y_TJBiI-1, 2, …, n and the coordinate X of the measurement mark on the arrow in the measurement image_CLi,Y_CLi，i＝1,2,…,n；

And 3, establishing a relation model between the angle information and the actual measurement image coordinates to obtain the angle information of the measurement mark on the arrow.

2. The method for determining the angle information of the high-speed television based on the three-dimensional position of the tower mark of claim 1, wherein the tower mark points in the step 1 are selected as fixed and uniformly distributed points in the field of view of the high-speed television camera.

3. The method for determining the angle information of the high-speed television based on the three-dimensional position of the tower beacon as claimed in claim 1, wherein the relationship model established in the step 3 is a following azimuth angle relationship matrix Ω_XYAPitch angle relation matrix omega_XYE：

A in formula (1)_avgIs an azimuth angle relation matrix omega_XYAElement average of e_avgIs a pitch angle relation matrix omega_XYEElement average of a_avg、e_avgCalculated by the following equation (2):

4. the method as claimed in claim 3, wherein the azimuth angle relation matrix Ω is determined for the three-dimensional position of the tower beacon_XYAPitch angle relation matrix omega_XYEPerforming singular value decomposition according to the following formulas (3) and (4) to calculate the relation model parameters:

in the formulae (3) and (4), U_XYA、S_XYA、V_XYASequentially represents an azimuth relation matrix omega_XYAPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; u shape_XYE、S_XYE、V_XYESequentially representing the pitch angle relation momentArray omega_XYEPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; lambda [ alpha ]_aijI 1,2,3, j 1,2,3 is an azimuth angle relation matrix Ω_XYARight singular matrix composition elements after singular value decomposition represent the corresponding relation between the actual measurement image coordinates and the angle information of the azimuth angle; lambda [ alpha ]_eijI 1,2,3, j 1,2,3 is the pitch angle relationship matrix Ω_XYEAnd (4) composing elements of the right singular matrix after singular value decomposition, and representing the angle information corresponding relation between the real-measurement image coordinate and the pitch angle.

5. The method for determining the angle information of the high-speed television based on the three-dimensional position of the tower mark as claimed in claim 4, wherein the angle information A of the azimuth angle and the pitch angle under the arrow measurement mark corresponding to the interpretation point i is calculated according to the formula (5)_CLi、E_CLi：

Technical Field

The invention belongs to the technical field of aerospace measurement and control, and particularly relates to a method for determining angle information of a high-speed television based on a three-dimensional position of a tower mark.

Background

In the vertical takeoff section of the rocket in the launching task of the aerospace, a plurality of high-speed televisions are generally used for recording angle information of measuring points on the rocket. And after the measuring equipment performs angle multi-intersection calculation, the ballistic attitude parameter of the target can be determined. However, if the angle information recording error occurs in the high-speed television measuring equipment or the target angle information cannot be recorded without installing the shaft angular code disc, the trajectory parameter of the target cannot be determined. Aiming at the situation, the invention constructs a high-speed television angle information determination technology based on the prior information of the position of a known point in a field of view.

Disclosure of Invention

The invention aims to provide a method for determining high-speed television angle information based on a three-dimensional position of a tower logo, and solves the problem of low reliability of the existing measuring equipment when determining trajectory attitude parameters of a target.

The technical scheme adopted by the invention is as follows: a high-speed television angle information determination method based on a three-dimensional position of a tower mark comprises the following steps:

step 1, selecting a plurality of mark points in a field of view of a high-speed television camera as tower marks, and obtaining angle information A of azimuth angles and pitch angles of the mark points relative to a survey station system where the high-speed television camera is located through geodetic measurement_TJBi,E_TJBi，i＝1,2,…,n；

Step 2, interpreting the data of the actual measurement image shot by the high-speed television camera when the target takes off, wherein the interpreted target comprises a tower mark and an arrow measurement mark, and obtaining the coordinate X of the tower mark in the actual measurement image_TJBi,Y_TJBiI-1, 2, …, n and the coordinate X of the measurement mark on the arrow in the measurement image_CLi,Y_CLi，i＝1,2,…,n；

And 3, establishing a relation model between the angle information and the actual measurement image coordinates to obtain the angle information of the measurement mark on the arrow.

The present invention is also characterized in that,

and (3) selecting the tower mark points in the step (1) as fixed and uniformly distributed points in the field of view of the high-speed television camera.

The relation model established in step 3 is as follows, an azimuth angle relation matrix omega_XYAPitch angle relation matrix omega_XYE：

A in formula (1)_avgIs an azimuth angle relation matrix omega_XYAElement average of e_avgIs a pitch angle relation matrix omega_XYEElement average of a_avg、e_avgCalculated by the following equation (2):

matrix omega of azimuth angle relationship_XYAPitch angle relation matrix omega_XYEPerforming singular value decomposition according to the following formulas (3) and (4) to calculate the relation model parameters:

in the formulae (3) and (4), U_XYA、S_XYA、V_XYASequentially represents an azimuth relation matrix omega_XYAPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; u shape_XYE、S_XYE、V_XYESequentially represents a pitch angle relation matrix omega_XYEPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; lambda [ alpha ]_aijI 1,2,3, j 1,2,3 is an azimuth angle relation matrix Ω_XYARight singular matrix composition elements after singular value decomposition represent the corresponding relation between the actual measurement image coordinates and the angle information of the azimuth angle; lambda [ alpha ]_eijI 1,2,3, j 1,2,3 is the pitch angle relationship matrix Ω_XYEAnd (4) composing elements of the right singular matrix after singular value decomposition, and representing the angle information corresponding relation between the real-measurement image coordinate and the pitch angle.

Calculating the angle information A of the azimuth angle and the pitch angle under the arrow measuring mark corresponding to the interpretation point i according to the formula (5)_CLi、E_CLi：

The invention has the beneficial effects that: the method for determining the angle information of the high-speed television based on the three-dimensional position of the tower beacon is suitable for measuring and calculating the position attitude of the vertical takeoff section of the space launch rocket, a code disc device does not need to be additionally arranged on the high-speed television, and the complexity of data measurement processing is reduced; the data processing model has small calculated amount and high data processing efficiency, realizes the accurate determination of the flight path of the carrier rocket, and provides reliable data support for analyzing and evaluating the flight performance of the carrier rocket.

Drawings

FIG. 1 is a flow chart of a method for determining angle information of a high speed television based on three-dimensional position of a tower icon according to the present invention;

fig. 2 is a schematic diagram illustrating the selection of marker points in the method for determining high-speed television angle information based on the three-dimensional position of the tower marker according to the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The invention provides a method for determining angle information of a high-speed television based on the three-dimensional position of a tower mark, which comprises the steps of selecting a plurality of fixed and uniformly distributed mark points in the field of view of a high-speed television camera as a measuring reference (tower mark), and calculating the angle information of an azimuth angle and a pitch angle of the mark points relative to a coordinate system of a measuring station of the high-speed television camera according to the geodetic measurement result of the mark points in the horizontal coordinate system; obtaining coordinates of the tower mark and the measurement mark on the arrow in the actual measurement image by interpreting an optical image shot by a high-speed television camera when the target takes off in the launching task; and establishing a relation model of the angle information and the coordinate information, and calculating the angle information corresponding to the measurement mark on the arrow, namely the target by utilizing singular value decomposition. As shown in fig. 1, the method specifically comprises the following steps:

step 1, selecting a plurality of mark points in a field of view of a high-speed television camera as tower marks, and obtaining angle information A of azimuth angles and pitch angles of the mark points relative to a survey station system where the high-speed television camera is located through geodetic measurement_TJBi,E_TJBi，i＝1,2,…,n；

Step 2, interpreting the data of the actual measurement image shot by the high-speed television camera when the target takes off, wherein the interpreted target comprises a tower mark and an arrow measurement mark, and obtaining the coordinate X of the tower mark in the actual measurement image_TJBi,Y_TJBiI-1, 2, …, n and the coordinate X of the measurement mark on the arrow in the measurement image_CLi,Y_CLi，i＝1,2,…,n；

Step 3, establishing a relation model between the angle information and the actual measurement image coordinates, namely an azimuth angle relation matrix omega_XYAPitch angle relation matrix omega_XYEShown in the figure:

a in formula (1)_avgAnd e_avgIn turn isAzimuthal angle relation matrix omega_XYAAnd pitch angle relationship matrix omega_XYEIs subtracted, the sum of the elements in the matrix is 0, a_avg、e_avgCalculated by the following equation (2):

for matrix omega_XYA、Ω_XYEPerforming singular value decomposition according to the following formulas (3) and (4) to calculate the relation model parameters:

in the formulas (3) and (4), U_XYA、S_XYA、V_XYASequentially represents an azimuth relation matrix omega_XYAPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; u shape_XYE、S_XYE、V_XYESequentially represents a pitch angle relation matrix omega_XYEPerforming singular value decomposition on the left singular matrix, the eigenvalue vector and the right singular matrix; lambda [ alpha ]_aijI 1,2,3, j 1,2,3 is an azimuth angle relation matrix Ω_XYARight singular matrix composition elements after singular value decomposition represent the corresponding relation between the actual measurement image coordinates and the angle information of the azimuth angle; lambda [ alpha ]_eijI 1,2,3, j 1,2,3 is the pitch angle relationship matrix Ω_XYERight singular matrix composition elements after singular value decomposition are carried out, and the corresponding relation of the angle information of the real-measurement image coordinate and the pitch angle is represented;

according to the singular value decomposition operation property, the angle information and the real measurement image coordinate satisfy the following relation:

degenerate A by degenerate the above formula_CLi、E_CLiMoving the term to the left side of the equal sign to obtain a formula (5), and calculating the angle information A of the azimuth angle and the pitch angle under the arrow measurement mark corresponding to the interpretation point i according to the formula (5)_CLi、E_CLi：

Examples

1) Selective tower logo

As shown in FIG. 2, 8 marker points are selected from the field of view of the high-speed television camera as tower markers (numbers 1-8) to determine a measurement model of the high-speed television camera, and the positions and numbers of the marker points are shown in FIG. 2. Geodetic surveying is carried out on the selected mark points to obtain the angle A of the mark points under the coordinate system of the survey station_TJBi,E_TJBi，i＝1,2,…,n：

TABLE 1 Tower calibration station system Angle

2) Data preparation

The coordinate X of the tower mark in the image is obtained through interpretation_TJB1,Y_TJB1、X_TJB2,Y_TJB2…X_TJBi,Y_TJBiCoordinate X of the measurement mark on the arrow (No. A, B) in the image_CL1,Y_CL1、X_CL2,Y_CL2：

TABLE 2 Tower marker in-image coordinates

TABLE 3 coordinates of measurement marks on arrows within the image

3) According to the information such as measurement results and interpretation data, and by combining the calculation formulas (1) to (5), the angle calculation result is obtained as follows:

TABLE 4 Angle of measurement mark on arrow in measuring station system

The method is suitable for measuring and calculating the position and the attitude of the vertical takeoff section of the space launch rocket, is applied to the multi-time launch data processing of long-range rocket series, and fully verifies the effectiveness and the correctness of the algorithm.