CN106441356A - Device and method for correcting relative angular displacement of aviation airborne platform and aerial carrier - Google Patents
Device and method for correcting relative angular displacement of aviation airborne platform and aerial carrier Download PDFInfo
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- CN106441356A CN106441356A CN201610805858.4A CN201610805858A CN106441356A CN 106441356 A CN106441356 A CN 106441356A CN 201610805858 A CN201610805858 A CN 201610805858A CN 106441356 A CN106441356 A CN 106441356A
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 62
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- 238000003384 imaging method Methods 0.000 claims description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000012937 correction Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000002715 modification method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000004364 calculation method Methods 0.000 abstract description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a device and method for correcting the relative angular displacement of an aviation airborne platform and an aerial carrier. Real-time angular displacement is obtained through measurement and calculation, the result can be sent to the platform as an error compensation item, the error compensation item and the current attitude angle of the aerial carrier are superposed to obtain a more accurate visual axis angle value, and therefore positioning precision is easily improved. The system has a low requirement for space and a hardware resource. A hardware structure is compact, cost is low, and installing modes are diversified; the calculated amount of software is small, real-time performance is high, and correcting is effective; during initial angle zero position alignment at the earlier stage, alignment and calibration on the ground are not needed, alignment can completed within several minutes; by collecting initial values, the current value is measured in real time during flight, results are analyzed, and displacement unrelated to the positioning results is filtered away.
Description
Technical field
The present invention relates to airborne platform to technical field of target location and in particular to a kind of revise airborne platform
Apparatus and method with carrier aircraft relative angular displacement.
Background technology
In order to expand scope of reconnaissance, most of airborne platform all carries shafting structure, such imaging system (video camera, photograph
Camera and thermal imaging system etc.) can pass through to rotate expansion scope of reconnaissance in carrier aircraft.So most of airborne platform can be divided into
Base part 20 and pivotable parts 21.Pedestal 20 is used for being fixed to carrier aircraft, and pivotable parts 21 pass through shafting with pedestal even
Connecing, driving imaging system to rotate thus searching for target.For the requirement of versatility and maintainability, in aerial reconnaissance, airborne flat
Platform generally adopts strapdown mode, and in order to improve scouting image quality, the pedestal 20 of airborne platform typically requires by shock absorber
It is fixed in carrier aircraft, thus isolated part vibration, improve the stability of platform itself.But most damper main bodies adopt
Damping structure belongs to flexible material, so during practical flight, by engine luggine, windage, carrier aircraft flight unstable,
The impact of the factors such as platform displacement, airborne platform can produce the displacement with respect to carrier aircraft.These displacements include integral translation,
Angular displacement and mixing displacement.
In existing target positioning field, majority be required for using by spot relative to carrier aircraft deflection.This
Deflection refers to the reference direction sanctified by usage with respect to horizontal direction, zenith or vertical direction, north orientation or east orientation etc.
Angle.In flight course, if desired determine this angle, on the one hand need to know the relative by spot of airborne platform output
In the angle of airborne platform, on the other hand need to know the angle with respect to reference deflection for the airborne platform itself.Airborne
Platform passes through to isolate the motion of carrier aircraft, independent spot, rotates by target lock-on in visual field by continuous, so that it is determined that regarding
Axle is with respect to the direction of carrier aircraft.Inertial navigation unit (IMU) can determine itself attitude angle, but is limited to the volume of airborne platform, inertial navigation
Unit is not placed on airborne platform mostly, but in other cabins in carrier aircraft.Inertial navigation list is adjusted during by initial installation
Angle in carrier aircraft for the unit is it is believed that the benchmark zero degree direction of platform is consistent with the zero degree direction of carrier aircraft.But, produce position in platform
In the case of shifting, the zero degree direction of carrier aircraft and the zero degree direction of platform are possible to glance off.The now course of airborne platform
Instruction line 11 will be moved and/or rotate, and in the middle of various rotations, be only only to positioning accurate along the translation in instruction line direction
Degree affects negligible situation.The movement of remaining any direction and rotation, all can be to positioning including the rotation around itself
Result produces considerable influence.When rotating, the angle of pitch of itself of platform output and azimuth is relied on to be resolved
When, actually inaccurate.That is, there is error with respect to reference direction in the target of acquisition.
Content of the invention
In view of this, the invention provides a kind of device revising airborne platform and carrier aircraft relative angular displacement and side
Method, on the basis of airborne platform, this angular displacement is decomposed in three attitude angle of the carrier aircraft that is added to, can reduce Coordinate Conversion mistake
Error in journey, thus improve positioning precision.
A kind of device revising airborne platform and carrier aircraft relative angular displacement, including cross, probe, illuminator,
Imaging system, position control system and turn-key system；
Described cross is fixed on the top of the pedestal of airborne platform；4 feeler arms of cross are in the same plane,
One radially movable probe is arranged on each feeler arm；The outboard end of each probe is provided with illuminator and becomes
As system；Illuminator is used for corresponding bulkhead region of popping one's head in is illuminated；Imaging system is used for bulkhead region is become
Picture；
Described position control system controls position in respective feeler arm for the probe according to the control instruction of turn-key system, with
When, detect the positional information of probe, and feed back to turn-key system；
The probe position information that described turn-key system feeds back according to position control system, sends to position control system and controls
Instruction；Meanwhile, the bulkhead plan picture being obtained according to imaging system, judges that cross is rotating with airborne platform and/or translating
Afterwards, obtain each probe with respect to the displacement of initial position, thus obtain the angular displacement size that cross is with respect to carrier aircraft, adopt
It is added in the corresponding attitude angle of carrier aircraft with this angular displacement size, the deflection error of target is modified.
A kind of airborne platform and the modification method of carrier aircraft relative angular displacement, comprise the steps：
Step 1：Calibration probe initial position：
When the mounting plane of airborne platform is adjusted to consistent with the attitude angle of carrier aircraft itself, airborne platform is fixed
To in carrier aircraft and be elevated to real work position, the center of cross is overlapped with the geometric center of pedestal；Now, start position
Control system, each probe is adjusted to approach four sides bulkhead, and control four illuminators illuminate just to bulkhead, become for four
As system acquisition bulkhead image texture, turn-key system according to the image texture of bulkhead record now each probe just to cabin
Wall position, as reference origin；
Step 2：Real-time Collection displacement is simultaneously analyzed；
In flight course, airborne platform and cross thereon rotate relative to carrier aircraft, by each imaging system
System shoot just to bulkhead, turn-key system according to image texture obtain each probe with respect to respective reference origin occur position
Shifting amount, in conjunction with probe brachium, obtains the angular displacement size that cross is with respect to carrier aircraft, wherein, described angular displacement is respectively pitching
The angular displacement of angle, roll angle and course angle；
Step 3：Error correction：
The cross that step 2 is obtained is added to corresponding three attitude angles of carrier aircraft with respect to the angular displacement size of carrier aircraft
On, the deflection error of target is modified.
Preferably, obtaining cross phase according to 4 displacements occurring with respect to respective reference origin of popping one's head in step 2
Concrete grammar for the angular displacement size of carrier aircraft is：
Former and later two probes along aircraft flight direction are respectively defined as front probe and rear probe, left and right two probe is fixed
Justice is left probe and right probe；Two dimension is set up for initial point in bulkhead plane with each reference origin popped one's head on corresponding bulkhead straight
Angular coordinate system, is defined as bulkhead coordinate system；
When probe has displacement, the displacement of each probe is decomposed two each corresponding in bulkhead coordinate system
In reference axis, that is, it is expressed as (u1,v1)、(u2,v2)、(u3,v3) and (u4,v4)；
Defining the brachium between forward and backward probe is l12, between left and right probe, brachium is l34, then the angle of pitchRoll angleCourse angle
The present invention has the advantages that：
The positive effect of the present invention is by measurement and is calculated real-time angular displacement, can send the result to put down
Platform, as error compensation item, is superimposed with carrier aircraft current pose angle, obtains more accurate optical axis angle value, is conducive to improving and determines
Position precision.And this system is all relatively low to the demand of space and hardware resource.Compact hardware, low cost, can be with multiple shapes
Formula is installed；Software amount of calculation is little, real-time is high, correction is effective, and it is not necessary to increase in the alignment procedures of early stage initial angle zero-bit
Plus be aligned on the ground and calibration, can complete within a few minutes, by gathering initial value, awing measure current in real time
Value analysis result, filter the displacement unrelated with positioning result.
Brief description
Fig. 1 is displacement measurement system top view.
Fig. 2 is displacement measurement system installation site and fundamental diagram.In order to read conveniently, in figure only gives before and after cabin
The schematic diagram of wall, and it is not drawn into left and right bulkhead.
u1-v1Before being, the initial position of probe is reference origin, the bulkhead coordinate system set up on scuttle bulkhead, u1For water
Square to v1For vertical direction；u2-v2After being, the initial position of probe is reference origin, and the bulkhead set up on aftbulkhead is sat
Mark system.Being not drawn into of left and right bulkhead.
Wherein, 1- top；2- cross；4,7,15,16- illuminators；5,8,18,19- imaging system；Pop one's head in before 3-,
Pop one's head in after 6-, the left probe of 14-, the right probe of 17-；9- position control system；10- turn-key system；11- bearing indication line, before 12-
Wall；13- rear wall；20- pedestal, 21- pivotable parts.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
The present invention is whole set of system, contains software and hardware two parts.
As shown in Figure 2, airborne platform include pedestal 20 and pivotable parts 21 (pass through coupling of shaft system with pedestal 20, can
With around the rotation of multiple axles, thus driving scouting imaging system search target), in top 1 (the platform use of the pedestal 20 of airborne platform
Fixed pedestal part in strapdown to carrier aircraft) fix a measurement cross 2, comprise four in four measurement arms of this cross 2
Individual telescopic probe, front probe 3, afterwards probe 6, left probe 14, right probe 17, each probe is controlled by position control system 9, can
With by flexible four walls approaching load cabin respectively, i.e. antetheca 12 and rear wall 13 (left wall and right wall are not drawn into).Outside front probe 3
There are LED illumination System 4 and imaging system 5 in end；There are LED illumination System 7 and imaging system 8 in the outer end of probe 6 afterwards；Left probe 14
There are LED illumination System 15 and imaging system 16 in outer end；There are LED illumination System 16 and imaging system 18 in the outer end of right probe 17.Visit
Head position control system 9 contains four micro-machines and position sensor, for receiving the information of turn-key system 10, is controlled with this
Four positions in cross 2 of popping one's head in, and the positional information of probe is fed back to turn-key system 10.Four bulkheads are to measurement
The center of cross 2 is not necessarily equidistant, and that is, four of cross 2 measurement arms are not necessarily isometric, need by position control
The positional information of system 9 feedback determines.
Turn-key system 10 passes through to receive the signal of imaging system 5,8,18,19, measures four probes with respect to reference origin
Displacement, in conjunction with measurement arm length, the deflection that cross 2 is with respect to carrier aircraft be can get by coordinate projection and trigonometric function
Angle, due to three deflection angles using being rigidly connected, obtaining between the pedestal 20 of cross 2 and airborne platform, Ke Yizhi
Connect and be added in the attitude angle of carrier aircraft, and send result to the main control part of airborne platform, subsequent calculations carry out error
Compensate.Wherein, described angular displacement is respectively the angle of pitch, roll angle and course angle angular displacement；In the middle of three attitude angle of carrier aircraft,
The angle of pitch refers to the pitching in vertical direction for the carrier aircraft head；Roll angle be two wings with fuselage for axle vertical direction rolling
Dynamic；Course angle refers to deviate the angle of positive north in the horizontal plane.
Wherein, this system mounting location as shown in Figure 2, can be combined with airborne platform using two ways.
The first is that this system is integrated alone, is fixed on by being rigidly connected on the pedestal 20 of airborne platform, whole system
For a patty, be integrally attached to the top of pedestal 20, the degree more than needed of visual space select to be fixed on the inside of pedestal 20 or
Outside, and flexible sealing can be wrapped to form using latex, to reach waterproof requirement.
Second is measurement cross 2 and turn-key system 10 adopts split-type design.Measurement bay 2 needs to be rigidly connected to machine
Pedestal 20 part of carrying platform, turn-key system 10 can correct position according within space requirement is integrated into airborne platform.Two
Part transmission line interconnection communicates.
Both mounting means require that measurement cross 2 surrounding during real work still has bulkhead to be available for gathering
Image, when that is, load cabin outside is down to by platform, probe still needs to inside load cabin.
A kind of method revising angular displacement between airborne platform and carrier aircraft, comprises the following steps：
Step 1：Calibration probe initial position.When the mounting plane of airborne platform is adjusted to the attitude angle one with carrier aircraft itself
When cause, photoelectric platform is fixed in carrier aircraft and is elevated to real work position, by the center of cross 2 and pedestal 20
Geometric center overlaps.Now, start position control system 9, flexible probe is adjusted to approach four sides bulkhead, due to general in cabin
Dark, four LED illumination System by illuminate just to bulkhead, pass through respectively to gather image texture and mould for four imaging systems
Formula record now just to bulkhead position, as the reference origin of four coordinate systems, store in turn-key system 10.Follow-up
During, calculate this platform relative displacement when all as reference origin.
Step 2：Real-time Collection displacement is simultaneously analyzed.Due in flight course, when airborne platform is in operating position, by
In factors such as vibration, flow perturbations, the active force that airborne platform is subject to contains various modes, and consequent displacement is also multiple
Various, larger for positioning effects, be the skew of the optical axis, i.e. the overall rotation producing on shock absorber of platform.The present invention adopts
Four probe systems be exactly in order to be can determine by offside difference the relative displacement of platform and carrier aircraft be integral translation or
Rotation.If translation, due to the displacement very little of shock absorber, platform can control in millimeter (mm) magnitude relative to the displacement of carrier aircraft,
Impact to positioning is very little；If but containing rotation it is assumed that because detection range is in km (km) magnitude, small-sized
On platform (radius of turn is in 10cm), the rotation of 1mm can so that at 1km the position error of target reach 10m.
Former and later two probes along aircraft flight direction are respectively defined as front probe 3 and rear probe 6, left and right two probe
It is defined as left probe 14 and right probe 17；Set up in bulkhead plane with each reference origin on corresponding bulkhead of popping one's head in for initial point
Two-Dimensional rectangular coordinate system, is defined as bulkhead coordinate system；Each probe is obtained with respect to respective reference origin according to image texture
The displacement occurring, each displacement popped one's head in is projected in respective coordinate system according to level-vertical direction, forms tape symbol
Coordinate pair (uk,vk), k represents 1,2,3,4 four probes.In conjunction with probe brachium, obtain the angle that cross 2 is with respect to carrier aircraft
Displacement, it is right to obtain signed vector, such as (u1,v1)=(3, -2).
Step 3：Error correction.
The distance between probe is l in front and back12, between the probe of left and right, distance is l34, then the angle of pitch
Roll angleCourse angleThe angle now obtaining is also signed, can be direct
In three attitude angle of the carrier aircraft that is added to when the Coordinate Conversion in position fixing process.If u1=u2≠ 0, airborne platform is described
Carry out integral translation in vertical direction, this amount of movement typically in grade, affects on positioning result very little, can neglect
Slightly.u3=u4≠0、v1=v2≠ 0 situation is also such.
Describe the embodiment within the present invention below in conjunction with the accompanying drawings in detail.Four probes are same structures, now first with
Front probe 3 illustrates.LED illumination lamp 4 be fixed on before probe 3 outer end, operating room's light is irradiated on scuttle bulkhead 12, be for
There is provided sufficient illumination, the picture arriving in order to cameras capture in the very dark platform cabin miniature high-speed cmos camera
There are enough identifications.Cmos camera just shoots to scuttle bulkhead, delivers to the DSP in turn-key system 10 by transmission line after imaging
Chip, is analyzed the change of texture in the middle of picture by dsp chip, and before calculating, drawing, probe 3 is with respect to the movement of scuttle bulkhead
Amount.Meanwhile, if DSP judges that the picture that cmos camera captures has illumination not enough situation, probe positions can be sent not
Enough signals, are sent to displacement control system 9 through transmission line.Before displacement control system 9 is driven by micro-machine, probe 3 is stretched
Long, thus approaching scuttle bulkhead, to obtain enough illumination, the position of new front probe 3 is fed back to master control part, after being used for simultaneously
Continuous calculating.
Equally, the course of work of its excess-three probe is identical with this, and master control part is passed through to calculate two to the phase between probe
To position, obtain the total length of both direction top offset line segment, then according to the displacement recording on bulkhead, use trigonometric function
Method is calculated platform base deviation angle with respect to carrier aircraft in the two directions, and this is between airborne platform and carrier aircraft
Angular displacement.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (3)
1. a kind of device revising airborne platform and carrier aircraft relative angular displacement is it is characterised in that include cross, probe,
Illuminator, imaging system, position control system and turn-key system；
Described cross is fixed on the top of the pedestal of airborne platform；4 feeler arms of cross are in the same plane, each
One radially movable probe is arranged on individual feeler arm；The outboard end of each probe is provided with illuminator and imaging system
System；Illuminator is used for corresponding bulkhead region of popping one's head in is illuminated；Imaging system is used for bulkhead region is imaged；
Described position control system controls position in respective feeler arm for the probe according to the control instruction of turn-key system, meanwhile,
Detect the positional information of probe, and feed back to turn-key system；
The probe position information that described turn-key system feeds back according to position control system, sends control to position control system and refers to
Order；Meanwhile, the bulkhead plan picture being obtained according to imaging system, judges cross after rotating and/or translate with airborne platform,
Obtain each probe with respect to the displacement of initial position, thus obtain the angular displacement size that cross is with respect to carrier aircraft, adopt
This angular displacement size is added in the corresponding attitude angle of carrier aircraft, and the deflection error of target is modified.
2. a kind of modification method based on the device described in claim 1 is it is characterised in that comprise the steps：
Step 1：Calibration probe initial position：
When the mounting plane of airborne platform is adjusted to consistent with the attitude angle of carrier aircraft itself, airborne platform is fixed to load
On machine and be elevated to real work position, the center of cross is overlapped with the geometric center of pedestal；Now, start position control
System, each probe is adjusted to approach four sides bulkhead, and control four illuminators illuminate just to bulkhead, for four imaging systems
System collection bulkhead image texture, turn-key system according to the image texture of bulkhead record now each probe just to bulkhead position
Put, as reference origin；
Step 2：Real-time Collection displacement is simultaneously analyzed；
In flight course, airborne platform and cross thereon rotate relative to carrier aircraft, are clapped by each imaging system
Take the photograph just to bulkhead, turn-key system according to image texture obtain each probe with respect to respective reference origin occur displacement
Amount, in conjunction with probe brachium, obtain the angular displacement size that cross is with respect to carrier aircraft, wherein, described angular displacement be respectively the angle of pitch,
Roll angle and the angular displacement of course angle；
Step 3：Error correction：
The cross that step 2 is obtained is added in corresponding three attitude angles of carrier aircraft with respect to the angular displacement size of carrier aircraft,
The deflection error of target is modified.
3. modification method as claimed in claim 2 is it is characterised in that pop one's head in respect to respective reference according to 4 in step 2
The displacement that initial point occurs obtains cross and with respect to the concrete grammar of the angular displacement size of carrier aircraft is：
Former and later two probes along aircraft flight direction are respectively defined as front probe and rear probe, left and right two probe is defined as
Left probe and right probe；For initial point, two-dimentional right angle is set up on bulkhead plane with each reference origin popped one's head on corresponding bulkhead to sit
Mark system, is defined as bulkhead coordinate system；
When probe has displacement, the displacement of each probe is decomposed two coordinates each corresponding in bulkhead coordinate system
On axle, that is, it is expressed as (u1,v1)、(u2,v2)、(u3,v3) and (u4,v4)；
Defining the brachium between forward and backward probe is l12, between left and right probe, brachium is l34, then the angle of pitch
Roll angleCourse angle
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610805858.4A CN106441356B (en) | 2016-09-06 | 2016-09-06 | A kind of device and method for correcting airborne platform and carrier aircraft relative angular displacement |
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| CN201610805858.4A CN106441356B (en) | 2016-09-06 | 2016-09-06 | A kind of device and method for correcting airborne platform and carrier aircraft relative angular displacement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107589431A (en) * | 2017-04-24 | 2018-01-16 | 西安应用光学研究所 | A kind of boresight method for improving airborne lidar for fluorescence target location accuracy |
| CN108981754A (en) * | 2018-09-28 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of photoelectric platform and carrier aircraft setting angle zero position |
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| US20060126075A1 (en) * | 2004-12-10 | 2006-06-15 | Honeywell International Inc. | Small angle high frequency angular displacement measurement system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107589431A (en) * | 2017-04-24 | 2018-01-16 | 西安应用光学研究所 | A kind of boresight method for improving airborne lidar for fluorescence target location accuracy |
| CN107589431B (en) * | 2017-04-24 | 2020-08-18 | 西安应用光学研究所 | Target calibration method for improving target positioning accuracy of airborne photoelectric system |
| CN108981754A (en) * | 2018-09-28 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of method of photoelectric platform and carrier aircraft setting angle zero position |
| CN108981754B (en) * | 2018-09-28 | 2020-10-13 | 中国科学院长春光学精密机械与物理研究所 | Method for zero alignment of mounting angles of photoelectric platform and carrier |
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| Publication number | Publication date |
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| CN106441356B (en) | 2019-04-02 |
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