CN108680165A - Target aircraft attitude determination method based on optical imagery and device - Google Patents

Target aircraft attitude determination method based on optical imagery and device Download PDF

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CN108680165A
CN108680165A CN201810418096.1A CN201810418096A CN108680165A CN 108680165 A CN108680165 A CN 108680165A CN 201810418096 A CN201810418096 A CN 201810418096A CN 108680165 A CN108680165 A CN 108680165A
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target
optical imagery
aircraft
target aircraft
emulation
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CN108680165B (en
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韩意
陈明
李剑
张宇
谢剑锋
戴堃
段成林
孔静
欧阳琦
熊飞
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63920 Troops Of Pla
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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Abstract

The invention discloses a kind of target aircraft attitude determination method and device based on optical imagery.This method includes：It obtains target aircraft and surveys optical imagery in several emulation optical imagerys of object time and a width target；By in several emulation optical imagerys, the maximum emulation optical imagery of similarity between optical imagery is surveyed with target, is determined as target simulator image；By first posture information of the target aircraft in target simulator image, be determined as target aircraft object time the second posture information, wherein, first posture information is used to indicate the posture that target aircraft is shown in target simulator image, the second posture information be used to indicate target aircraft object time actual measurement posture.Through the invention, achieved the effect that estimate the posture of target aircraft by optics exterior measuring means in practical space travel test mission, met the attitude measurement demand of practical space travel task.

Description

Target aircraft attitude determination method based on optical imagery and device
Technical field
The present invention relates to aircraft fields, true in particular to a kind of target aircraft posture based on optical imagery Determine method and apparatus.
Background technology
The in-orbit during flights of target aircrafts such as tiangong-1, Heavenly Palace two, surface-based observing station can rely on ground optics The optics exterior trajectory measurement equipment such as telescope comes to it into line trace and imaging.Target aircraft on optical imagery can told In the case of the primary structures such as solar energy sailboard, resources module/experiment nacelle, it can be estimated based on optical imagery and judge it Flight attitude, and then grasp its situation in orbit.
Existing to carry out Attitude estimation usually there are two types of method to aircraft, one kind being based on directly on the progress of measured light image Attitude algorithm, but in the case where measuring image is fuzzy, resolution ratio is low, effective characteristic point can not be just extracted, therefore to flying The Attitude estimation precision of row device is very poor；Another kind is the Attitude estimation method based on three-dimensional model search, is found from database With the characteristic value three-dimensional model attitude the most matched of measuring image, but model database is huge and complicated, workload compared with Greatly, the posture of aircraft is estimated less efficient.
In addition,《Spatial target posture method of estimation based on single station ground telescope》Exploitation tool Vega Prime Real-time simulation is carried out, emulation optical imagery is generated in real time to the target of known threedimensional model, relevance degree Optimum Matching is carried out and searches Rope.But there is no the geographical locations for considering ground telescope and the optical axis to be directed toward when being emulated, target and telescope for this method Between real-time relative geometrical relation, thus emulate optical imagery to be not that the target that was photographed of ground foundation simulation telescope is in-orbit fly Row image.In addition, observed image to be estimated and benchmark image are generated using the method for emulation, target in observed image Profile and edge clear, component difference is apparent, and the normalized correlation metric index and calculating of observed image and benchmark image Method is not fully suitable for ground real scene shooting optical imagery.
For the appearance being difficult in practical space travel test mission in the prior art by optics exterior measuring means to aircraft The problem of state is estimated, currently no effective solution has been proposed.
Invention content
The main purpose of the present invention is to provide a kind of target aircraft attitude determination method and dress based on optical imagery It sets, at least to solve to be difficult to estimate the posture of aircraft by optics exterior measuring means in practical space travel test mission The technical issues of meter.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of target based on optical imagery flies Row device attitude determination method.This method includes：Target aircraft is obtained in several emulation optical imagerys of object time and a width Target surveys optical imagery；By in several emulation optical imagerys, it is maximum imitative to survey the similarity between optical imagery with target True optical imagery is determined as target simulator image；By first posture information of the target aircraft in target simulator image, really Be set to target aircraft object time the second posture information, wherein the first posture information is used to indicate target aircraft and exists The posture shown in target simulator image, the second posture information be used to indicate target aircraft object time actual measurement appearance State.
Optionally, acquisition target aircraft includes in several emulation optical imagerys of object time：Obtain target aircraft In the ground measurement data of object time；Obtain the motion state parameters of target aircraft corresponding with ground measurement data；Root Several emulation optical imagerys of target aircraft are generated according to motion state parameters, wherein target aircraft is in several emulation optics The angle changing of the attitude angle in two emulation optical imagerys of arbitrary neighborhood in image, is target angular velocity.
Optionally, by several emulation optical imagerys, the maximum emulation of similarity between optical imagery is surveyed with target Optical imagery, being determined as target simulator image includes：Obtain the First Eigenvalue and target measured light of every width emulation optical imagery Learn the Second Eigenvalue of image；The similarity between the First Eigenvalue and Second Eigenvalue of every width emulation optical imagery is obtained, Obtain multiple similarities；By the corresponding emulation optical imagery of maximum similarity in multiple similarities, it is determined as target simulator figure Picture.
Optionally, the First Eigenvalue for obtaining every width emulation optical imagery includes：Obtain every width emulation optical imagery too The First Eigenvalue in positive energy windsurfing region and nacelle region, wherein the solar energy sail in solar energy sailboard region and target aircraft Plate is corresponding, and nacelle region is corresponding with the nacelle of target aircraft.
Optionally, the First Eigenvalue packet in the solar energy sailboard region and nacelle region of every width emulation optical imagery is obtained It includes：Obtain long axis direction angle and the short-axis direction of the boundary rectangle including solar energy sailboard region of every width emulation optical imagery The characteristic value at angle, and the long axis direction angle and short-axis direction angle of the boundary rectangle including nacelle region characteristic value.
Optionally, the Second Eigenvalue of acquisition target actual measurement optical imagery includes：The sun of optical imagery is surveyed in target On energy windsurfing region and nacelle region, the target instruction target word that response object run generates obtains Second Eigenvalue, wherein solar energy Windsurfing region is corresponding with the solar energy sailboard of target aircraft, and nacelle region is corresponding with the nacelle of target aircraft.
Optionally, on the solar energy sailboard region and nacelle region that target surveys optical imagery, response object run production Raw target instruction target word, obtaining Second Eigenvalue includes：Solar energy sailboard region and the nacelle region of optical imagery are surveyed in target On, response object run generate target instruction target word, obtain include solar energy sailboard region boundary rectangle long axis direction angle with The characteristic value at short-axis direction angle, and the long axis direction angle and short-axis direction angle of the boundary rectangle including nacelle region feature Value.
Optionally, the similarity between the First Eigenvalue and Second Eigenvalue of every width emulation optical imagery is obtained, is obtained Multiple similarities include：The Euclidean distance between the First Eigenvalue and Second Eigenvalue of optical imagery is emulated by every width, is obtained The similarity between the First Eigenvalue and Second Eigenvalue of every width emulation optical imagery is taken, multiple similarities are obtained.
Optionally, by the corresponding emulation optical imagery of maximum similarity in multiple similarities, it is determined as target simulator figure As including：By the corresponding emulation optical imagery of the First Eigenvalue of Euclidean distance minimum between Second Eigenvalue, it is determined as Target simulator image, wherein the corresponding emulation optical picture of the First Eigenvalue of Euclidean distance minimum between Second Eigenvalue The similarity of picture is maximum similarity in multiple similarities.
Optionally, several emulation optical imagerys and width target actual measurement optics of target aircraft in object time are being obtained Before image, this method further includes：Obtain several actual measurement optical imagerys shot in target observation segmental arc, wherein more Width actual measurement optical imagery is different at the time of correspondence；By the actual measurement optical picture that the moment in several actual measurement optical imagerys was the first moment Picture is determined as target actual measurement optical imagery, and the first moment was determined as object time, wherein the time of target observation segmental arc Including the first moment；By first posture information of the target aircraft in target simulator image, it is determined as target aircraft in mesh Mark the moment the second posture information include：By first posture information of the target aircraft in target simulator image, it is determined as mesh Second posture information of the mark aircraft at the first moment, wherein the second posture information is used to indicate target aircraft at first The actual measurement posture at quarter.
Optionally, in the first posture information by target aircraft in target simulator image, it is determined as target aircraft After second posture information at the first moment, this method further includes：It it was the second moment by the moment in several actual measurement optical imagerys Actual measurement optical imagery, be determined as target actual measurement optical imagery, and the second moment be determined as object time, wherein target is seen The time for surveying segmental arc included the second moment, and the second moment was the subsequent time at the first moment；By target aircraft in target simulator The first posture information in image, the second posture information for being determined as target aircraft include：Target aircraft is imitated in target The first posture information in true image, be determined as target aircraft the second moment the second posture information.
To achieve the goals above, according to an aspect of the present invention, a kind of flight based on optical imagery is additionally provided Device posture determining device.The device includes：Acquiring unit, for obtain target aircraft object time several emulation light It learns image and a width target surveys optical imagery；First determination unit, for emulating several in optical imagerys, with target reality The maximum emulation optical imagery of similarity between photometry image, is determined as target simulator image；Second determination unit is used In the first posture information by target aircraft in target simulator image, it is determined as target aircraft the of object time Two posture informations, wherein the first posture information is used to indicate the posture that target aircraft is shown in target simulator image, Second posture information be used to indicate target aircraft object time actual measurement posture.
To achieve the goals above, according to an aspect of the present invention, a kind of storage medium is additionally provided.The storage is situated between Computer program is stored in matter, wherein computer program be arranged to operation when execute the embodiment of the present invention based on optics The target aircraft attitude determination method of image.
Through the invention, real in several emulation optical imagerys of object time and a width target using target aircraft is obtained Photometry image；By in several emulation optical imagerys, the maximum emulation optics of similarity between optical imagery is surveyed with target Image is determined as target simulator image；By first posture information of the target aircraft in target simulator image, it is determined as mesh Second posture information of the mark aircraft in object time, wherein it is imitative in target that the first posture information is used to indicate target aircraft The posture shown in true image, the second posture information be used to indicate target aircraft object time actual measurement posture.Pass through Simulation generates the emulation optical imagery of aircraft, and it is imitative then to select a width closest with actual measurement optics image feature value An immediate width is emulated the posture information of the aircraft of optical imagery by true optical imagery, and the posture as aircraft is believed Breath, has been achieved the purpose that be determined the posture of aircraft based on optical imagery, has solved practical space travel test mission In the technical issues of being difficult to estimate the posture of aircraft by optics exterior measuring means, meet practical space travel and appoint The attitude measurement demand of business.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow of target aircraft attitude determination method based on optical imagery according to the ... of the embodiment of the present invention Figure；
Fig. 2 is a kind of flow of the Attitude estimation method of target aircraft based on optical imagery of the embodiment of the present invention Figure；
Fig. 3 is a kind of composition of the threedimensional model of target aircraft (by taking tiangong-1 as an example) according to the ... of the embodiment of the present invention Partial schematic diagram；
Fig. 4 be a kind of target aircraft according to the ... of the embodiment of the present invention three axis over the ground flight when body coordinate system and track The schematic diagram of RTN coordinate systems；
Fig. 5 is that a kind of actual measurement optical imagery according to the ... of the embodiment of the present invention is shown using what boundary rectangle bounding box was fitted It is intended to；
Fig. 6 is a kind of schematic diagram of the major parameter of OpenGL perspective projections view frustums according to the ... of the embodiment of the present invention；
Fig. 7 is according to the ... of the embodiment of the present invention a kind of by taking three axis of target aircraft fly over the ground as an example, STK emulation knots The contrast schematic diagram of fruit and the optical imagery simulation result based on OpenGL of the embodiment；
Fig. 8 is that a kind of emulation optical imagery according to the ... of the embodiment of the present invention is shown using what boundary rectangle bounding box was fitted It is intended to；And
Fig. 9 is a kind of signal of target aircraft posture determining device based on optical imagery according to the ... of the embodiment of the present invention Figure.
Wherein, above-mentioned attached drawing includes following reference numeral：
1, solar panel (blue)；2, resources module (grey)；3, Laboratory Module (grey)；4, face is far cut；5, it has an X-rayed Project view frustums；6, face is closely cut.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill The every other embodiment that personnel are obtained without making creative work should all belong to the application protection Range.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, " Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that making in this way Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or list Process, method, system, product or the equipment of member those of are not necessarily limited to clearly to list step or unit, but may include not having Have clearly listing or for these processes, method, product or equipment intrinsic other steps or unit.
Embodiment 1
The target aircraft attitude determination method based on optical imagery that an embodiment of the present invention provides a kind of.
Fig. 1 is a kind of flow of target aircraft attitude determination method based on optical imagery according to the ... of the embodiment of the present invention Figure.As shown in Figure 1, this approach includes the following steps：
Step S102 obtains target aircraft and surveys optics in several emulation optical imagerys of object time and a width target Image.
In the technical solution that above-mentioned steps S102 of the present invention is provided, target aircraft is the aircraft of posture to be determined, Object time can be it is a certain observation segmental arc in a certain moment, several emulation optical imagerys can be several ground optics at The emulation optical imagery of picture, can be by computer simulation technique, according to the almanac data of aircraft, ground-based optical telescope The parameters such as site location are simulated using open graphic library (Open Graphics Library, referred to as OpenGL), raw At the emulation optical imagery of aircraft, the emulation optical imagery of the emulation optical imagery namely ground optical imagery is similar to people Eye vision has the characteristics that intuitive and should be readily appreciated that, the information such as the in-orbit state of target can be obtained from image.The embodiment T at the time of can also being corresponded to according to survey station geodetic coordinates longitude, latitude, height, width target actual measurement optical imagery1, aircraft Position (Rx1, Ry1, Rz1), speed (Vx1, Vy1, Vz1), the attitude angle of aircraft, the field angle of ground-based optical telescope, as First number, single pixel dimension etc. carry out the emulation optical imagery that simulation generates aircraft using OpenGL.
Optionally, several emulation optical imagerys of the embodiment are that stepping is pressed on the basis of the initial attitude angle of aircraft Mode changes attitude angle, several obtained emulation optical imagerys.It can be practical to aircraft that one width target, which surveys optical imagery, The image shot, to survey adaptive optical image.The case where aircraft meets certain observation illumination condition Under, aircraft can be taken by ground self-adaptive optical telescope in the image sequence of visible light wave range, the image sequence The solar panel and nacelle profile of aircraft can be distinguished.
It is maximum imitative to survey the similarity between optical imagery by several emulation optical imagerys with target by step S104 True optical imagery is determined as target simulator image.
Above-mentioned steps S104 of the present invention provide technical solution in, obtain target aircraft object time several After emulating optical imagery and width target actual measurement optical imagery, by several emulation optical imagerys, optical picture is surveyed with target The maximum emulation optical imagery of similarity as between, is determined as target simulator image.
Obtain target aircraft object time several emulation optical imagerys and a width target actual measurement optical imagery it Afterwards, the similarity between every width emulation optical imagery and target actual measurement optical imagery can be obtained, multiple similarities are obtained, it will Emulation optical imagery corresponding with maximum similarity in multiple similarities is determined as target simulator image, that is, target simulator Image is to survey the immediate width of optical imagery with target in multiple emulation optical imagerys to emulate optical imagery.Several are imitated In true optical imagery, the maximum emulation optical imagery of similarity between optical imagery is surveyed with target, is determined as target simulator Image.
Optionally, which extracts the characteristic value of target actual measurement optical imagery by manual operation, automatically processes calculating The characteristic value for emulating optical imagery surveys the characteristic value of optical imagery by target and the feature of emulation optical imagery is compared To modes such as, circular treatment and retrievals, the emulation optical imagery closest with target actual measurement optical imagery is selected, as Target simulator image.
First posture information of the target aircraft in target simulator image is determined as target aircraft by step S106 In the second posture information of object time.
In the technical solution that above-mentioned steps S106 of the present invention is provided, in several are emulated optical imagerys, with target reality The maximum emulation optical imagery of similarity between photometry image, is determined as after target simulator image, by target aircraft The first posture information in target simulator image, be determined as target aircraft object time the second posture information, In, the first posture information is used to indicate the posture that target aircraft is shown in target simulator image, and the second posture information is used In instruction target aircraft object time actual measurement posture.
It is maximum imitative to survey the similarity between optical imagery by several emulation optical imagerys with target for the embodiment True optical imagery is determined as after target simulator image, can obtain the first posture information in target simulator image, this One posture information is used to indicate the posture that target aircraft is shown in target simulator image, flies for example, being used to indicate target The in-orbit flight attitude that row device is shown in target simulator image, first posture information can be attitude angle.In the posture In angle (α, beta, gamma), pitch angle α be target in orbital coordinate system (RTN) coordinate system around ON axis counterclockwise rotation after, ontology ox The angle of axis and its projection in TON planes；Yaw angle β be target in RTN coordinate systems around OR axis counterclockwise rotation after, The angle of projection and OT axis of the ontology ox axis in TON planes；Roll angle γ be target around OT axis counterclockwise rotation after, ontology The angle of oy axis and its projection in TON planes.Wherein, track RTN coordinate origins are target aircraft barycenter, and R axis is used In indicating the earth's core to barycenter to diameter direction, T axis is vertical with R axis in orbital plane, the movement side for indicating target aircraft To N is used to indicate the positive normal of orbital plane.
After the first posture information in obtaining target simulator image, the first posture information is determined as target aircraft In the second posture information of object time, second posture information be used to indicate target aircraft object time actual measurement appearance State can be attitude angle, that is, by the attitude angle of the aircraft of target simulator image, the aircraft as actual measurement optical imagery Attitude angle, so as to avoid be directly based upon actual measurement optical imagery carry out aircraft attitude algorithm, due to measuring image differentiate Rate is low, can not extract effective characteristic point, the problem for causing Attitude estimation precision low.
The embodiment is surveyed by obtaining target aircraft in several emulation optical imagerys of object time and a width target Optical imagery；By in several emulation optical imagerys, the maximum emulation optics of similarity between optical imagery is surveyed with target Image is determined as target simulator image；By first posture information of the target aircraft in target simulator image, it is determined as mesh Second posture information of the mark aircraft in object time, wherein it is imitative in target that the first posture information is used to indicate target aircraft The posture shown in true image, the second posture information be used to indicate target aircraft object time actual measurement posture.Due to Then the emulation optical imagery that aircraft is generated by simulation is selected closest with target actual measurement optics image feature value A width emulate optical imagery, by an immediate width emulate optical imagery aircraft posture information, as aircraft Posture information has achieved the purpose that be determined the posture of aircraft, solves and is difficult in practical space travel test mission The problem of being estimated the posture of aircraft by optics exterior measuring means, the posture for meeting practical space travel task are surveyed Amount demand.
As an alternative embodiment, step S102, several emulation light of acquisition target aircraft in object time Learning image includes：Ground measurement data of the acquisition target aircraft in object time；Obtain mesh corresponding with ground measurement data Mark the motion state parameters of aircraft；Several emulation optical imagerys of target aircraft are generated according to motion state parameters, In, the variation of the attitude angle in target aircraft two emulation optical imagerys of the arbitrary neighborhood in several emulation optical imagerys Angle is target angular velocity.
In this embodiment, it when obtaining several emulation optical imagerys of target aircraft in object time, can obtain Ground measurement data of the target aircraft in object time.After obtaining ground measurement data, obtain and ground measurement data The motion state parameters of corresponding target aircraft, can be by the ground measurement data of target aircraft to target aircraft Precise Orbit determination is carried out, during carrying out Precise Orbit determination to target aircraft, perturbative force influence factor is mainly wrapped Earth particle Gravitational perturbation, aspherical Gravitational perturbation, atmospheric drag perturbation, lunisolar gravitational perturbation, solar radiation pressure perturbation etc. are included, Orbit determination accuracy is better than hundred meters of magnitudes.It is calculated by the method for ephemeris interpolation and surveys optical imagery in generation moment institute with every width The motion state of corresponding target aircraft, can calculate and forecast target aircraft past, current and future for a period of time The motion state of interior any time, which includes location parameter, speed parameter etc., to be generation target aircraft Emulation optical imagery and Attitude estimation is carried out to target aircraft accurate relative geometrical relation parameter is provided.
After the motion state parameters for obtaining target aircraft corresponding with ground measurement data, joined according to motion state Number generates several emulation optical imagerys of target aircraft, can be by computer simulation technique according to the position of target aircraft Set parameter, the speed parameter of target aircraft, the attitude angle of target aircraft, the field angle of ground-based optical telescope, pixel number Mesh, single pixel dimension, survey station geodetic coordinates longitude, latitude, height, almanac data, ground-based optical telescope site location etc. Parameter simulates several emulation optical imagerys for generating target aircraft using OpenGL, and the target aircraft is in several emulation light The angle changing for learning the attitude angle in two emulation optical imagerys of arbitrary neighborhood in image is target angular velocity, for example, target Angular speed Δ α can take the angle value between 0.2~0.5, can be pressed on the basis of the initial attitude angle of target aircraft Step-by-step system changes attitude angle of the target aircraft in emulating optical imagery, to obtain several emulation optical imagerys, in turn By in several emulation optical imagerys, the maximum emulation optical imagery of similarity between optical imagery is surveyed with target, is determined as First posture information of the target aircraft in target simulator image is determined as target aircraft in mesh by target simulator image The second posture information for marking the moment, has been achieved the purpose that be determined attitude of flight vehicle based on optical imagery, has improved flight The Attitude estimation precision of device has reached the posture by optics exterior measuring means to aircraft in practical space travel test mission The effect estimated meets the attitude measurement demand of practical space travel task.
Optionally, the embodiment using OpenGL carry out optical imagery emulation foundation be OpenGL perspective projection at As model is similar with the imaging model of optical imaging system.Target geometric dimension and three-dimensional structure, target are opposite with imaging system The factors such as geometrical relationship, geometry imaging model determine size, targeted attitude and the shared number of pixels of image.
Optionally, the embodiment using third party software satellite shoot (Satellite Tool Kit, referred to as STK) correctness of optical imagery emulation mode and result in the embodiment is verified.Can be that ground survey station adds in STK Sensor object makes it be directed toward Satellite Targets, is revolved by the observation visual angle of manual editing and control three-dimensional scenic, targeted attitude Turn, so as to the targeted attitude in showing sensor field of view in the three-dimensional display areas STK, which surveys with ground The targeted attitude that optical device of standing is seen is consistent.It therefore, can be by comparing the target appearance in a certain moment sensor field of view Whether the targeted attitude in state and the image of generation is consistent, to verify the correctness of geometry imaging simulation.
As an alternative embodiment, step S104 surveys optics by several emulation optical imagerys with target The maximum emulation optical imagery of similarity between image, being determined as target simulator image includes：Obtain every width emulation optical picture The Second Eigenvalue of the First Eigenvalue and target the actual measurement optical imagery of picture；Obtain the fisrt feature of every width emulation optical imagery Similarity between value and Second Eigenvalue, obtains multiple similarities；Maximum similarity in multiple similarities is corresponding imitative True optical imagery is determined as target simulator image.
In this embodiment, several emulation optical imagerys and a width target reality of target aircraft in object time are being obtained After photometry image, the First Eigenvalue of every width emulation optical imagery can be obtained, which can fly for target Characteristic value of the row device in a certain region in emulating optical imagery, emulation optical imagery can be distinguished by different colors Different regions.For example, solar panel is blue, resources module and Laboratory Module are grey etc..It obtains target and surveys optics The Second Eigenvalue of image, the Second Eigenvalue can be a certain region of the target aircraft in target surveys optical imagery In characteristic value, for example, for the characteristic value in solar energy sailboard region and nacelle region.
After obtaining every width and emulating the First Eigenvalue of optical imagery and the Second Eigenvalue of target actual measurement optical imagery, The similarity between the First Eigenvalue and Second Eigenvalue of every width emulation optical imagery is obtained, obtains multiple similarities, the phase The similarity degree between every width emulation optical imagery and target actual measurement optical imagery is can serve to indicate that like degree, it will be multiple similar Emulation optical imagery corresponding with maximum similarity, is determined as target simulator image, and then by target aircraft in mesh in degree The first posture information in emulating image is marked, is determined as target aircraft in the second posture information of object time, has reached base In the purpose that optical imagery is determined attitude of flight vehicle, the Attitude estimation precision of aircraft is improved, practical boat has been reached The effect estimated the posture of aircraft by optics exterior measuring means in its flight test mission meets practical space flight The attitude measurement demand of aerial mission.
As an alternative embodiment, the First Eigenvalue for obtaining every width emulation optical imagery includes：Obtain every width Emulate the First Eigenvalue in the solar energy sailboard region and nacelle region of optical imagery, wherein solar energy sailboard region and target The solar energy sailboard of aircraft is corresponding, and nacelle region is corresponding with the nacelle of target aircraft.
In this embodiment, emulation optical imagery is divided into solar energy sailboard region, is made of resources module and Laboratory Module Nacelle region.When obtaining the First Eigenvalue of every width emulation optical imagery, every width emulation optical imagery can be obtained too The solar energy sailboard region of the First Eigenvalue in positive energy windsurfing region and nacelle region, every width emulation optical imagery can be used Target flight is can serve to indicate that in the nacelle region of the solar energy sailboard of instruction target aircraft, every width emulation optical imagery The nacelle of device.Optionally, common range descriptors include region area, barycenter, topological property, texture and not bending moment etc., this Do not do any restrictions in place.
As an alternative embodiment, obtaining solar energy sailboard region and the nacelle region of every width emulation optical imagery The First Eigenvalue include：Obtain the long axis side of the boundary rectangle including solar energy sailboard region of every width emulation optical imagery The long axis direction angle and short-axis direction angle of boundary rectangle to the characteristic value at angle and short-axis direction angle, and including nacelle region Characteristic value.
In this embodiment, the fisrt feature in the solar energy sailboard region and nacelle region of every width emulation optical imagery is obtained When value, the long axis direction angle and short axle side of the boundary rectangle including solar energy sailboard region of every width emulation optical imagery are obtained To the characteristic value at angle, wherein the long axis direction angle of the boundary rectangle in solar energy sailboard region is used to indicate the extension side in region To.
Optionally, the embodiment is in such a way that computer program automatically processes, according to unlike material color to emulating light It learns image and carries out Automatic image segmentation, be divided into the nacelle region in the solar panel region and grey of blue, then to segmentation Windsurfing afterwards and nacelle region directly calculate the index parameters such as long axis direction angle, short-axis direction angle respectively.
Optionally, which carries out model format conversion, editor, processing to the threedimensional model file of target aircraft Deng processing, the key messages such as geometric dimension, the body coordinate system direction of threedimensional model are edited, and save as 3ds formatted files, 3 d modeling software 3DS MAX can be used to carry out model format conversion, editor, processing and processing, edit the several of threedimensional model What size, direction of ontology reference axis, indicates with different colors and distinguishes the different components in target aircraft, than Such as, solar panel is blue, and resources module and Laboratory Module are grey, and setting material is unrestrained anti-to the scattering properties of light source It penetrates.
As an alternative embodiment, the Second Eigenvalue for obtaining target actual measurement optical imagery includes：In target reality On the solar energy sailboard region and nacelle region of photometry image, it is special to obtain second for the target instruction target word that response object run generates Value indicative, wherein solar energy sailboard region is corresponding with the solar energy sailboard of target aircraft, nacelle region and target aircraft Nacelle it is corresponding.
In this embodiment, since the actual measurement optical imagery of target aircraft has the characteristics that image blur, contrast are low, Solar array and the general outline of main body can only be distinguished, the barycenter in region is also difficult to accurately calculate.Just with actual measurement optical picture It is handled as can not accurately extract target feature point, therefore using the method for manual operation processing actual measurement optical imagery.It is obtaining When taking the Second Eigenvalue of target actual measurement optical imagery, image segmentation is carried out to target actual measurement optical imagery, obtains target actual measurement The solar energy sailboard region and nacelle region of optical imagery, target surveys the solar energy sailboard region of optical imagery and target flies The solar energy sailboard of row device is corresponding, and the nacelle region that target surveys optical imagery is corresponding with the nacelle of target aircraft. Target is surveyed on the solar energy sailboard region and nacelle region of optical imagery, and the target instruction target word that response object run generates obtains Second Eigenvalue, wherein object run namely the operation by manually being operated.
As an alternative embodiment, surveying solar energy sailboard region and the nacelle region of optical imagery in target On, the target instruction target word that response object run generates, obtaining Second Eigenvalue includes：The solar energy of optical imagery is surveyed in target On windsurfing region and nacelle region, the target instruction target word that response object run generates, acquisition includes the external of solar energy sailboard region The characteristic value at the long axis direction angle and short-axis direction angle of rectangle, and the boundary rectangle including nacelle region long axis direction angle With the characteristic value at short-axis direction angle.
Optionally, which obtains long axis direction angle and the short-axis direction for the boundary rectangle for including solar energy sailboard region The characteristic value at angle, and the long axis direction angle and short-axis direction angle of the boundary rectangle including nacelle region characteristic value, can be right Windsurfing region and nacelle region after target actual measurement optics image segmentation carry out polygon approach respectively, mainly use external The method of Rectangular Bounding Volume is fitted, and finally calculates long axis direction angle, the short-axis direction of windsurfing and nacelle region boundary rectangle The indexs such as angle.
As an alternative embodiment, obtaining the First Eigenvalue and actual measurement optical imagery of every width emulation optical imagery Second Eigenvalue between similarity, obtaining multiple similarities includes：The First Eigenvalue of optical imagery is emulated by every width Euclidean distance between the Second Eigenvalue of actual measurement optical imagery, obtain the First Eigenvalue of every width emulation optical imagery with The similarity between the Second Eigenvalue of optical imagery is surveyed, multiple similarities are obtained.
Similar attitude mode can be expressed as in characteristic vector space similar one group of feature vector, the embodiment into Row emulation optical imagery and the matching for surveying similitude between optical imagery can calculate measured light in multidimensional feature space The space length of the characteristic value and the characteristic value of emulation optical imagery of image is learned, which can be Euclidean distance, pass through Euclidean distance emulates the similarity of optical imagery and actual measurement optical imagery to weigh.
As an alternative embodiment, by the corresponding emulation optical imagery of maximum similarity in multiple similarities, Being determined as target simulator image includes：By first of the Euclidean distance minimum between the Second Eigenvalue for surveying optical imagery The corresponding emulation optical imagery of characteristic value, is determined as target simulator image, wherein the Euclidean distance between Second Eigenvalue The similarity of the corresponding emulation optical imagery of minimum the First Eigenvalue, is maximum similarity in multiple similarities.
The embodiment is determined as target simulator by the corresponding emulation optical imagery of maximum similarity in multiple similarities When image, by the corresponding emulation of the First Eigenvalue of Euclidean distance minimum between the Second Eigenvalue of actual measurement optical imagery Optical imagery is determined as target simulator image.Optionally, if actual measurement optical imagery and the feature vector point for emulating optical imagery It Wei not X=(x1, x2..., xn), Y=(y1, y2..., yn), then the expression formula of Euclidean distance is：
Optionally, which changes targeted attitude automatically, generates several emulation optical imagerys, and automatically processing meter During calculating characteristic value, weights of different sizes can be assigned to different characteristic value, to apply to result according to feedback It influences, the euclidean distance metric of weighting can be withIt is expressed, whereinFor indicating not With the weighted value of characteristic value.
As an alternative embodiment, in step S102, several emulation of target aircraft in object time are obtained Before optical imagery and width target actual measurement optical imagery, this method further includes：Acquisition is shot in target observation segmental arc to be obtained Several actual measurement optical imagerys, wherein several actual measurement optical imagerys difference at the time of corresponds to；It will be in several actual measurement optical imagerys Moment is the measuring image at the first moment, is determined as target actual measurement optical imagery, and the first moment was determined as object time, Wherein, the time of target observation segmental arc included the first moment；Step S106, by target aircraft in target simulator image First posture information, be determined as target aircraft includes in the second posture information of object time：By target aircraft in target The first posture information in emulating image, be determined as target aircraft the first moment the second posture information, wherein second Posture information be used to indicate target aircraft the first moment actual measurement posture.
In this embodiment, several emulation optical imagerys and a width target reality of target aircraft in object time are being obtained Before photometry image, several actual measurement optical imagerys shot in target observation segmental arc are obtained, for example, passing through ground The actual measurement optical imagery for the target aircraft that optical telescope is clapped in a certain observation segmental arc shares N width, and every width surveys optics The corresponding imaging moment of image is respectively t1、t2…、tN.In several measured lights that acquisition is shot in target observation segmental arc After learning image, by the actual measurement optical imagery that the moment in several actual measurement optical imagerys was the first moment, it is determined as target measured light Image is learned, and the first moment was determined as object time, for example, being t by the moment in multiple image1The actual measurement optical picture at moment Picture is determined as target actual measurement optical imagery, and by t1Moment is determined as object time, and then target aircraft is imitated in target The first posture information in true image is determined as second posture information of the target aircraft at the first moment, second posture letter Breath is used to indicate target aircraft in the actual measurement posture at the first moment, improves the precision estimated the posture of aircraft Effect.
As an alternative embodiment, in the first posture information by target aircraft in target simulator image, It is determined as target aircraft after second posture information at the first moment, this method further includes：By several actual measurement optical imagerys The middle moment is the actual measurement optical imagery at the second moment, is determined as target actual measurement optical imagery, and the second moment was determined as target Moment, wherein the time of target observation segmental arc included the second moment, and the second moment was the subsequent time at the first moment；Step First posture information of the target aircraft in target simulator image is determined as the second posture letter of target aircraft by S106 Breath includes：By first posture information of the target aircraft in target simulator image, it is determined as target aircraft at the second moment The second posture information.
In this embodiment, in the first posture information by target aircraft in target simulator image, it is determined as target Aircraft is after second posture information at the first moment, by the actual measurement that the moment in several actual measurement optical imagerys was the second moment Optical imagery is determined as target actual measurement optical imagery, and the second moment was determined as object time, for example, by multiple image Moment is t2The actual measurement optical imagery at moment is determined as target actual measurement optical imagery, and by t2Moment is determined as object time, into And the first posture information by target aircraft in target simulator image, it is determined as target aircraft the of the second moment Two posture informations, and so on, until being finished to the Attitude estimation of several actual measurement optical imagerys in target observation segmental arc, obtain To posture information sequence of the target aircraft in target observation segmental arc, for example, obtaining attitude angle sequence (αi, βi, γi), root According to attitude angle sequence (αi, βi, γi) calculate target aircraft posture change over time situation, obtain its yaw, pitching, rolling Turn the rotational angular velocity in direction.
The embodiment is directed to the characteristics of real scene shooting optical imagery, provides a kind of posture of the aircraft based on optical imagery and estimates Meter method, by computer simulation technique, simulation generates the ground optical simulation image of target aircraft, then by artificial The characteristic value of operation extraction actual measurement optical imagery, the characteristic value for automatically processing computer sim- ulation optical imagery, are compared by characteristic value Etc. modes, select with the closest emulation optical imagery of actual measurement optics image feature value, the target of optical imagery will be emulated The attitude angle of aircraft, the attitude angle of the target aircraft as actual measurement optical imagery, to quickly and easily calculate target The in-orbit flight attitude of aircraft provides a kind of high-precision Attitude estimation scheme, has reached practical space travel experiment and has appointed The effect estimated the posture of aircraft by optics exterior measuring means in business meets the appearance of practical space travel task State measurement demand.
Embodiment 2
Technical scheme of the present invention is illustrated with reference to preferred embodiment.
In this embodiment, Precise Orbit determination is carried out to target aircraft according to the unit discharging of target aircraft, led to The method for crossing ephemeris interpolation calculates the position that the target aircraft corresponding to the moment is generated with every width actual measurement optical imagery, speed Degree；By computer simulation technique, according to parameters such as the almanac data of target aircraft, ground-based optical telescope site locations, The ground optical simulation image for generating target aircraft is simulated using OpenGL；Pass through manual operation selection mode, extraction actual measurement The characteristic value of optical imagery, it is selected manually respectively to survey the solar energy sailboard region of target aircraft and nacelle in optical imagery Then region calculates long axis direction angle and the short-axis direction angle of two region boundary rectangles；The side automatically processed by computer Formula, the characteristic value of computer sim- ulation optical imagery change mesh on the basis of the initial attitude angle of target aircraft by step-by-step system Attitude of flight vehicle angle is marked, the length in blue solar array region and grey nacelle region in automatic computer sim- ulation optical imagery is distinguished The emulation optical imagery with the Euclidean distance minimum of actual measurement optics image feature value is selected at axis direction angle, short-axis direction angle, To obtain target aircraft attitude angle corresponding with optical imagery is surveyed；Finally to the target aircraft appearance in observation segmental arc State angular dimensions is for statistical analysis, calculates the situation of change of target aircraft posture.
Fig. 2 is a kind of stream of the Attitude estimation method of target aircraft based on ground optical imagery of the embodiment of the present invention Cheng Tu.As shown in Fig. 2, this approach includes the following steps：
Step S201, editor, processing and the 3ds format threedimensional model files for preserving target aircraft.
The threedimensional model file of the target aircraft for the Proe formats that the embodiment is provided according to industrial department, uses three-dimensional Modeling software 3DS MAX carry out model format conversion, editor, processing and processing, edit geometric dimension, the ontology of threedimensional model The direction of reference axis indicates with different materials and distinguishes the different components of target aircraft.
Fig. 3 is a kind of composition of the threedimensional model of target aircraft (by taking tiangong-1 as an example) according to the ... of the embodiment of the present invention Partial schematic diagram.As shown in figure 3, a kind of example as target aircraft, tiangong-1 is the quilt in spacecrafts rendezvous test Moving-target, if its solar panel 1 is blue, resources module 2 and Laboratory Module 3 are grey, scattering of the setting material to light source Characteristic is diffusing reflection, to judge by color value in emulating optical imagery, is capable of the sun of automatic distinguishing target aircraft Windsurfing and nacelle, to calculate the characteristic value in two regions.
Step S202 carries out precise orbit determination to target aircraft, the position of imaging moment is each surveyed in calculating observation segmental arc It sets, speed.
In this embodiment, Precise Orbit determination is carried out using the ground measurement data of target aircraft, calculates and forecasts Target past, current and future for a period of time in any time motion state (location parameter, speed parameter), for imaging Emulation and Attitude estimation provide accurate relative geometrical relation parameter.What the embodiment considered in Precise Orbit determination process Perturbative force influence factor includes mainly earth particle Gravitational perturbation, aspherical Gravitational perturbation, atmospheric drag perturbation, lunisolar attraction Perturbation, solar radiation pressure perturbation etc., orbit determination accuracy are better than hundred meters of magnitudes.
The embodiment can use the earth's core J2000 mean equator inertial coodinate system, orbital coordinate system (RTN coordinate systems), target The coordinate system and Eulerian angles of aircraft, to calculate and describe position, speed and the attitude parameter of target aircraft.Wherein, J2000 geocentric coordinate system origins are earth centroid, and reference planes are the earth mean equator face at J2000.0 moment, and Z axis forward direction refers to To the arctic, X-axis forward direction is directed toward mean equinox.
Fig. 4 is a kind of target aircraft according to the ... of the embodiment of the present invention body coordinate system and track in three axis flight over the ground The schematic diagram of RTN coordinate systems.As shown in figure 4, the body coordinate system o-xyz of target aircraft is in three axis flight over the ground and RTN Coordinate system overlaps, and substantially planar xoz is the vertical plane of symmetry, and axis of rolling ox is directed toward assembly front, oy axis perpendicular to substantially planar, It is parallel with solar array rotary shaft.The normal direction in the solar cell windsurfing front (solar battery sheet is housed) of target aircraft Parallel with oz axis, windsurfing rotational angle theta is 0 °.
Step S203, manual operation calculate the characteristic value of the actual measurement optical imagery of the i-th width target aircraft.
Since actual measurement optical imagery has the characteristics that resolution ratio is low, contrast is low, solar array and main body can only be distinguished General outline, the barycenter in region are also difficult to accurately calculate.Target feature point can not be accurately extracted just with actual measurement optical imagery It is handled, therefore, which handles actual measurement optical imagery using manual operation, and manual operation calculates the i-th width target and flies The characteristic value of the actual measurement optical imagery of row device.For surveying optical imagery, the sun for dividing the image into target aircraft is needed The nacelle region that energy windsurfing region, resources module and Laboratory Module form, then extracts the characteristic value in the two regions.Optionally, should The range descriptors of embodiment include region area, barycenter, topological property, texture and not bending moment etc..The method of the present invention is using length Axis direction angle describes the feature in region.The extending direction (i.e. long axis direction angle) of section object is：
Wherein, upq(p+q) rank central moment for indicating region, p=0,1,2, q=0,1,2.Its computational methods is as follows：
For digital picture f (x, y), (p+q) rank geometric moment is：
Wherein, M, N are respectively used to indicate the length and width of image.
(p+q) computational methods of rank central moment are：
Wherein,For indicating image reform,
Fig. 5 is that a kind of actual measurement optical imagery according to the ... of the embodiment of the present invention is shown using what boundary rectangle bounding box was fitted It is intended to.As shown in figure 5, the embodiment uses manually-operated mode, actual measurement optical imagery is pre-processed, then to locating in advance Actual measurement optical imagery after reason carries out image segmentation, then to after segmentation windsurfing region and body regions carry out respectively it is polygon Shape is fitted, and mainly the method for boundary rectangle bounding box (rectangle frame as shown in Figure 5) is used to be fitted, is finally calculated sail The indexs such as the long axis direction angle of plate and body regions boundary rectangle, short-axis direction angle.
Step S204 adjusts the attitude angle of target aircraft, and emulation optical imagery is generated based on OpenGL.
The embodiment using OpenGL carry out optical imagery emulation foundation be OpenGL perspective projection imaging model with The imaging model of optical imaging system is similar.Optical telescope is by optical lens group by three-dimensional scene projection to imaging detection On the two dimensional surface of device (Charge-coupled Device, referred to as CCD), this process can be retouched with camera imaging model It states.
Optionally, the embodiment using OpenGL when carrying out optical imagery emulation, call function glTranslate first Generate translation matrix T, call function glRotate generates spin matrix P and sits the point on object module in target satellite ontology Coordinate in mark system is transformed to the coordinate in camera coordinates system.Wherein, the value of matrix P, T and target range when imaging and mesh It is related to mark attitude angle.Then call function glFrustum (xl,xr,yb,yt,Zn,Zf) determine perspective projection areas imaging, finally The size of on-screen display (osd) area is set using function glViewport (0,0, scrX, scrY), establishes the seat after projective transformation Correspondence between mark and screen pixels.
For ground-based optical telescope system, if its face battle array is as a height of l of physics width of detector image-forming planex×ly, each The physical size of pixel be dX × dY, do not consider pixel spacing, then both horizontally and vertically on pixel number be respectively lx/ dX、ly/dY。
Fig. 6 is a kind of schematic diagram of the major parameter of OpenGL perspective projections view frustums according to the ... of the embodiment of the present invention.Such as Shown in Fig. 6, chooses the corresponding tracking segmental arc of certain optical telescope image and analyzed.To ensure the resolution of emulation optical imagery Rate is consistent with the resolution sizes of true imaging result, need to be arranged OpenGL perspective projections view frustums 5 it is remote, closely cut out face 4,6 distances away from origin O points are respectively Zf=R, Zn=f is also needed xl、xr、yb、ytValue be respectively set to：
In addition the number of pixels for also needing to setting display area is identical as CCD pixel number, then has：
ScrX=lx/ dX, scrY=ly/dY (5)
The embodiment calls the translation function glTranslate of OpenGL to generate translation matrix T, adjust according to observed range With rotation function glRotate spin matrix R is generated, so that it is determined that orientation of the camera coordinates system relative to world coordinate system. Call perspective projection transformation function glFrustum (- lx/2,lx/2,-ly/2,ly/ 2, f, r) determine the i.e. close cutting of areas imaging View frustums between face and remote cutting face.For perspective projection imaging results are mapped on computer screen, it is also necessary to which calling regards Mouth transforming function transformation function glViewport (0,0, lx/dX,ly/ dY) size of on-screen display (osd) area is set, after establishing projective transformation Coordinate and screen pixels between correspondence.
The OpenGL of the embodiment is to develop one of two dimension, the suitable environment of 3-D graphic application program and tool, mainly The two dimensional image being shown as three-dimension object by the processes such as model transformation, perspective transform and affine transformation on computer screen. Its perspective projection imaging process is：By the certain point [X on threedimensional models Ys Zs Ws]TBy the rotation of model matrix, translation Deng transformation, using the perspective projection transformation of projection matrix, finally by the viewport transform of normalization division and matrix, obtain Respective pixel coordinate [the x of the point on the screenw yw 1]T, which can be expressed as：
[xw yw 1]T=FPM [Xs Ys Zs Ws]T (6)
Optical telescope by optical lens group by the two dimensional surface of three-dimensional scene projection to imaging detector CCD, this Process can be described with camera imaging model.If coordinates of the space certain point P under world coordinate system is (Xs,Ys,Zs), in phase The image pixel coordinates of corresponding picture point are (u, v) on machine imaging plane, then have：
[u v 1]T=M1M2[Xs Ys Zs 1]T (7)
Wherein, matrix M1Only with camera internal relating to parameters, M2For external parameter matrix, by camera coordinates system relative to generation The orientation of boundary's coordinate system determines.
It can be seen from the above, carrying out optical imagery emulation using OpenGL and passing through optical lens group using optical telescope Three-dimensional scene projection is consistent in form, can indicate conversion process with matrix.Therefore, by being closed in OpenGL Reason is provided with related parameter, true camera imaging effect is simulated, that is, geometry imaging simulation.At this moment mesh in the image generated It is accurate to mark size, posture, the influences of the factors to imaging such as different cameral parameter, targeted attitude and distance can be embodied.
The embodiment can using third party software satellite shoot STK come verify in the method for the present invention optics at As the correctness of emulation mode and result.
It can be that ground survey station adds Sensor sensor objects in STK, so that it is directed toward Satellite Targets, by manual The observation visual angle of editor and control three-dimensional scenic, targeted attitude rotation, so as to show biography in the three-dimensional display areas STK Targeted attitude in sensor visual field, the posture are consistent with the targeted attitude that ground survey station optical device is seen.Therefore, pass through Compare targeted attitude in a certain moment STK Sensor sensor field of view and the targeted attitude in emulation optical imagery whether one It causes, the correctness of geometry imaging simulation can be verified.
Fig. 7 is according to the ... of the embodiment of the present invention a kind of by taking three axis of target aircraft fly over the ground as an example, STK emulation knots The contrast schematic diagram of fruit and the optical imagery simulation result based on OpenGL of the embodiment.As shown in Figure 7, it is assumed that target flies Row device is that three axis just fly posture, in segmental arc starting point, the appearance of the target aircraft in STK Sensor sensor field of view over the ground State, with emulation optical imagery as a result, respectively as (a) of the upper row in Fig. 7 and (b) shown.STK Sensor are imitative when segmental arc terminal True result and emulation generate as a result, respectively as (c) of the lower row in Fig. 7 and (d) shown.It is regarded by comparing STK Sensor In target aircraft posture, show emulation generate target aircraft image be it is correct, it is opposite with actual imaging several What relational result is consistent.
The embodiment OpenGL relevant parameters and simulation flow when carrying out imaging simulation using OpenGL are to adjust first Translation matrix T is generated with function glTranslate, call function glRotate generates spin matrix P by the point on object module Coordinate in target satellite body coordinate system is transformed to the coordinate in camera coordinates system.The wherein value of matrix P, T and when imaging R and α, β value it is related.Then call function glFrustum (xl,xr,yb,yt,Zn,Zf) determine perspective projection areas imaging, most Use function glViewport (0,0, scrX, scrY) that the size of on-screen display (osd) area is set afterwards, after establishing projective transformation Correspondence between coordinate and screen pixels.
Step S205, the characteristic value of computer sim- ulation optical imagery are compared with actual measurement optical imagery, are stored.
The emulation optical imagery of the embodiment, it is also desirable to divide the image into solar energy sailboard region, resources module and experiment The nacelle region of cabin composition, then extracts the characteristic value in the two regions.
The embodiment in such a way that computer program automatically processes, according to unlike material color to emulation optical imagery into Row Automatic image segmentation is divided into the nacelle region in the solar panel region and grey of blue.Fig. 8 is according to of the invention real Apply the schematic diagram that a kind of emulation optical imagery of example uses boundary rectangle bounding box to be fitted.As shown in figure 8, after to segmentation Windsurfing region and nacelle region carry out polygon approach respectively, mainly use boundary rectangle bounding box (as shown in Figure 8 Rectangle frame) method be fitted, calculate separately the index parameters such as long axis direction angle, short-axis direction angle, as emulation optical picture The characteristic value of picture.
In this embodiment, similar attitude mode can be expressed as in characteristic vector space similar one group of feature to Amount, it is exactly in multidimensional feature space which, which carries out emulation optical imagery and the task of actual measurement optics image similarity match, In, calculate the space length of the characteristic value and the characteristic value of emulation optical imagery of actual measurement optical imagery.The embodiment may be used Euclidean distance weighs the similarity of the characteristic value of emulation and measuring image.If surveying optical imagery and emulating optical imagery Feature vector is respectively X=(x1, x2..., xn), Y=(y1, y2..., yn), then the expression formula of Euclidean distance is：
During changing targeted attitude generation emulation optical imagery automatically and automatically processing calculating characteristic value, Ke Yitong It crosses and assigns weights of different sizes to different characteristic, to be exerted one's influence to result according to feedback, the Euclidean distance degree of weighting Amount can be expressed by following formula：
Wherein,For the weighted value of different characteristic.
Step S206 calculates the attitude angle of the target aircraft of the i-th width image.
The emulation optical imagery closest with actual measurement optics image feature value is selected, optics can be selected and survey The emulation optical imagery of the Euclidean distance minimum of image feature value, by the attitude angle of the target aircraft of the emulation optical imagery, The attitude angle of target aircraft as actual measurement optical imagery.
Make i=i+1, continues to execute step S203 to S206.
Step S207 counts the attitudes vibration angle of target aircraft in calculating observation segmental arc.
It is for statistical analysis to the posture angular dimensions of the target aircraft in observation segmental arc, calculate the posture of target aircraft Situation of change.
Below by taking ground-based optical telescope individually tracks segmental arc as an example, the step of illustrating the present invention technical solution：
If the image sequence for the target aircraft that ground-based optical telescope is clapped in a certain observation segmental arc shares N width, often The corresponding imaging moment of width image is respectively t1、t2…、tN。
A1：Precise Orbit determination is carried out to target aircraft according to target aircraft unit discharging, passes through ephemeris interpolation Method calculates t1、t2…、tNThe position of moment target aircraft, speed.
A2：The processing such as model format conversion, editor, processing are carried out to target aircraft threedimensional model file, editor is three-dimensional The key messages such as geometric dimension, the body coordinate system direction of model, and save as 3ds formatted files.
A3：T at the time of correspondence according to survey station geodetic coordinates longitude, latitude, height, the 1st width image1, target aircraft position Set (Rx1, Ry1, Rz1), speed (Vx1, Vy1, Vz1), target aircraft attitude angle (0,0,0), the visual field of ground-based optical telescope Angle, CCD pixels number, single pixel dimension etc. generate the emulation light of the ground optical imagery of target aircraft using OpenGL Learn image.
A4：Obtain the in-orbit flight attitude angle initial value (α of target aircraft in the i-th width imagei, βi, γi), enable attitude angle Search range A0=10 °, wherein work as i=1, when 2, according to subjective vision effect, manually adjusting the posture of target aircraft makes Optical imagery must be emulated and actual measurement optical imagery is roughly the same.When i is more than 2, α is takeni=αi-1, βi=βi-1, γi=γi-1；
A5：T at the time of correspondence according to survey station geodetic coordinates longitude, latitude, height, the i-th width imagei, target aircraft position Set (Rxi, Ryi, Rzi), speed (Vxi, Vyi, Vzi), target aircraft attitude angle (αi, βi, γi), ground-based optical telescope Field angle, CCD pixels number, single pixel dimension etc. carry out imaging simulation.
A6：Calculate tiThe target aircraft actual measurement optics image feature value at moment is similar to emulation optical imagery characteristic value Spend index Δ ω.
A7：βi、γiValue remain unchanged, only change attitude angle αiValue be respectively αi=αi+ m Δs α, wherein Δ α is regarded It is ± 1, ± 2 ... that situation, which takes 0.2~0.5, m difference values, ± M, wherein), step A5~A6 is repeated, obtains one Group similarity sequence Δ ω1。
A8：Count Δ ω1Minimum value Δ ω1min, remember that the angles α at this time are set as α ', enter step A9.
A9：Enable αi=α ', γiValue remains unchanged, and only changes attitude angle betaiValue be βi=βi+ p Δs β, wherein Δ β is regarded It is ± 1, ± 2 ... that situation, which takes 0.2~0.5, p difference values, ± P, wherein), step A5~A6 is repeated, obtains one Group similarity sequence Δ ω2。
A10：Count Δ ω2In minimum value Δ ω2min, remember and Δ ω2minThe corresponding angles β are set as β ', enter step A11.
A11：Enable αi=α ', βi=β ' only changes attitude angle γiValue be γi=γi+ q Δs γ, wherein Δ γ regards feelings Condition desirable 0.2~0.5), q distinguishes value for ± 1, ± 2 ..., ± Q, (wherein), step A5~A6 is repeated, is obtained One group of similarity sequence Δ ω3。
A12：Count Δ ω3Minimum value Δ ω3min, remember that the angles γ at this time are set as γ ', enter step A13.
A13：If A0=5 °, (αi, βi, γi)=(α ', β ', γ '), repeat step A5~A12.
A14：Count Δ ω1、Δω2、Δω3In minimum value Δ ωmin, remember object attitude angle at this time be (α *, β *, γ *).Export αi=α *, βi=β *, γi=γ *, enter step A15.
A15：I=i+1 is enabled, if i<N repeats step A3~A14.
A16：If i=N, indicate that the target aircraft Attitude estimation of the observation segmental arc finishes, end loop.According to target Attitude of flight vehicle angle sequence (αi, βi, γi) calculate target aircraft posture change over time situation, obtain its yaw, bow It faces upward, the rotational angular velocity in rolling direction is respectively：
The embodiment cannot meet target aircraft Attitude estimation for the existing Attitude estimation technology based on optical imagery The problem of demand, the characteristics of for actual measurement optical imagery, provides a kind of target aircraft posture based on optical imagery and estimates Meter method, by computer simulation technique, simulation generates the ground optical simulation image of target aircraft, then by artificial It operates to extract the characteristic value of actual measurement optical imagery, automatically process the characteristic value of computer sim- ulation optical imagery, passes through characteristic value ratio To modes such as, circular treatment and retrievals, the emulation optical imagery closest with measured drawing optical image characteristic value is selected, it will The target aircraft attitude angle for emulating optical imagery, the target aircraft attitude angle as actual measurement optical imagery.Utilize the present invention Method can quickly and easily calculate the in-orbit flight attitude of target aircraft according to actual measurement optical imagery, provide a kind of high The Attitude estimation means of precision.
Due to the adoption of the above technical scheme, the target aircraft Attitude estimation method of the embodiment is with strong points, flexibility It is high.The method of the present invention actually can also be applied to include the judgement of satellite load working condition, accident analysis, and military target threatens The civil and militaries fields such as degree judge, capture.
The advantages of embodiment, is mainly manifested in the following aspects：
(1) with strong points, reliability is high.Compared to Attitude estimation method before, which surveys ground telescope The characteristics of optical imagery, carries out.
The embodiment can select target image characteristics value index with strong points, by manual operation with automatically process phase In conjunction with mode, come computer sim- ulation optical imagery with survey optical imagery characteristic value minimum euclidean distance.The can be used Tripartite's business software verifies the correctness and adaptability of optical imagery simulation model and method in this method, Attitude estimation side The validity of method and accuracy are further enhanced.
(2) method of the embodiment is flexible, and the solar energy sailboard of target aircraft is indicated with nacelle with different colours, So as to automatically process with the long axis direction angle of solar array in computer sim- ulation optical imagery and nacelle, short-axis direction angle, and Without human intervention.Furthermore it is possible to test, verify based on the practical measurement image of target aircraft and almanac data, use Prediction attitude data emulates the imaging results for generating ground-based optical telescope to target aircraft in advance.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not The sequence being same as herein executes shown or described step.
Embodiment 3
The embodiment of the present invention additionally provides a kind of target aircraft posture determining device based on optical imagery.It needs to illustrate , the target aircraft posture determining device based on optical imagery of the embodiment can be used for executing the embodiment of the present invention The target aircraft attitude determination method based on optical imagery.
Fig. 9 is a kind of signal of target aircraft posture determining device based on optical imagery according to the ... of the embodiment of the present invention Figure.As shown in figure 9, the device includes：Acquiring unit 10, the first determination unit 20 and the second determination unit 30.
Acquiring unit 10, it is real in several emulation optical imagerys of object time and a width target for obtaining target aircraft Photometry image.
First determination unit 20, it is similar between surveying optical imagery target for emulating several in optical imagerys Maximum emulation optical imagery is spent, target simulator image is determined as.
Second determination unit 30 is determined as the first posture information by target aircraft in target simulator image Second posture information of the target aircraft in object time, wherein the first posture information is used to indicate target aircraft in target The posture shown in emulating image, the second posture information be used to indicate target aircraft object time actual measurement posture.
Optionally, acquiring unit 10 includes：First acquisition module and generation module.Wherein, the first acquisition module is used for Ground measurement data of the acquisition target aircraft in object time；Obtain target aircraft corresponding with ground measurement data Motion state parameters；Generation module, several emulation optical imagerys for generating target aircraft according to motion state parameters, Wherein, the change of the attitude angle in two emulation optical imagerys of arbitrary neighborhood of the target aircraft in several emulation optical imagerys Change angle, is target angular velocity.
Optionally, the first determination unit 20 includes：Second acquisition module, third acquisition module and determining module.Wherein, Second acquisition module, the second spy for emulating the First Eigenvalue and target actual measurement optical imagery of optical imagery for obtaining every width Value indicative；Third acquisition module emulates the First Eigenvalue of optical imagery and the second spy of actual measurement optical imagery for obtaining every width Similarity between value indicative obtains multiple similarities；Determining module, for corresponding to maximum similarity in multiple similarities Emulation optical imagery, be determined as target simulator image.
Optionally, the second acquisition module includes：First acquisition submodule, for obtaining every width emulation optical imagery too The First Eigenvalue in positive energy windsurfing region and nacelle region, wherein the solar energy sail in solar energy sailboard region and target aircraft Plate is corresponding, and nacelle region is corresponding with the nacelle of target aircraft.
Optionally, the first acquisition submodule is used to execute following steps to realize the sun for obtaining every width and emulating optical imagery The First Eigenvalue in energy windsurfing region and nacelle region：Obtain every width emulation optical imagery includes solar energy sailboard region The characteristic value at the long axis direction angle and short-axis direction angle of boundary rectangle, and the boundary rectangle including nacelle region long axis side To the characteristic value at angle and short-axis direction angle.
Optionally, the second acquisition module includes：Second acquisition submodule, the sun for surveying optical imagery in target On energy windsurfing region and nacelle region, the target instruction target word that response object run generates obtains Second Eigenvalue, wherein solar energy Windsurfing region is corresponding with the solar energy sailboard of target aircraft, and nacelle region is corresponding with the nacelle of target aircraft.
Optionally, the second acquisition submodule is used to execute following steps to realize the solar energy for surveying optical imagery in target On windsurfing region and nacelle region, the target instruction target word that response object run generates obtains Second Eigenvalue：In target measured light On the solar energy sailboard region and nacelle region for learning image, the target instruction target word that response object run generates, acquisition includes solar energy The characteristic value at the long axis direction angle and short-axis direction angle of the boundary rectangle in windsurfing region, and the external square including nacelle region The characteristic value at the long axis direction angle and short-axis direction angle of shape.
Optionally, third acquisition module includes：Third acquisition submodule, for emulating the of optical imagery by every width Euclidean distance between one characteristic value and actual measurement optical imagery Second Eigenvalue, obtain every width emulation optical imagery first are special Similarity between value indicative and actual measurement optical imagery Second Eigenvalue, obtains multiple similarities.
Optionally, third acquisition submodule is for executing following steps to realize maximum similarity in multiple similarities Corresponding emulation optical imagery, is determined as target simulator image：By survey optical imagery Second Eigenvalue between it is European away from From the minimum corresponding emulation optical imagery of the First Eigenvalue, it is determined as target simulator image, wherein with actual measurement optical imagery The similarity of the corresponding emulation optical imagery of the First Eigenvalue of Euclidean distance minimum between Second Eigenvalue, is multiple phases Like maximum similarity in degree.
Optionally, which further includes：First acquisition unit and third determination unit.Wherein, first acquisition unit is used In obtaining target aircraft before several emulation optical imagerys and width target actual measurement optical imagery of object time, obtain Take several actual measurement optical imagerys shot in target observation segmental arc, wherein at the time of several actual measurement optical imagerys correspond to It is different；Third determination unit, for by the actual measurement optical imagery that the moment in several actual measurement optical imagerys was the first moment, determining Optical imagery is surveyed for target, and the first moment was determined as object time, wherein the time of target observation segmental arc includes the One moment；Second determination unit 30 is additionally operable to the first posture information in target simulator image by target aircraft, is determined as Second posture information of the target aircraft at the first moment, wherein the second posture information is used to indicate target aircraft first The actual measurement posture at moment.
Optionally, which further includes：4th determination unit, for by target aircraft in target simulator image The first posture information, be determined as target aircraft after second posture information at the first moment, by several actual measurement optical picture The moment is the measuring image at the second moment as in, when being determined as target actual measurement optical imagery, and the second moment being determined as target It carves, wherein the time of target observation segmental arc included the second moment, and the second moment was the subsequent time at the first moment；Second determines Unit 30 is additionally operable to the first posture information in target simulator image by target aircraft, is determined as target aircraft Second posture information at two moment.
The device obtains target aircraft in several emulation optical imagerys of object time and a width by acquiring unit 10 Target survey optical imagery, by the first determination unit 20 by several emulation optical imagerys in, with target actual measurement optical imagery it Between the maximum emulation optical imagery of similarity, be determined as target simulator image, by the second determination unit 30 by target flight First posture information of the device in target simulator image, be determined as target aircraft object time the second posture information, In, the first posture information is used to indicate the posture that target aircraft is shown in target simulator image, and the second posture information is used In instruction target aircraft object time actual measurement posture.Due to generating the emulation optical imagery of aircraft by simulation, so The width emulation optical imagery closest with actual measurement optics image feature value is selected afterwards, and an immediate width is emulated into light The posture information for learning the aircraft of image has reached and has been determined to the posture of aircraft as the posture information of aircraft Purpose solves and is difficult to estimate the posture of aircraft by optics exterior measuring means in practical space travel test mission The problem of, meet the attitude measurement demand of practical space travel task.
Embodiment 4
The embodiment of the present invention additionally provides a kind of storage medium.It is stored with computer program in the storage medium, wherein Computer program is arranged to execute the target aircraft posture determination side based on optical imagery of the embodiment of the present invention when operation Method.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored Be performed by computing device in the storage device, either they are fabricated to each integrated circuit modules or by they In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific Hardware and software combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (13)

1. a kind of target aircraft attitude determination method based on optical imagery, which is characterized in that including：
It obtains target aircraft and surveys optical imagery in several emulation optical imagerys of object time and a width target；
Described several are emulated in optical imagerys, the maximum emulation optics of similarity between optical imagery is surveyed with the target Image is determined as target simulator image；
By first posture information of the target aircraft in the target simulator image, it is determined as the target aircraft and exists Second posture information of the object time, wherein first posture information is used to indicate the target aircraft described The posture shown in target simulator image, second posture information are used to indicate the target aircraft in the target The actual measurement posture at quarter.
2. according to the method described in claim 1, it is characterized in that, obtain the target aircraft the object time institute Stating several emulation optical imagerys includes：
Obtain the target aircraft the object time ground measurement data；
Obtain the motion state parameters of the target aircraft corresponding with the ground measurement data；
Several emulation optical imagerys described in the target aircraft are generated according to the motion state parameters, wherein the mesh Mark the variation angle of the attitude angle in the two emulation optical imagerys of arbitrary neighborhood of aircraft in several described emulation optical imagerys Degree is target angular velocity.
3. according to the method described in claim 1, it is characterized in that, described several are emulated in optical imagerys, with the target The maximum emulation optical imagery of similarity between optical imagery is surveyed, being determined as the target simulator image includes：
Obtain the Second Eigenvalue of the First Eigenvalue that optical imagery is emulated described in every width and target actual measurement optical imagery；
The similarity between the First Eigenvalue and the Second Eigenvalue that emulate optical imagery described in every width is obtained, is obtained Multiple similarities；
By the corresponding emulation optical imagery of maximum similarity in the multiple similarity, it is determined as the target simulator image.
4. according to the method described in claim 3, it is characterized in that, obtaining first spy for emulating optical imagery described in every width Value indicative includes：
Obtain the First Eigenvalue in solar energy sailboard region and nacelle region that optical imagery is emulated described in every width, wherein The solar energy sailboard region is corresponding with the solar energy sailboard of the target aircraft, and the nacelle region flies with the target The nacelle of row device is corresponding.
5. according to the method described in claim 4, it is characterized in that, obtaining the solar energy sailboard for emulating optical imagery described in every width The First Eigenvalue in region and nacelle region includes：
Obtain described in every width emulate optical imagery the boundary rectangle including the solar energy sailboard region long axis direction angle with The characteristic value at short-axis direction angle, and the long axis direction angle and short-axis direction angle of the boundary rectangle including the nacelle region spy Value indicative.
6. according to the method described in claim 3, it is characterized in that, obtaining second spy of the target actual measurement optical imagery Value indicative includes：
On the solar energy sailboard region and nacelle region that the target surveys optical imagery, the target of response object run generation Instruction, obtains the Second Eigenvalue, wherein the solar energy sailboard phase in the solar energy sailboard region and the target aircraft Corresponding, the nacelle region is corresponding with the nacelle of the target aircraft.
7. according to the method described in claim 6, it is characterized in that, surveying the solar energy sail of optical imagery in the target On plate region and the nacelle region, the target instruction target word that the object run generates is responded, the Second Eigenvalue is obtained Including：
On the solar energy sailboard region and the nacelle region that the target surveys optical imagery, the target behaviour is responded Make the target instruction target word generated, obtains the long axis direction angle and short axle side of the boundary rectangle for including the solar energy sailboard region The characteristic value at the long axis direction angle and short-axis direction angle of the boundary rectangle to the characteristic value at angle, and including the nacelle region.
8. according to the method described in claim 3, it is characterized in that, obtaining first spy for emulating optical imagery described in every width Similarity between value indicative and the Second Eigenvalue, obtaining the multiple similarity includes：
The Euclidean distance between the First Eigenvalue and the Second Eigenvalue by emulating optical imagery described in every width, is obtained The similarity between the First Eigenvalue and the Second Eigenvalue that emulate optical imagery described in every width is taken, is obtained described more A similarity.
9. according to the method described in claim 8, it is characterized in that, maximum similarity in the multiple similarity is corresponding The emulation optical imagery, being determined as the target simulator image includes：
By the corresponding emulation light of the First Eigenvalue of Euclidean distance minimum between the Second Eigenvalue Image is learned, is determined as the target simulator image, wherein the institute of the Euclidean distance minimum between the Second Eigenvalue The similarity for stating the corresponding emulation optical imagery of the First Eigenvalue, is maximum similarity in the multiple similarity.
10. method as claimed in any of claims 1 to 9, which is characterized in that
Obtaining, the target aircraft several emulation optical imagerys and the width target described in the object time are real Before photometry image, the method further includes：Several actual measurement optical imagerys shot in target observation segmental arc are obtained, Wherein, it is different at the time of several described actual measurement optical imagerys correspond to；It will be when the moment be first in several described actual measurement optical imagerys The actual measurement optical imagery at quarter is determined as target actual measurement optical imagery, and when first moment is determined as the target It carves, wherein the time of the target observation segmental arc includes first moment；
By first posture information of the target aircraft in the target simulator image, it is determined as the target flight Device includes in second posture information of the object time：By the target aircraft in the target simulator image First posture information, be determined as the target aircraft first moment second posture information, wherein institute State the second posture information be used to indicate the target aircraft first moment actual measurement posture.
11. according to the method described in claim 10, it is characterized in that,
In first posture information by the target aircraft in the target simulator image, it is determined as the target and flies After second posture information at first moment, the method further includes row device：It will several described actual measurement optical pictures The moment as described in is the actual measurement optical imagery at the second moment, is determined as target actual measurement optical imagery, and by described second Moment is determined as the object time, wherein the time of the target observation segmental arc includes second moment, when described second Carve the subsequent time for first moment；
By first posture information of the target aircraft in the target simulator image, it is determined as the target flight Device includes in second posture information of the object time：By the target aircraft in the target simulator image First posture information, be determined as the target aircraft second moment second posture information.
12. a kind of target aircraft posture determining device based on optical imagery, which is characterized in that including：
Acquiring unit surveys optics for obtaining target aircraft in several emulation optical imagerys of object time and a width target Image；
First determination unit surveys the phase between optical imagery for emulating described several in optical imagerys with the target Like maximum emulation optical imagery is spent, it is determined as target simulator image；
Second determination unit is determined for the first posture information by the target aircraft in the target simulator image For the target aircraft the object time the second posture information, wherein first posture information is used to indicate institute The posture that target aircraft is shown in the target simulator image is stated, second posture information is used to indicate the target Actual measurement posture of the aircraft in the object time.
13. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer Program is arranged to execute the method described in any one of claim 1 to 11 when operation.
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