CN111080708A - Strapdown optical imaging seeker calibration method - Google Patents
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Abstract
The invention relates to a strapdown optical imaging seeker calibration method. The method provides three methods for calibrating the seeker, and an appropriate method can be selected for calibration according to different application scenes. The first method is that the projectile body and the seeker are calibrated together: calibrating internal and external parameters and aberration coefficients by utilizing the inertial navigation data on the missile and the total station with the north index; the second method is that the seeker is independently calibrated: calibrating internal and external parameters and aberration coefficients by using the manufactured calibration auxiliary device and the total station; the third method comprises the following steps: and (3) calibrating by using a calibrated seeker: and calibrating the internal and external parameters through a seeker and a collimator with known internal and external parameters. The invention can quickly and accurately calibrate the mass seeker under the condition of simple equipment, and has the advantages of simple operation, high efficiency, labor saving and the like.
Description
Technical Field
The invention relates to the fields of computer vision, camera measurement, optical imaging guidance and the like. The method further comprises the steps that a seeker adopting strapdown optical imaging guidance identifies and tracks a target by utilizing image information, information such as the position and the posture of the target is calculated, and parameters and aberration coefficients in an optical imaging system of the seeker and a conversion relation between an image coordinate of the optical imaging system and a missile coordinate system are calibrated by adopting algorithms such as image measurement, computer vision and the like on occasions such as delivery use or regular inspection of the seeker.
Background
The seeker can obtain a large amount of target information in an optical imaging mode, optical imaging is a passive imaging mode, interference is not prone to occurring, and enemies cannot find the target information easily, so that the optical imaging guidance technology becomes an accurate guidance technology which is developed rapidly. In recent years, imaging guidance techniques have been applied to inexpensive ammunition for weapons such as rocket projectiles and aeronautical projectiles because of the cost reduction due to the improvement in performance of imaging devices, and these inexpensive ammunition are also generally subjected to a strapdown method in order to further reduce the cost.
An imaging device in the optical imaging seeker images a target through a lens, and then the target in the image is identified, tracked and locked, so that the image coordinate of the target can be obtained. To accomplish guidance, this target information needs to be translated into a heading in the missile coordinate system. To accomplish this conversion, the conversion relationship between the imaging system image coordinates and the projectile coordinate system after the installation of the seeker is completed needs to be known, and this relationship needs to be obtained through calibration. On the other hand, the strapdown imaging seeker is connected with the bullet in a fixed connection mode, a tracking turntable is omitted, the field of view is required to be large, large aberration exists in a lens of an imaging system, and therefore the aberration coefficient of the imaging system needs to be calibrated.
The strapdown optical imaging seeker calibration method simultaneously calibrates the internal parameters of the seeker and the conversion relation between the seeker coordinate system and the missile coordinate system, compared with the traditional method, can calibrate the seeker rapidly, in batches and accurately, and can utilize image information to perform accurate target tracking and measurement.
Disclosure of Invention
The invention provides three methods for calibrating a seeker, which can select a proper method for calibration according to different application scenes. The first method is that the projectile body and the seeker are calibrated together: calibrating internal and external parameters and aberration coefficients by utilizing the inertial navigation data on the missile and the total station with the north index; the second method is that the seeker is independently calibrated: calibrating internal and external parameters and aberration coefficients by using the manufactured calibration auxiliary device and the total station; the third method comprises the following steps: and (3) calibrating by using a calibrated seeker: and calibrating the internal and external parameters through a seeker and a collimator with known internal and external parameters. The invention takes the camera shooting measurement technology as a main means, calibrates the optical imaging system of the optical imaging seeker and the conversion relation between the optical imaging system and the projectile body coordinate system when the strapdown optical seeker is out of the field, arranged and regularly calibrated, can calibrate the internal parameters, the aberration coefficient and the conversion relation between the seeker coordinate system and the projectile body coordinate system of the optical imaging seeker, can calibrate the seeker in batches quickly and accurately under the condition of simple equipment, and has the advantages of simple operation, high efficiency, labor saving and the like.
The calibration result is the conversion relation between the parameters and aberration coefficients in the seeker imaging system and the seeker coordinate system and the missile coordinate system. When the first method is selected for calibration, the total station needs to have a north-pointing function and can read missile inertial navigation data. When the second selection method is used for calibration, the size of the hexahedron needs to be customized according to the size of the seeker, and the total station north-pointing function is not needed. And when the selection method III is used for calibration, the field angle of the collimator is not smaller than that of the seeker. When a calibrated seeker is available, the method III can be used for quickly, accurately and batch calibrating the seeker with the same model.
The invention adopts the following technical scheme:
(1) body and seeker together
This method requires reading the on-board inertial navigation data and using a total station with north pointing. Fixing the guided missile with guide head, arranging non-coplanar and not less than 6 control points P outside 10m in the field of view of the guide head1～Pn. Coordinates P1(X, Y, Z) -Pn (X, Y, Z) of the control point in the world coordinate system (north-east coordinate system) and optical center coordinates O (X, Y, Z) are measured with a total station with north index.
Let the coordinate of the space point P in the coordinate system of the seeker be (X)c,Yc,Zc) The point P can then be described in the seeker coordinate system (X) using the rotation matrix R and translation vector Tc,Yc,Zc) Relation to point P in the world coordinate system (X, Y, Z):
the imaging of the control points by the guidance head can be represented by a projection matrix, M, which is:
the principal point of the seeker in M is (C)x,Cy) Equivalent focal length of (F)x,Fy) The rotation matrix is R and the translation vector is T. Setting the coordinates of the control point in the image coordinate system as (x, y), and the imaging relation between the image point in the image coordinate system and the target point in the world coordinate system as follows:
image point after correcting aberration in seeker
Satisfies the equation:
due to the influence of factors such as the complexity of lens design, the process level and the like, the lens distortion exists, and light rays are slightly deviated. The difference between the actual imaging point (x, y) and the ideal image point (x-, y-) given according to the central perspective projection model is called aberration (delta)x,δy) I.e. by
The present invention adopts the following aberration model
Wherein k is0～k4Is the aberration coefficient (x)d,yd) For image points displaced from the main point of the image in horizontal and vertical directionsThe ratio of the distance to the corresponding equivalent focal length, called the normalized image coordinates, is:
when the number of the space control points P is more than 6, the m can be obtained0To m11The total number of 12 unknown numbers is obtained, and finally the internal parameter matrix K and the distortion parameter K are obtained0～k4And completing the calibration of the inner parameters and aberration coefficients of the seeker.
Setting the origin of the missile coordinate system to be consistent with the optical center, reading missile-borne inertial navigation data, and establishing the missile-borne inertial navigation data under the north-east coordinate system, so that the rotation angles A of the missile coordinate system and the north-east coordinate system can be obtainedx，Ay，Az. Then R can be obtainedx，Ry，Rz：
The rotation matrix from the world coordinate system to the projectile coordinate system is:
RWD＝RzRyRx
therefore, the conversion relation from the world coordinate system to the optical imaging lead coordinate system and the conversion relation from the projectile coordinate system to the world coordinate system are obtained:
the rotation matrix from the projectile coordinate system to the seeker coordinate system is
Thus, the calibration of the optical imaging seeker and the projectile body is completed.
(2) Seeker independent calibration
Designing a calibration auxiliary device: the method comprises the steps of manufacturing a hexahedron according to the size of a required calibration missile seeker, manufacturing an outward surface of the hexahedron as same as an optical imaging seeker mounting surface, grinding a small mirror surface A on the opposite surface of the hexahedron mounting seeker, wherein the parallelism between the mirror surface and the seeker mounting surface is required to be more than three times of the calibration precision, grinding a small mirror surface B on an adjacent surface of the optical imaging seeker mounting surface, wherein the mirror surface is required to be perpendicular to the mirror surface and parallel to a vertical line of the seeker mounting surface, the precision is also more than three times of the calibration precision, and the rest four sides only need borders.
And (3) mounting the seeker on the hexahedral mounting surface, fixing the whole device, arranging not less than 6 out-of-plane spatial control points ten meters in the visual field of the seeker, and calibrating internal parameters and aberration coefficients of the seeker according to a spatial control point method in the first method.
Setting the origin of the missile coordinate system to be consistent with the optical center, using a laser pen to irradiate the mirror surface on the back of the seeker outside 10 meters, and if the laser original path can be returned, using a baffle and a total station to obtain A in the world coordinate system1(X, Y, Z) and A2(X, Y, Z), then X of the projectile coordinate system can be obtainedDShaft
Irradiating the other side baffle in the same manner to obtain B1(X, Y, Z) and B2(X, Y, Z), which are Y in the elastic coordinate systemDShaft
Z can be determined from the right-handed screw ruleD。
If the laser beam can not return to the original path, measuring the emitting point A of the laser beam by using a total station1(X, Y, Z), specular reflection Point A2(X, Y, Z), and a point A on the reflected beam3(X, Y, Z), the angular bisector of these three points can be obtained, which is the X axis of the projectile coordinate system.
According to a world coordinate system, firstly rotating Ax around an X axis, then rotating Ay around a current Y axis, and finally rotating A around a current Z axisZRespectively calculate the rotation angles Ax，Ay，Az. Then R can be obtainedx，Ry，Rz. R can be obtained by a coordinate system conversion method in the method IDC。
(3) Calibration using calibrated seeker
The method comprises the steps that a collimator and a guide head mounting surface are manufactured, wherein the guide head mounting surface is fixedly connected with the collimator; the view field of the collimator is not smaller than the view field angle of the seeker, and the collimator reticle is a checkerboard;
a calibrated seeker is arranged on the mounting surface and faces the collimator. As the internal and external parameters of the seeker are known, the direction of each chessboard node can be obtained after the collimator is adopted. And replacing the seeker to be calibrated, calculating internal parameters and aberration coefficients of the seeker to be calibrated according to the obtained checkerboard direction and collinearity equation, and quickly calibrating the other seekers as the conversion relation between the coordinate system of the seeker and the missile coordinate system is known.
1) When a calibrated seeker is available, namely the internal and external parameters and aberration coefficients of the seeker are known, a calibration device can be manufactured to enable subsequent calibration to be faster and simpler. And (3) manufacturing a collimator tube with a view field not smaller than the view field angle of the seeker, wherein the accurate value of the direction of the parallel light corresponding to the carved point on the reticle can be measured in advance, and the points are used as control points for calibration. And manufacturing a guide head mounting surface, wherein the mounting surface is fixedly connected with the collimator and is opposite to the collimator.
2) And (3) installing the reference seeker with calibrated internal and external parameters on the installation seat opposite to the collimator, shooting the checkerboard of the collimator, and obtaining the direction of the nodes P1-Pn of the checkerboard due to the known internal parameters. And replacing the seeker needing calibration to shoot again, wherein the parallel light pipe simulates an infinite target, so that the world coordinate system of the checkerboard nodes P1-Pn is known. The internal parameters and distortion parameters of the seeker can be obtained through the collinear equation in the first method, so that the rest of seekers can be calibrated quickly.
The invention discloses a strapdown optical imaging seeker calibration method, and provides three methods for calibrating internal and external parameters of a seeker, wherein the internal parameter calibration of the first two methods adopts a mature space control point method, a laser pen baffle method adopted for converting a seeker and a missile coordinate system or missile inertial navigation data reading is adopted, the calibration of the calibrated seeker is used as a reference, only checkerboard nodes are shot for a parallel pipe, and the parameters outside the nodes are used for calibrating the other seekers. The invention has the characteristics of stable operation process, high speed, high efficiency and the like, and can save a large amount of manpower.
The invention can achieve the following technical effects:
1) three calibration methods are provided, and the method is widely applicable to various types of occasions needing calibration, such as serial assembly of strapdown optical seeker, regular inspection and the like.
2) When the inertial navigation data on the missile can be read, calibration can be completed without disassembling the seeker.
3) When the inertial navigation data on the missile cannot be read or the number of the guidance heads to be calibrated is large, the auxiliary calibration device can be manufactured to quickly calibrate the guidance heads in batches.
4) The calibration method is simple, easy to operate and convenient to use.
5) The required hardware equipment is simple to manufacture, low in cost and high in engineering practicability.
Drawings
FIG. 1 a projectile coordinate system;
FIG. 2 is a hexahedral design;
FIG. 3 is a collimator;
FIG. 4 is a collimator fixedly connected to a base;
fig. 5 laser method axis measurement.
Detailed Description
The method comprises the following specific steps:
(1) the physical size, camera parameters and the like of the strapdown optical imaging seeker needing to be calibrated are determined, and a hexahedron or a collimator tube and an installation base needed by calibration are manufactured according to the specific requirements of the seeker size, the view field and the like. The manufacturing precision is guaranteed to be more than 3 times of the calibration requirement; and selecting whether the total station, the baffle, the seeker matched equipment and the like with north pointing are available according to the scheme.
(2) If the selection is carried out, calibrating the projectile body and the seeker together, fixing the projectile body and the seeker in space after installation, arranging different-surface control points in the space of more than 10 meters, and requiring more than 6 in number; and measuring the optical center of the seeker and the world coordinates of all the control points on different surfaces by using a total station with north index. And simultaneously, the seeker shoots an image, the image and data are input into software to calculate internal parameters and aberration coefficients, the optical center origin of the seeker is regarded as being overlapped with a missile body coordinate system, inertial navigation data are read, and a rotation matrix from the missile body coordinate system to the seeker coordinate system is calculated.
(3) If the two guidance heads are independently calibrated in the selection method, the guidance heads are installed on the hexahedron, the internal parameters and the aberration coefficients of the guidance heads are the same as those of the guidance heads in (2), and the total station does not need the north-pointing function. Irradiating two mirror surfaces of the hexahedron by using a laser pen and a baffle, and recording two points on a light ray by using the baffle and a total station to obtain an axis of an elastic body coordinate system; and (3) regarding the origin of the optical center of the seeker as coinciding with the missile coordinate system, and expressing the control points with different surfaces in the missile coordinate system and the seeker coordinate system respectively to obtain the transformation matrix of the two coordinate systems so as to obtain the included angle between the seeker and the missile.
(4) If the calibrated seeker is calibrated by the third method, the calibrated seeker is arranged on the base and faces the collimator, and the collimator image is shot to obtain the pointing information of each node of the collimator; and (4) replacing the seeker to be calibrated, and calibrating the internal parameters of the seeker by utilizing the collinear equation in the known information and method I.
Claims (8)
1. A strapdown optical imaging seeker calibration method is characterized in that three calibration modes are adopted, namely, a projectile body and the seeker are calibrated together, and internal and external parameters and aberration coefficients are calibrated by utilizing on-projectile inertial navigation data and a total station with north pointing; the second method is that the seeker is independently calibrated, and the manufactured calibration auxiliary device and the total station are used for calibrating internal and external parameters and aberration coefficients; and calibrating the internal and external parameters by using the calibrated seeker and the collimator with the known internal and external parameters, wherein the calibration result is the conversion relation between the internal parameters and the aberration coefficients of the seeker imaging system and the coordinate system of the seeker and the missile coordinate system.
2. The strapdown optical imaging seeker calibration method according to claim 1, wherein the first method specifically is:
the projectile body and the guidance head are calibrated together, the inertial navigation data on the projectile body are read, a total station with north pointing is used,
fixing the guided missile with guide head, arranging non-coplanar and not less than 6 control points outside 10m in the field of view of the guide head
1～
nMeasuring the coordinate of the control point in the world coordinate system by using a total station with north index
1（X,Y,Z）～ 
n（X,Y, Z）And coordinates of optical centerO（X,Y,Z），
Set spatial point
The coordinates in the seeker coordinate system are
Then use the rotation matrix
And translation vector
Description points
In the seeker coordinate system
And point
In the world coordinate system
The relationship of (1):
the control points are imaged by the guide head by using a projection matrix
Comprises the following steps:
image point after correcting aberration in seeker
And satisfies the equation:
actual image point (x,y) And the ideal image point given according to the central perspective projection model
The difference between them is called aberration
I.e. by
Using aberration models
Wherein the content of the first and second substances,
～
is a coefficient of an aberration, and is,
for deviation of image point in horizontal and vertical directionsThe ratio of the distance of the image principal point to the corresponding equivalent focal length is called the normalized image coordinates, i.e.:
when space control point
When the number is more than 6, the above-mentioned value is obtained
To
The total number of 12 unknown numbers is obtained, and finally the internal parameter matrix K and the distortion parameters are obtained
~
Completing the calibration of the inner parameters and aberration coefficients of the seeker;
the origin point of the missile coordinate system is consistent with the optical center, and missile inertial navigation data are read to obtain the rotation angles of the missile coordinate system and the north-east coordinate system
Then, then
：
The rotation matrix from the world coordinate system to the projectile coordinate system is:
therefore, the conversion relation from the world coordinate system to the optical imaging lead coordinate system and the conversion relation from the projectile coordinate system to the world coordinate system are obtained:
the rotation matrix from the projectile coordinate system to the seeker coordinate system is
And finishing the calibration of the optical imaging seeker and the projectile body.
3. The strapdown optical imaging seeker calibration method according to claim 1, wherein the second method specifically is:
making a hexahedron, wherein the outward surface is made as the optical imaging seeker mounting surface, grinding a mirror surface A on the opposite surface of the hexahedron mounting seeker, grinding a mirror surface B on the adjacent surface of the optical imaging seeker mounting surface, the mirror surface B being perpendicular to the mirror surface A and parallel to the perpendicular line of the seeker mounting surface,
installing a seeker on a hexahedral installation surface, fixing the whole device, arranging not less than 6 out-of-plane spatial control points ten meters in the field of view of the seeker, calibrating internal parameters and aberration coefficients of the seeker according to a spatial control point method in the first method,
setting the origin of the missile coordinate system to be consistent with the optical center, using a laser pen to irradiate the mirror surface on the back of the seeker outside 10 meters, and if the laser original path can be returned, using a baffle and a total station to obtain A in the world coordinate system1(X, Y, Z) and A2(X, Y, Z), then the elastic body coordinate system is obtained
Shaft
The other side baffle was irradiated in the same manner to obtain B1(X, Y, Z) and B2(X, Y, Z), which are the coordinates of the projectile coordinate system
Shaft
Determined according to the rule of a right-handed screw
；
If the laser beam can not return to the original path, measuring the emitting point A of the laser beam by using a total station1(X, Y, Z), specular reflection Point A2(X, Y, Z), and a point A on the reflected beam3(X, Y, Z) obtaining angular bisectors of the three points, namely the X axis of the projectile coordinate system;
according to a world coordinate system, firstly rotating Ax around an X axis, then rotating Ay around a current Y axis, and finally rotating A around a current Z axisZRespectively calculate the rotation angles
Then, then
R is obtained by a coordinate system conversion method in the method IDC。
4. The strapdown optical imaging seeker calibration method according to claim 1, wherein the method III is specifically as follows:
manufacturing a collimator and a guide head mounting surface, wherein the guide head mounting surface is fixedly connected with the collimator; the view field of the collimator is not smaller than the view field angle of the seeker, and the collimator reticle is a checkerboard;
and installing a calibrated seeker on the installation surface, facing the collimator, acquiring the direction of each chessboard node after the collimator is imaged, replacing the seeker to be calibrated, calculating internal parameters and aberration coefficients of the seeker to be calibrated according to the obtained chessboard direction and a collinearity equation, and calibrating the other seekers if the conversion relation between the internal parameters and the aberration coefficients of the seeker to be calibrated and a coordinate system of the seeker and a missile body coordinate system is known.
5. The strapdown optical imaging seeker calibration method according to claim 2, wherein when the calibration method one is selected, the total station needs to have a north-pointing function and can read missile inertial navigation data.
6. The strapdown optical imaging seeker calibration method of claim 3, wherein when the second method is selected for calibration, the size of the hexahedron is customized according to the size of the seeker, and a total station north-pointing function is not required.
7. The strapdown optical imaging seeker calibration method according to claim 4, wherein when the selection method is performed in the calibration process, the collimator view angle is not smaller than the seeker view angle.
8. The strapdown optical imaging seeker calibration method according to claims 1 and 4, wherein when one calibrated seeker is available, the method can calibrate the same type of seeker in batches.
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