CN112051547A - Method for utilizing different-station angle measurement information in target capturing and tracking - Google Patents

Method for utilizing different-station angle measurement information in target capturing and tracking Download PDF

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CN112051547A
CN112051547A CN202010746686.4A CN202010746686A CN112051547A CN 112051547 A CN112051547 A CN 112051547A CN 202010746686 A CN202010746686 A CN 202010746686A CN 112051547 A CN112051547 A CN 112051547A
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target
station
theodolite
virtual
distance
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CN112051547B (en
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冯旭辰
陆红刚
禄晓飞
高刘正
李立三
王琛
龚永辉
路建功
麻纪庵
姜志富
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UNIT 63636 OF PLA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G01C1/02—Theodolites

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Abstract

The invention discloses a method for utilizing inter-station angle measurement information in target capturing and tracking, and belongs to the field of optical measurement. Firstly, a plurality of station theodolites are arranged at different station arrangement positions of a station theodolite for monitoring a flying target to find and track the target, and the station theodolite outputs the azimuth angle and the pitch angle of the tracked target to the station theodolite. Then, a virtual target is set on a connecting line between the station theodolite and the real target, and the radial distance between the virtual target and the station theodolite is set to be R'n. The theodolite of the station carries out coordinate transformation on the position of the virtual target, and leads the lens of the theodolite of the station to point to the virtual target; increasing virtual radial distance R'nUntil the virtual target overlaps the real target. If the target tracked by the theodolite of the station and the target pointed by the theodolite of the station are the same, more measurement and control equipment is guided to track and measure the target, and the more accurate target position is calculated. The inventionThe search speed and the capture success rate are considered, and the working efficiency is improved.

Description

Method for utilizing different-station angle measurement information in target capturing and tracking
Technical Field
The invention belongs to the field of optical measurement, and particularly relates to a method for utilizing inter-station angle measurement information in target capturing and tracking.
Background
In the existing measurement and control system, each measurement and control device is connected to a network to realize information sharing, and measurement information of other devices is used as target indication information to provide support for tracking and capturing of the devices. For example, in a certain situation, only one optical device is used for tracking a certain target, and other devices are required to join or relay to track observation in order to keep continuous tracking or further observe and position the target, but the optical device usually cannot provide target angle measurement information due to the fact that the optical device does not have the distance measurement capability, and single device cannot achieve space positioning.
At present, devices at the same station can utilize angle measurement information to realize guide capture tracking, but for devices at different stations, the guide capture tracking among the devices cannot be realized, and the consistency comparison of guide and tracking targets cannot be carried out by means of the angle measurement information at different stations.
Disclosure of Invention
In order to solve the problem that the angle measurement information and the image information of a target cannot be effectively utilized in the target capturing and tracking of a station by a single optical device with distance measurement capability, the invention provides a method for utilizing the angle measurement information of different stations in the target capturing and tracking process.
The method for utilizing the inter-station angle measurement information in target capturing and tracking comprises the following specific steps:
the method comprises the following steps that firstly, aiming at a certain station theodolite for monitoring a flying target, a plurality of station-to-station theodolites are arranged at different station arrangement positions to realize networking observation;
and step two, finding and tracking the target by the opposite station theodolite, and automatically calculating the corresponding focal length and exposure parameter of the local station theodolite by using the imaging index according to the focal length and exposure parameter adopted by the opposite station theodolite for tracking the target.
The requirements for automatic calculation are: when the theodolite of the station searches the target, the size and the brightness of the image can be the same as those of the image of the theodolite of the opposite station.
Outputting azimuth angle and pitch angle information of a tracking target to the station theodolite, and transmitting the azimuth angle and pitch angle information to the station theodolite through a measurement and control network;
step four, setting a virtual target on a connecting line between the station theodolite and the real target, and setting the radial distance between the virtual target and the station theodolite to be R'nInitial value R'0Set to 0 km;
step five, taking a survey station coordinate system of the station theodolite as a reference, combining an azimuth angle and a pitch angle output by the station theodolite, and adding a virtual radial distance R'nObtaining a position P 'of a virtual target'n(An,En,R'n)；
AnIs the azimuth angle of the target, EnIs the pitch angle of the target.
Step six, the theodolite of the station carries out coordinate transformation on the position of the virtual target, and the azimuth angle and the pitch angle of the virtual target in a coordinate system of a survey station of the theodolite of the station are calculated;
step seven, driving a servo motor to control a lens of the theodolite of the station to rotate according to the calculated azimuth angle and pitch angle, and pointing to the virtual target;
step eight: increasing the virtual radial distance R 'from the initial value'nThe theodolite of the station is guided to search in space until the virtual target is overlapped with the real target, and the theodolite of the station finds the target to complete the searching process;
the specific principle of the searching process is as follows:
first, add time T to the virtual target locationnConstructing a spatial position P 'of a virtual target'n(Tn,An,En,R'n)；
Then, the virtual target distance R 'is continuously increased from 0 km'nThe value of (2) produces a series of virtual positions that slide continuously on the spatial ray, continuously approximating the position of the real target.
The calculation method for the increasing virtual radial distance is as follows:
first, the virtual target is driven from position P1(A1,E1,R'n1) Move to P2(A2,E2,R'n2) The generated displacement is delta D, and the included angle between the delta D and the observation direction of the theodolite at the station is beta.
The displacement amount Δ D needs to satisfy:
Figure BDA0002608620670000021
in the formula, d is the distance between the theodolite of the station and the current virtual target; alpha is the field angle of the theodolite at the station; tau is the capturing time of the theodolite at the station, namely the time that the target needs to stay in the field of view; f is the data transmission frequency to the station theodolite;
then, the amount of change Δ R 'in the virtual distance is calculated from the value of Δ D'n＝R'n2-R'n1Taking the value as the virtual distance added value of the next frame data;
and continuously iterating in such a way, and correcting the added value of the virtual distance in real time to enable the added value to meet the following requirements all the time: the displacement speed of the virtual target does not exceed the capture index of the theodolite at the station.
In the approximation process, the positions of the virtual target and the real target are expressed as the following coordinate series:
P1|P'1(T1,A1,E1,R1|R'1)
P2|P'2(T2,A2,E2,R2|R'2)
………
Pn|P'n(Tn,An,En,Rn|R'n)
………
when virtual distance R'nWhen the value of the virtual target is close to the radial distance value of the real target, the virtual target is close to coincide with the real target, and the real target is found in the field of view of the theodolite at the station.
And step nine, after the theodolite of the station finds the real target and tracks the target autonomously, judging whether the target tracked by the theodolite of the station and the target pointed by the theodolite of the station are the same, if so, entering the step ten, and otherwise, searching the target again.
The verification process of whether the target is the same target is as follows:
firstly, the distance d between the space directional line of the theodolite of the station and the space directional line of the theodolite of the opposite station is calculated, namely the length of the common perpendicular line of the two space rays.
The observation direction vectors of the theodolite of the station and the theodolite of the opposite station to respective targets are assumed to be respectively
Figure BDA0002608620670000031
And
Figure BDA0002608620670000032
according to the conversion principle of rectangular coordinates and spherical coordinates, the coordinate components of two vectors are represented by the azimuth and elevation angle information of the theodolite
(X1＝cos A1 cos E1，Y1＝sinE1,Z1＝sin A1 cos E1)
(X2＝cos A2 cos E2，Y2＝sinE2,Z2＝sin A2 cos E2)
A1Observing azimuth angles of the theodolite of the station on the target; e1The pitch angle of the theodolite at the station to the target is obtained; a. the2Observing azimuth angles of the targets by the station theodolite; e2The pitch angle is observed for a target by a station theodolite.
The distance between the two spatial rays is:
Figure BDA0002608620670000033
wherein the content of the first and second substances,
Figure BDA0002608620670000034
is the vector of the connecting line of any two points on the two rays,
Figure BDA0002608620670000035
is the vector product of the two direction vectors.
And then, judging whether the distance d is greater than the error measured by the equipment or not by utilizing the distance d and combining the pitch angle and azimuth angle information of the equipment, and if the distance d is obviously greater than the measurement error, judging that the tracked target is not the same target and searching again. Otherwise, the tracking is the same target.
And step ten, positioning the space position of the target by using a photoelectric theodolite two-station intersection positioning method, transmitting the position information into a measurement and control network, guiding more measurement and control equipment to track and measure the target, performing multi-station intersection by using more tracking information, and calculating a more accurate target position.
The invention has the beneficial effects that:
the method for utilizing the inter-station angle measurement information in target capturing and tracking only utilizes the angle information of one optical tracking device to guide other measuring stations to search and capture targets, has obvious economic benefit and practical value, takes the calculation of the change rate of the virtual radial distance as the premise, considers the searching speed and the capturing success rate, and improves the working efficiency.
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FIG. 1 is a flow chart of a method for utilizing the inter-station angular measurement information in target acquisition and tracking according to the present invention;
FIG. 2 is a schematic diagram of the present invention using goniometric information to search for a target;
FIG. 3 is a schematic diagram illustrating the principle of virtual distance change rate calculation according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention provides a method for utilizing different-station goniometric information in target capturing and tracking, which is characterized in that a plurality of station theodolites for networking observation are arranged at different station arrangement positions aiming at a certain station theodolite, and a target is found and tracked firstly by the station. The indicator ray is a time-varying spatially scanned ray as the object continues to move. The station searches for the target by using the scanning rays provided by the station, and the most direct method is to search for the target by changing the virtual distance based on an initial virtual distance (generally set from zero). As the virtual target continuously approaches the real target in space, the local station finds the real target under the guidance of the virtual target. And after a real target is found, switching to autonomous tracking, and calculating the flight path parameters of the target through double-station space intersection.
As shown in fig. 1, the specific steps are as follows:
the method comprises the following steps that firstly, aiming at a certain station theodolite for monitoring a flying target, a plurality of station-to-station theodolites are arranged at different station arrangement positions to realize networking observation;
and step two, finding and tracking the target by the opposite station theodolite, and automatically calculating the corresponding focal length and exposure parameter of the local station theodolite by using the imaging index according to the focal length and exposure parameter adopted by the opposite station theodolite for tracking the target.
The requirements for automatic calculation are: when the theodolite of the station searches the target, the size and the brightness of the image can be the same as those of the image of the theodolite of the opposite station.
Outputting azimuth angle and pitch angle information of a tracking target to the station theodolite, and transmitting the azimuth angle and pitch angle information to the station theodolite through a measurement and control network;
step four, setting a virtual target on a connecting line between the station theodolite and the real target, and setting the radial distance between the virtual target and the station theodolite to be R'nInitial value R'0Set to 0 km;
since the size of the target is often unknown, the target distance cannot be estimated according to the imaging formula, and the spatial position of the target cannot be determined, and a continuously changing radial distance R 'needs to be virtualized on the basis of only angle information'nTo conduct a target search.
Step five, taking a survey station coordinate system of the station theodolite as a reference, combining an azimuth angle and a pitch angle output by the station theodolite, and adding a virtual radial distance R'nObtaining a position P 'of a virtual target'n(An,En,R'n)；
AnIs the azimuth angle of the target, EnIs the pitch angle of the target.
The theodolite of the station carries out coordinate conversion on the virtual target position by using a coordinate conversion matrix, and calculates the azimuth angle and the pitch angle of the virtual target in a survey station coordinate system of the theodolite of the station;
the specific value of the coordinate transformation matrix is determined according to the coordinates of the local station theodolite and the opposite station theodolite.
Step seven, driving a servo motor to control a lens of the theodolite of the station to rotate according to the calculated azimuth angle and pitch angle, and pointing to the virtual target;
step eight: increasing the virtual radial distance R 'from the initial value'nThe theodolite of the station is guided to search in space until the virtual target is overlapped with the real target, and the theodolite of the station finds the target to complete the searching process;
for "increasing virtual radial distance", the speed of increase is conditionally limited: not too fast, which makes the theodolite not as time to find and capture the target, and too slow, which makes the search process too time consuming and delays the capture opportunity.
The determination principle and calculation method of the increase speed are as follows:
as shown in FIG. 2, between two frames of measurement data sent from the opposite station, the true target position is Pn(Tn,An,En,Rn)，TnIs time, RnIs the radial distance of the target from the survey station (which cannot be measured by a single station), which is a constantly changing series of coordinates because the target is in motion at all times. Because the station can not measure the radial distance information RnTherefore, only the angle information can be utilized by the station when searching for the target, and the target position guide provided by the station is only one space ray when the station looks at the target position guide.
As shown in FIG. 3, the azimuth and pitch angle of the theodolite will change due to the movement of the real target, and the virtual target will move from the position P in consideration of the variation of the virtual distance1(A1,E1,R'n1) Move to P2(A2,E2,R'n2) The generated displacement is delta D, and the included angle between the delta D and the observation direction of the theodolite at the station is beta. As long as the amount of change Δ R 'of the virtual distance is controlled'n＝R'n2-R'n1And ensuring that the displacement speed of the virtual target does not exceed the capture index of the theodolite at the station. Through calculation, the displacement amount Δ D of the virtual target between two frames of data needs to satisfy the following condition:
Figure BDA0002608620670000051
d is the distance between the theodolite of the station and the current virtual target; alpha is the field angle of the theodolite at the station; tau is the capturing time of the theodolite at the station, namely the time that the target needs to stay in the field of view; f is the data transmission frequency to the station theodolite;
in the formula (1), the values of Δ D and D can be determined by the pair P1(A1,E1,R'n1)，P2(A2,E2,R'n2) After coordinate transformation, P is calculated1(A1,E1,R'n1)，P2(A2,E2,R'n2) After converting into a station-measuring rectangular coordinate system, the method comprises the following steps:
Figure BDA0002608620670000052
Figure BDA0002608620670000053
(2) in the formula, the azimuth and the pitching angle are measured by a theodolite encoder, and the virtual distance R 'is'n1Iteratively determined from the previous frame data (the initial value of the virtual distance is 0), so that Δ D expressed by the expression (3) is a signal containing an unknown quantity R'n2The formula (1). Substituting expression of delta D into expression (1) can calculate to obtain R'n2That is, the virtual distance variation amount DeltaR 'can be obtained'n＝R'n2-R'n1Prepared from: 'delta R'nThe value of (2) is used as the virtual distance added value of the next frame data, and the virtual distance added value can be corrected in real time by continuously iterating in such a way, so that the virtual distance added value always meets the capture condition.
The station uses a virtual distance R 'by using a station coordinate system'nAnd position P 'of virtual target'n(Tn,An,En,R'n) By changing R'nA series of virtual positions P 'are generated on the space ray line'n(Tn,An,En,R'n). R'nThe value of (a) is increased from 0 so that the virtual target slides continuously on the observation direction ray of the station theodolite and approaches the real target continuously. In the approximation process, the positions of the virtual target and the real target are expressed as the following coordinate series:
P1|P'1(T1,A1,E1,R1|R'1)
P2|P'2(T2,A2,E2,R2|R'2)
………
Pn|P'n(Tn,An,En,Rn|R'n)
………
when virtual distance R'nWhen the distance value of the virtual target is increased to be close to or equal to the radial distance value of the real target, the virtual target and the real target are close to coincide, and the real target is found in the field of view of the theodolite at the station.
And step nine, after the theodolite of the station finds and autonomously tracks the real target, judging whether the target tracked by the theodolite of the station and the target pointed by the theodolite of the station are the same, if so, entering the step ten, and otherwise, searching the target again.
The verification process of whether the same target is verified is as follows:
firstly, the distance d between a space directional line determined by the goniometric information of the theodolite at the station and a space directional line determined by the goniometric information of the theodolite at the station is calculated, namely the length of a common perpendicular line of the two space rays.
The observation direction vectors of the theodolite of the station and the theodolite of the opposite station to respective targets are assumed to be respectively
Figure BDA0002608620670000061
And
Figure BDA0002608620670000062
according to the conversion principle of rectangular coordinates and spherical coordinates, the coordinate components of two vectors are represented by angle information
(X1＝cos A1 cos E1，Y1＝sinE1,Z1＝sin A1 cos E1)
(X2＝cos A2 cos E2，Y2＝sinE2,Z2＝sin A2 cos E2)
A1Observing azimuth angles of the theodolite of the station on the target; e1The pitch angle of the theodolite at the station to the target is obtained; a. the2Observing azimuth angles of the targets by the station theodolite; e2For sighting a target by a station theodoliteElevation angle.
The distance between the two spatial rays is:
Figure BDA0002608620670000063
wherein the content of the first and second substances,
Figure BDA0002608620670000064
is the vector of the connecting line of any two points on the two rays,
Figure BDA0002608620670000065
is the vector product of the two direction vectors.
And then, judging whether the distance d is obviously larger than the error measured by the equipment or not by utilizing the distance d and combining the pitch angle and azimuth angle information of the equipment, and if so, judging that the tracked target is not the same target and searching again. Otherwise, the same target is tracked.
And step ten, positioning the space position of the target by using a photoelectric theodolite two-station intersection positioning method, transmitting the position information into a measurement and control network, guiding more measurement and control equipment to track and measure the target, performing multi-station intersection by using more tracking information, and calculating a more accurate target position.
The invention can provide the space angle information of the target by utilizing the optical equipment with accurate angle measurement capability to observe the target, and the space range of other equipment for searching the target can be limited in a very small range by utilizing the angle information so as to quickly capture the target and further realize the measurement requirements of space positioning and the like.

Claims (4)

1. The utilization method of the different-station angle measurement information in target acquisition and tracking is characterized by comprising the following specific steps of:
the method comprises the following steps that firstly, aiming at a certain station theodolite for monitoring a flying target, a plurality of station-to-station theodolites are arranged at different station arrangement positions to realize networking observation;
finding and tracking a target by the opposite station theodolite, and automatically calculating the corresponding focal length and exposure parameter of the local station theodolite by using the imaging index according to the focal length and exposure parameter adopted by the opposite station theodolite for tracking the target;
outputting azimuth angle and pitch angle information of a tracking target to the station theodolite, and transmitting the azimuth angle and pitch angle information to the station theodolite through a measurement and control network;
step four, setting a virtual target on a connecting line between the station theodolite and the real target, and setting the radial distance between the virtual target and the station theodolite to be R'nInitial value R'0Set to 0 km;
step five, taking a survey station coordinate system of the station theodolite as a reference, combining an azimuth angle and a pitch angle output by the station theodolite, and adding a virtual radial distance R'nObtaining a position P 'of a virtual target'n(An,En,R'n)；
AnIs the azimuth angle of the target, EnIs the pitch angle of the target;
step six, the theodolite of the station carries out coordinate transformation on the position of the virtual target, and the azimuth angle and the pitch angle of the virtual target in a coordinate system of a survey station of the theodolite of the station are calculated;
step seven, driving a servo motor to control a lens of the theodolite of the station to rotate according to the calculated azimuth angle and pitch angle, and pointing to the virtual target;
step eight: increasing the virtual radial distance R 'from the initial value'nThe theodolite of the station is guided to search in space until the virtual target is overlapped with the real target, and the theodolite of the station finds the target to complete the searching process;
the specific principle of the searching process is as follows:
first, add time T to the virtual target locationnConstructing a spatial position P 'of a virtual target'n(Tn,An,En,R'n)；
Then, the virtual target distance R 'is continuously increased from 0 km'nGenerating a series of virtual positions which slide continuously on the space ray and continuously approximate to the position of the real target;
the calculation method for the increasing virtual radial distance is as follows:
first, the virtual target is driven from position P1(A1,E1,R'n1) Move to P2(A2,E2,R'n2) The generated displacement is delta D, and the included angle between the delta D and the observation direction of the theodolite at the station is beta;
the displacement amount Δ D needs to satisfy:
Figure FDA0002608620660000011
in the formula, d is the distance between the theodolite of the station and the current virtual target; alpha is the field angle of the theodolite at the station; tau is the capturing time of the theodolite at the station, namely the time that the target needs to stay in the field of view; f is the data transmission frequency to the station theodolite;
then, the amount of change Δ R 'in the virtual distance is calculated from the value of Δ D'n＝R'n2-R'n1Taking the value as the virtual distance added value of the next frame data;
and continuously iterating in such a way, and correcting the added value of the virtual distance in real time to enable the added value to meet the following requirements all the time: the displacement speed of the virtual target does not exceed the capture index of the theodolite at the station;
step nine, after the theodolite of the station finds a real target and autonomously tracks the target, judging whether the target tracked by the theodolite of the station and the target pointed by the theodolite of the station are the same, if so, entering the step ten, and otherwise, searching the target again;
and step ten, positioning the space position of the target by using a photoelectric theodolite two-station intersection positioning method, transmitting the position information into a measurement and control network, guiding more measurement and control equipment to track and measure the target, performing multi-station intersection by using more tracking information, and calculating a more accurate target position.
2. The method of claim 1, wherein the automatic calculation in step two requires: when the theodolite of the station searches the target, the size and the brightness of the image are the same as those of the image of the theodolite of the opposite station.
3. The method for utilizing the heterotopic information in the target capturing and tracking as claimed in claim 1, wherein in the approximation process of step eight, the positions of the virtual target and the real target are expressed as the following coordinate series:
P1|P'1(T1,A1,E1,R1|R'1)
P2|P'2(T2,A2,E2,R2|R'2)
………
Pn|P'n(Tn,An,En,Rn|R'n)
………
when virtual distance R'nWhen the value of the virtual target is close to the radial distance value of the real target, the virtual target is close to coincide with the real target, and the real target is found in the field of view of the theodolite at the station.
4. The method according to claim 1, wherein the verification process of determining whether the target tracked by the theodolite at the local station and the target pointed by the theodolite at the local station are the same in the ninth step is:
firstly, calculating the distance d between a space pointing line of a theodolite at the station and a space pointing line of a theodolite at the opposite station, namely the length of a common perpendicular line of two space rays;
the observation direction vectors of the theodolite of the station and the theodolite of the opposite station to respective targets are assumed to be respectively
Figure FDA0002608620660000021
And
Figure FDA0002608620660000022
according to the conversion principle of rectangular coordinates and spherical coordinates, the coordinate components of two vectors are expressed as (X) by the azimuth and elevation angle information of the theodolite1＝cosA1cosE1，Y1＝sinE1,Z1＝sinA1cosE1)
(X2＝cosA2cosE2，Y2＝sinE2,Z2＝sinA2cosE2)
A1Observing azimuth angles of the theodolite of the station on the target; e1The pitch angle of the theodolite at the station to the target is obtained; a. the2Observing azimuth angles of the targets by the station theodolite; e2Observing a pitch angle of a target by a station theodolite;
the distance between the two spatial rays is:
Figure FDA0002608620660000023
wherein the content of the first and second substances,
Figure FDA0002608620660000024
is the vector of the connecting line of any two points on the two rays,
Figure FDA0002608620660000025
is the vector product of the two direction vectors;
then, judging whether the distance d is larger than the measurement error of the equipment or not by utilizing the distance d and combining the pitch angle and azimuth angle information of the equipment, if so, judging that the tracked target is not the same target, and searching again; otherwise, the tracking is the same target.
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* Cited by examiner, † Cited by third party
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CN114754731A (en) * 2022-04-25 2022-07-15 中国人民解放军63811部队 Method for meeting photoelectric theodolite and related equipment
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