CN114594457A - Device and method for testing dynamic three-dimensional data precision of multiband photoelectric system - Google Patents

Device and method for testing dynamic three-dimensional data precision of multiband photoelectric system Download PDF

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CN114594457A
CN114594457A CN202210155551.XA CN202210155551A CN114594457A CN 114594457 A CN114594457 A CN 114594457A CN 202210155551 A CN202210155551 A CN 202210155551A CN 114594457 A CN114594457 A CN 114594457A
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photoelectric
coordinate
dimensional data
gps
photoelectric system
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曹明朗
殷祖焘
何俊峰
王宇
周杨
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717th Research Institute of CSIC
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a testing device for dynamic three-dimensional data precision of a multiband photoelectric system, which comprises a flight platform, a ground control station, a time synchronization device, data recording and resolving equipment and a tested photoelectric system, wherein the flight platform comprises a flight power system, a data radio station and a GPS mobile station; the ground control station comprises a data radio station, a GPS base station and an RTK post data processing system, the data recording and resolving equipment is respectively connected with the time synchronizer, the RTK post data processing system and the photoelectric system to be tested, and compared with the traditional static three-dimensional data precision test of the photoelectric system, the dynamic three-dimensional data precision test method can obtain the dynamic three-dimensional data precision of the photoelectric system in a moving target tracking state and assess the dynamic detection tracking performance of the photoelectric system.

Description

Device and method for testing dynamic three-dimensional data precision of multiband photoelectric system
Technical Field
The invention relates to the technical field of photoelectric navigation and testing, in particular to a device and a method for testing dynamic three-dimensional data precision of a multiband photoelectric system.
Background
The three-dimensional data precision refers to the precision of an azimuth angle, a pitch angle and a distance value of a target measured and output by a photoelectric system, is a very important tactical and technical index of the photoelectric system, and must be accurately tested and evaluated in the development and production of the photoelectric system. In the conventional photoelectric tracking, reconnaissance, warning and other equipment, the precision of the azimuth angle and the pitch angle is usually evaluated by adopting the standard statistical deviation amount of random change of the optical axis pointing angle when a product aims at a target, and in a new generation photoelectric system represented by integrated optical frequency, the precision of three-dimensional data is definitely expressed as the system error and the random error of the target distance, the azimuth angle and the pitch angle measured by the photoelectric system relative to the true value.
Since the newly defined three-dimensional data precision is the deviation between the measured value and the true value, the key to testing the three-dimensional data precision is how to accurately provide the true value of the target. At present, a static target test method is adopted when the three-dimensional data accuracy of a photoelectric system is tested, namely, true values of the distances, azimuth angles and pitch angles of a plurality of static targets are calibrated in advance through a high-accuracy handheld laser range finder and a theodolite, and the three-dimensional data of the targets obtained by measurement of the photoelectric system is compared with the true values to obtain the three-dimensional data accuracy of the targets. Because the handheld laser range finder and the theodolite adopted in the test method can only calibrate the true value of the three-dimensional data of the static target, the result obtained by the method is actually the static three-dimensional data precision of the photoelectric system on the static target, but the actual combat object of the photoelectric system is usually a moving target such as an airplane, a missile and the like, so the method cannot comprehensively evaluate the dynamic three-dimensional data precision of the photoelectric system.
Disclosure of Invention
The invention aims to provide a device and a method for testing dynamic three-dimensional data precision of a multiband photoelectric system, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a testing device for dynamic three-dimensional data precision of a multiband photoelectric system comprises a flight platform, a ground control station, a time synchronization device, data recording and resolving equipment and a tested photoelectric system, wherein the flight platform comprises a flight power system, a data radio station and a GPS mobile station; the ground control station comprises a data radio station, a GPS base station and an RTK post data processing system, the data recording and resolving device is respectively connected with the time synchronizer, the RTK post data processing system and the measured photoelectric system, the ground control station is respectively connected with the data radio station, the GPS base station and the RTK post data processing system, the ground control station completes information interaction with the flight power system through the data radio station, and the flight power system is provided with a GPS mobile station.
As a further technical scheme of the invention: and the GPS mobile station is connected with a GPS antenna.
As a further technical scheme of the invention: and the GPS base station is connected with a GPS antenna.
As a further technical scheme of the invention: the flight power system adopts three rotors two unmanned aerial vehicle that vert VTOL, and its afterbody is equipped with the heat source frock, installs 3 infrared heat sources on the heat source frock.
As a further technical scheme of the invention: the GPS base station adopts a Linux operating system, the number of channels reaches 220, the positioning output frequency is 1-50 Hz, and the RTK horizontal precision is +/-8 +1 multiplied by 10-6D)mm。
As a further technical scheme of the invention: the time synchronization device adopts a GPS second pulse signal to time data acquisition and calculation equipment, and sends time synchronization broadcast to a tested photoelectric system main control computer through a network port, so that the test data synchronization with a tested photoelectric system is realized.
As a further technical scheme of the invention: the data recording and resolving device is characterized in that a portable computer is adopted to record target three-dimensional data output by a tested photoelectric system, the target three-dimensional data is recorded on a storage medium after a time stamp is added, and finally, the three-dimensional data precision is calculated according to flight data recorded by a GPS, the geodetic coordinates of the photoelectric system and the target three-dimensional data output by the tested photoelectric system.
A method for testing dynamic three-dimensional data precision of a multiband photoelectric system adopts the system and comprises the following specific steps:
the method comprises the following steps: demarcating the geodetic coordinates of the position of the measured photoelectric system, and adopting a geocentric geostationary rectangular coordinate system and the origin O of the coordinate systemeSelected from the center of mass of the earth, XeThe axis pointing to the point of intersection of the meridian of the earth's origin and the equator, ZeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes form a right-hand coordinate system;
step two: starting a tested photoelectric system, and preheating for a certain time;
step three: establishing a differential GPS reference station, and expressing the position of a space point by using a geodetic coordinate system through longitude L, latitude B and geodetic altitude H;
step four: starting a GPS mobile station, preheating for a certain time, and ensuring that the data output frequency of the GPS mobile station is consistent with that of a tested photoelectric system;
step five: in the control software of the flight power system, the unmanned aerial vehicle route is planned, and the requirements are as follows: the flying power system flies transversely in an open field about 5km ahead of the measured photoelectric system, the flying height is within 300m (no aviation control application is needed), the flying speed is 50km/h (the flying stability is kept), the single-flight distance is 10-20 km, the back and forth are carried out for 2-5 times, the continuous effective flying time is about 1 hour,
step six: starting a flight power system to prepare for flight;
step seven: according to the detection target requirement of the photoelectric system to be detected, igniting a high-temperature infrared heat source at the tail of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to a planned route;
step eight: the differential GPS mobile station is suitable for recording the geodetic coordinates of the moving target unmanned aerial vehicle in real time;
step nine: the measured photoelectric system tracks and outputs three-dimensional data of the target unmanned aerial vehicle, a measurement coordinate system of the measured photoelectric system is represented by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the photoelectric system, alpha is the azimuth angle of the target in the measurement coordinate system of the photoelectric system, beta is the pitch angle of the target in the measurement coordinate system of the photoelectric system,
step ten: and obtaining the dynamic three-dimensional data precision of the measured photoelectric system by using the mutual transformation of several coordinate systems through data recording and resolving equipment.
As a further technical scheme of the invention: the three-dimensional data precision is calculated as follows:
step A, GPS two measurement coordinate systems are transformed into each other: the measurement result of the target by the GPS is based on coordinate values under two coordinate systems: one is a geodetic coordinate system, the position of a space point is represented by longitude L, latitude B and geodetic height H, the longitude is defined as an included angle between a plane where the space point is located and an autorotation axis of a reference ellipsoid and a current meridian plane of the reference ellipsoid, the latitude is defined as an included angle between a normal line of the space point and the reference ellipsoid and an equatorial plane, and the geodetic height is a distance from the space point to the reference ellipsoid along the normal direction of the reference ellipsoid; the other is a geocentric geostationary rectangular coordinate system, the origin O of whicheSelected from the center of mass of the earth, XeThe axis points to the intersection point of the earth's primary meridian and the equator; zeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes form a right-hand coordinate system;
fix the earth's center to the ground by rectangular coordinates (X)e，Ye，Ze) And geodetic coordinates (L, B, H):
Figure BDA0003512382720000041
in the above formula, the first and second carbon atoms are,
Figure BDA0003512382720000042
is a first eccentricity;
Figure BDA0003512382720000043
a is the longer semi-axis of the reference ellipsoid, b is the shorter semi-axis of the reference ellipsoid,
and B: converting a horizon coordinate system and a GPS measurement coordinate;
the origin of the horizontal coordinate system is at the center of three axes of the photoelectric system, the X axis is in the east direction, the Y axis is in the north direction, the Z axis points to the zenith and is vertical to the XOY plane,
the conversion relation between the horizon coordinate and the earth center earth fixation rectangular coordinate is as follows:
Figure BDA0003512382720000044
wherein the content of the first and second substances,
Figure BDA0003512382720000051
is a coordinate transformation matrix between a geocentric earth-fixed rectangular coordinate system and a horizon coordinate system,
then the process of the first step is carried out,
Figure BDA0003512382720000052
and C: converting a polar coordinate system and a horizontal coordinate system of the photoelectric system;
the measurement coordinate system of the optoelectronic system is expressed by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the optoelectronic system, alpha is the azimuth angle of the target in the measurement coordinate system of the optoelectronic system, beta is the pitch angle of the target in the measurement coordinate system of the optoelectronic system,
according to the horizontal coordinate of the target, the conversion relation between the horizontal coordinate and the polar coordinate is as follows:
Figure BDA0003512382720000053
step D: calculating the precision of the three-dimensional data;
let (x)ei，yei，zei) The polar coordinates of the unmanned aerial vehicle at the ith time point are calculated as (r) through the coordinate transformation by using the geocentric geostationary rectangular coordinates of the unmanned aerial vehicle measured by the GPS at the ith (i is 1, 2, …, N) time point respectivelyi，αi，βi) And the polar coordinate of the unmanned aerial vehicle measured by the photoelectric system is simultaneously carved to be (r'i，α′i，β′i)，
Step E: analyzing the measurement error of the three-dimensional data precision;
the test of the dynamic three-dimensional data precision of the photoelectric system belongs to dynamic measurement, and the mean value and the standard deviation of n times of measurement data are used as evaluation indexes:
with respect to the distance measurement accuracy:
the average value of the ranging errors for n times is counted as the system error of the ranging precision of the photoelectric system, namely
Figure BDA0003512382720000061
The standard deviation of the ranging error for n times is counted as the random error of the ranging precision of the photoelectric system, namely
Figure BDA0003512382720000062
② for the azimuth angle measurement precision:
the average value of the n-th azimuth angle measurement errors is counted as the system error of the azimuth angle measurement precision of the photoelectric system, namely
Figure BDA0003512382720000063
The standard deviation of the n-th azimuth angle measurement error is counted as the random error of the azimuth angle measurement precision of the photoelectric system, namely
Figure BDA0003512382720000064
And thirdly, for the pitch angle measurement accuracy:
the average value of the n-time pitch angle measurement errors is counted as the system error of the photoelectric system pitch angle measurement precision, namely
Figure BDA0003512382720000065
The standard deviation of the n-time pitch angle measurement errors is counted as the random error of the pitch angle measurement accuracy of the photoelectric system, namely
Figure BDA0003512382720000066
Compared with the prior art, the invention has the beneficial effects that: the method provided by the invention can be used for providing positioning information of the simulated target in real time by simulating the aerial flying target, calculating to obtain real-time truth value data such as the azimuth angle, the pitch angle and the distance of the simulated aerial flying target relative to the tested photoelectric system by combining GPS data processing, and analyzing to obtain the precision of three-dimensional data such as the azimuth angle, the pitch angle and the distance of the tested photoelectric system by means of coordinate conversion and the like. Compared with the traditional test of the precision of static three-dimensional data of the photoelectric system, the dynamic three-dimensional data precision of the photoelectric system in a motion target tracking state can be obtained, and the dynamic detection tracking performance of the photoelectric system is checked; in addition, because the tail part of the flying target of the unmanned aerial vehicle adopts a unique tool design and carries a high-temperature infrared heat source, the target of the unmanned aerial vehicle can also simulate an infrared broadband target, the detection and tracking performance test of different waveband targets of the photoelectric system is met, and the inspection and test efficiency of the whole machine joint debugging stage of the photoelectric system is greatly improved.
Drawings
Fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a flow chart of dynamic three-dimensional data precision testing of the multiband photoelectric system.
Fig. 3 is a schematic structural view of the heat source tool.
Fig. 4 is a schematic diagram of a high-temperature infrared heat source tool and a carrying schematic diagram.
In fig. 4: 1-heat source tool and 2-infrared heat source.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: referring to fig. 1, a testing device for dynamic three-dimensional data accuracy of a multiband photoelectric system comprises a flight platform, a ground control station, a time synchronization device, data recording and resolving equipment and a measured photoelectric system, wherein the flight platform comprises a flight power system, a data radio station and a GPS mobile station; the ground control station comprises a data radio station, a GPS base station and an RTK post data processing system, the data recording and resolving device is respectively connected with the time synchronizer, the RTK post data processing system and the measured photoelectric system, the ground control station is respectively connected with the data radio station, the GPS base station and the RTK post data processing system, the ground control station completes information interaction with the flight power system through the data radio station, and the flight power system is provided with a GPS mobile station.
As shown in fig. 2, a method for testing dynamic three-dimensional data accuracy of a multiband photoelectric system adopts the system, and includes the following steps:
the method comprises the following steps: demarcating the geodetic coordinates of the position of the measured photoelectric system, and adopting a geocentric geostationary rectangular coordinate system and the origin O of the coordinate systemeSelected from the center of mass of the earth, XeThe axis pointing to the point of intersection of the meridian of the earth's origin and the equator, ZeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes constitute a right-hand coordinate system.
Step two: starting a tested photoelectric system, and preheating for a certain time;
step three: establishing a differential GPS reference station, and expressing the position of a space point by using a geodetic coordinate system through longitude L, latitude B and geodetic altitude H;
step four: starting a GPS mobile station, preheating for a certain time, and ensuring that the data output frequency of the GPS mobile station is consistent with that of a tested photoelectric system;
step five: in the control software of the flight power system (unmanned aerial vehicle), the unmanned aerial vehicle route is planned, and the following requirements are required: the unmanned aerial vehicle flies transversely in an open field about 5km from the right front of the measured photoelectric system, the flying height is within 300m (no aviation control application is needed), the flying speed is 50km/h (the flying stability is kept), the single-time sailing distance is 10-20 km, the unmanned aerial vehicle makes 2-5 times of round trip, and the unmanned aerial vehicle flies continuously and effectively for about 1 hour.
Step six: starting the unmanned aerial vehicle to prepare for flying;
step seven: according to the detection target requirement of the photoelectric system to be detected, igniting a high-temperature infrared heat source at the tail of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to a planned route;
step eight: the differential GPS mobile station is suitable for recording the geodetic coordinates of the moving target unmanned aerial vehicle in real time;
step nine: the measured photoelectric system tracks and outputs three-dimensional data of the target unmanned aerial vehicle, and a measurement coordinate system of the measured photoelectric system is represented by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the photoelectric system, alpha is the azimuth angle of the target in the measurement coordinate system of the photoelectric system, and beta is the pitch angle of the target in the measurement coordinate system of the photoelectric system.
Step ten: and obtaining the dynamic three-dimensional data precision of the measured photoelectric system by using the mutual transformation of several coordinate systems through data recording and resolving equipment.
Example 2, on the basis of example 1, the calculation process of the three-dimensional data precision in the step ten is as follows:
step A, GPS two measurement coordinate systems are transformed into each other: the measurement result of the target by the GPS is based on coordinate values under two coordinate systems: one is a geodetic coordinate system, the position of a space point is represented by longitude L, latitude B and geodetic height H, the longitude is defined as an included angle between a plane where the space point is located and an autorotation axis of a reference ellipsoid and a current meridian plane of the reference ellipsoid, the latitude is defined as an included angle between a normal line of the space point and the reference ellipsoid and an equatorial plane, and the geodetic height is a distance from the space point to the reference ellipsoid along the normal direction of the reference ellipsoid; the other is a rectangular coordinate system of earth center and earth fixation, a coordinate systemOrigin O ofeSelected from the center of mass of the earth, XeThe axis points to the intersection point of the earth's original meridian and the equator; zeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes form a right-hand coordinate system;
fix the earth's center to the ground by rectangular coordinates (X)e，Ye，Ze) And geodetic coordinates (L, B, H):
Figure BDA0003512382720000091
in the above formula, the first and second carbon atoms are,
Figure BDA0003512382720000092
is a first eccentricity;
Figure BDA0003512382720000093
a is the longer semi-axis of the reference ellipsoid, b is the shorter semi-axis of the reference ellipsoid,
and B: converting a horizon coordinate system and a GPS measurement coordinate;
the origin of the horizontal coordinate system is at the center of three axes of the photoelectric system, the X axis is in the east direction, the Y axis is in the north direction, the Z axis points to the zenith and is vertical to the XOY plane,
the conversion relation between the horizon coordinate and the earth center earth fixation rectangular coordinate is as follows:
Figure BDA0003512382720000101
wherein the content of the first and second substances,
Figure BDA0003512382720000102
is a coordinate transformation matrix between a geocentric earth-fixed rectangular coordinate system and a horizon coordinate system,
then the process of the first step is carried out,
Figure BDA0003512382720000103
and C: converting a polar coordinate system and a horizontal coordinate system of the photoelectric system;
the measurement coordinate system of the optoelectronic system is expressed by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the optoelectronic system, alpha is the azimuth angle of the target in the measurement coordinate system of the optoelectronic system, beta is the pitch angle of the target in the measurement coordinate system of the optoelectronic system,
according to the horizontal coordinate of the target, the conversion relation between the horizontal coordinate and the polar coordinate is as follows:
Figure BDA0003512382720000104
step D: calculating the precision of the three-dimensional data;
let (x)ei，yei，zei) The polar coordinates of the unmanned aerial vehicle at the ith time point are calculated as (r) through the coordinate transformation, wherein the coordinates are the geocentric-geostationary rectangular coordinates of the unmanned aerial vehicle obtained by GPS measurement at the ith (i is 1, 2, …, N) time point respectivelyi，αi，βi) And the polar coordinate of the unmanned aerial vehicle measured by the photoelectric system is simultaneously carved to be (r'i，α′i，β′i)，
Step E: analyzing the measurement error of the three-dimensional data precision;
the test of the dynamic three-dimensional data precision of the photoelectric system belongs to dynamic measurement, and the mean value and the standard deviation of n times of measurement data are used as evaluation indexes:
with respect to the distance measurement accuracy:
the average value of the ranging errors for n times is counted as the system error of the ranging precision of the photoelectric system, namely
Figure BDA0003512382720000111
The standard deviation of the ranging error for n times is counted as the random error of the ranging precision of the photoelectric system, namely
Figure BDA0003512382720000112
② for the azimuth angle measurement precision:
the average value of the n-th azimuth angle measurement errors is counted as the system error of the azimuth angle measurement precision of the photoelectric system, namely
Figure BDA0003512382720000113
The standard deviation of the n-th azimuth angle measurement error is counted as the random error of the azimuth angle measurement precision of the photoelectric system, namely
Figure BDA0003512382720000114
And thirdly, for the pitch angle measurement accuracy:
the average value of the n-time pitch angle measurement errors is counted as the system error of the photoelectric system pitch angle measurement precision, namely
Figure BDA0003512382720000115
The standard deviation of the n-time pitch angle measurement errors is counted as the random error of the pitch angle measurement accuracy of the photoelectric system, namely
Figure BDA0003512382720000121
Example 3, on the basis of example 1: the Unmanned Aerial Vehicle (UAV) adopts a three-rotor two-tilting vertical take-off and landing design, a heat source tool 1 is arranged at the tail of the UAV, 3 infrared heat sources 3 are installed on the heat source tool 1, the wingspan is 2.8 meters, the maximum time of flight can reach 2 hours, the control radius is more than or equal to 20km, the tail is provided with a high-temperature heating source through a self-made adaptive tool, and the flame size can be adjusted and continuously burns for more than 1 hour.
Wherein, the GPS mobile station adopts GPS difference antenna form to load in above-mentioned unmanned aerial vehicle flight driving system, and the performance reaches centimetre level location, and the precision is high to adopt two antenna design, the location orientation combines, and anti-magnetic interference is stronger, and complicated environment adaptability is stronger.
The GPS base station adopts a Linux operating system, the number of channels reaches 220, the positioning output frequency is 1-50 Hz, and the RTK horizontal precision is +/-8 +1 multiplied by 10-6D)mm。
The RTK data processing system supports GPS + GLONASS + BD + Galileo and other systems, supports positioning and orientation, has the highest data updating rate of 20Hz, synchronously displays the resolving result and the aviation flight area map, and can acquire centimeter-level POS data through differential resolving.
The time synchronization device adopts a GPS second pulse signal to time data acquisition and calculation equipment, and sends time synchronization broadcast to a main control computer of the tested photoelectric system through a network port, so that the test data synchronization with the tested photoelectric system is realized.
The data recording and resolving device adopts a portable computer, records target three-dimensional data output by the tested photoelectric system, adds a time stamp and records the data on a storage medium. And finally, calculating to obtain the three-dimensional data precision according to the flight data recorded by the GPS, the geodetic coordinates of the photoelectric system and the target three-dimensional data output by the photoelectric system to be measured.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (9)

1. A testing device for dynamic three-dimensional data precision of a multiband photoelectric system comprises a flight platform, a ground control station, a time synchronization device, data recording and resolving equipment and a tested photoelectric system, and is characterized in that the flight platform comprises a flight power system, a data radio station and a GPS mobile station; the ground control station comprises a data radio station, a GPS base station and an RTK post data processing system, the data recording and resolving device is respectively connected with the time synchronizer, the RTK post data processing system and the measured photoelectric system, the ground control station is respectively connected with the data radio station, the GPS base station and the RTK post data processing system, the ground control station completes information interaction with the flight power system through the data radio station, and the flight power system is provided with a GPS mobile station.
2. The device of claim 1, wherein a GPS antenna is connected to the GPS mobile station.
3. The device for testing the dynamic three-dimensional data accuracy of the multiband optoelectronic system according to claim 1, wherein a GPS antenna is connected to the GPS base station.
4. The device for testing the dynamic three-dimensional data accuracy of the multiband optoelectronic system according to claim 1, wherein the flying power system adopts a three-rotor two-tilt VTOL unmanned aerial vehicle, a heat source tool is arranged at the tail of the flying power system, and 3 infrared heat sources are installed on the heat source tool.
5. The device for testing dynamic three-dimensional data accuracy of a multiband optoelectronic system according to claim 1,the method is characterized in that a Linux operating system is adopted for the GPS base station, the number of channels reaches 220, the positioning output frequency is 1-50 Hz, and the RTK horizontal precision is +/-8 +1 multiplied by 10-6D)mm。
6. The device for testing the dynamic three-dimensional data accuracy of the multiband photoelectric system according to claim 1, wherein the time synchronization device uses a GPS second pulse signal to time the data acquisition and calculation equipment, and sends the time-synchronized broadcast to a main control computer of the measured photoelectric system through a network port, so as to realize the test data synchronization with the tested photoelectric system.
7. The device for testing the dynamic three-dimensional data accuracy of the multiband optoelectronic system according to claim 1, wherein the data recording and resolving device uses a portable computer to record target three-dimensional data output by the optoelectronic system to be tested, and records the target three-dimensional data on a storage medium after adding a timestamp, and finally calculates the three-dimensional data accuracy according to flight data recorded by a GPS, geodetic coordinates of the optoelectronic system, and the target three-dimensional data output by the optoelectronic system to be tested.
8. A test method for dynamic three-dimensional data accuracy of a multiband photoelectric system adopts the system of any one of claims 1 to 7, and is characterized by comprising the following specific steps:
the method comprises the following steps: demarcating the geodetic coordinates of the position of the measured photoelectric system, and adopting a geocentric geostationary rectangular coordinate system and the origin O of the coordinate systemeSelected from the center of mass of the earth, XeThe axis points to the intersection of the meridian of the earth's origin and the equator, ZeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes form a right-hand coordinate system;
step two: starting a tested photoelectric system, and preheating for a certain time;
step three: establishing a differential GPS reference station, and expressing the position of a space point by using a geodetic coordinate system through longitude L, latitude B and geodetic altitude H;
step four: starting a GPS mobile station, preheating for a certain time, and ensuring that the data output frequency of the GPS mobile station is consistent with that of a tested photoelectric system;
step five: in the control software of the flight power system, the unmanned aerial vehicle route is planned, and the requirements are as follows: the flying power system flies transversely in an open field 5km right in front of the tested photoelectric system, the flying height is within 300m, the flying speed is 50km/h, the single-time sailing distance is 10-20 km, the back and forth are carried out for 2-5 times, the continuous effective flying time is about 1 hour,
step six: starting a flight power system to prepare for flight;
step seven: according to the detection target requirement of the photoelectric system to be detected, igniting a high-temperature infrared heat source at the tail of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to a planned route;
step eight: the differential GPS mobile station is suitable for recording the geodetic coordinates of the moving target unmanned aerial vehicle in real time;
step nine: the measured photoelectric system tracks and outputs three-dimensional data of the target unmanned aerial vehicle, a measurement coordinate system of the measured photoelectric system is represented by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the photoelectric system, alpha is the azimuth angle of the target in the measurement coordinate system of the photoelectric system, beta is the pitch angle of the target in the measurement coordinate system of the photoelectric system,
step ten: and obtaining the dynamic three-dimensional data precision of the measured photoelectric system by using the mutual transformation of several coordinate systems through data recording and resolving equipment.
9. The method for testing the dynamic three-dimensional data accuracy of the multiband optoelectronic system according to claim 8, wherein the three-dimensional data accuracy is calculated as follows:
step A, GPS two measurement coordinate systems are transformed into each other: the measurement result of the target by the GPS is based on coordinate values under two coordinate systems: one is a geodetic coordinate system, the position of a space point is represented by longitude L, latitude B and geodetic height H, the longitude is defined as the included angle between the plane of the space point and the rotation axis of the reference ellipsoid and the meridian plane of the reference ellipsoid, and the latitude is defined as the normal of the space point and the reference ellipsoid and the normal of the reference ellipsoid and the meridian plane of the reference ellipsoidThe included angle of the equatorial plane and the geodetic height are the distances from the space point to the reference ellipsoid along the normal direction of the reference ellipsoid; the other is a geocentric-geostationary rectangular coordinate system, the origin O of whicheSelected from the center of mass of the earth, XeThe axis points to the intersection point of the earth's original meridian and the equator; zeThe axis coincides with the polar axis of the earth and points to the north pole; y iseAxis and XeOeZePerpendicular to the plane, YeAxis and Ze、XeThe axes form a right-hand coordinate system;
fix the earth's center to the ground by rectangular coordinates (X)e，Ye，Ze) And geodetic coordinates (L, B, H):
Figure FDA0003512382710000031
in the above formula, the first and second carbon atoms are,
Figure FDA0003512382710000032
is a first eccentricity;
Figure FDA0003512382710000033
a is the longer semi-axis of the reference ellipsoid, b is the shorter semi-axis of the reference ellipsoid,
and B: converting a horizon coordinate system and a GPS measurement coordinate;
the origin of the horizontal coordinate system is at the center of three axes of the photoelectric system, the X axis is in the east direction, the Y axis is in the north direction, the Z axis points to the zenith and is vertical to the XOY plane,
the conversion relation between the horizon coordinate and the earth center earth fixation rectangular coordinate is as follows:
Figure FDA0003512382710000041
wherein the content of the first and second substances,
Figure FDA0003512382710000042
is a coordinate transformation matrix between a geocentric earth-fixed rectangular coordinate system and a horizon coordinate system,
then the process of the first step is carried out,
Figure FDA0003512382710000043
and C: converting a polar coordinate system and a horizontal coordinate system of the photoelectric system;
the measurement coordinate system of the optoelectronic system is expressed by polar coordinates (r, alpha, beta), wherein r is the distance between the target and the optoelectronic system, alpha is the azimuth angle of the target in the measurement coordinate system of the optoelectronic system, beta is the pitch angle of the target in the measurement coordinate system of the optoelectronic system,
according to the horizontal coordinate of the target, the conversion relation between the horizontal coordinate and the polar coordinate is as follows:
Figure FDA0003512382710000044
step D: calculating the precision of the three-dimensional data;
let (x)ei，yei，zei) The polar coordinates of the unmanned aerial vehicle at the ith time point are calculated as (r) through the coordinate transformation by using the geocentric geostationary rectangular coordinates of the unmanned aerial vehicle measured by the GPS at the ith (i is 1, 2, …, N) time point respectivelyi，αi，βi) And the polar coordinate of the unmanned aerial vehicle measured by the photoelectric system is simultaneously carved to be (r'i，α′i，β′i)，
Step E: analyzing the measurement error of the three-dimensional data precision;
the test of the dynamic three-dimensional data precision of the photoelectric system belongs to dynamic measurement, and the mean value and the standard deviation of n times of measurement data are used as evaluation indexes:
with respect to the distance measurement accuracy:
the average value of the ranging errors for n times is counted as the system error of the ranging precision of the photoelectric system, namely
Figure FDA0003512382710000051
The standard deviation of the ranging error for n times is counted as the random error of the ranging precision of the photoelectric system, namely
Figure FDA0003512382710000052
② for the azimuth angle measurement precision:
the average value of the n-th azimuth angle measurement errors is counted as the system error of the azimuth angle measurement precision of the photoelectric system, namely
Figure FDA0003512382710000053
The standard deviation of the n-th azimuth angle measurement error is counted as the random error of the azimuth angle measurement precision of the photoelectric system, namely
Figure FDA0003512382710000054
And thirdly, for the pitch angle measurement accuracy:
the average value of the n-time pitch angle measurement errors is counted as the system error of the photoelectric system pitch angle measurement precision, namely
Figure FDA0003512382710000055
The standard deviation of the n-time pitch angle measurement errors is counted as the random error of the pitch angle measurement accuracy of the photoelectric system, namely
Figure FDA0003512382710000061
CN202210155551.XA 2022-02-21 2022-02-21 Device and method for testing dynamic three-dimensional data precision of multiband photoelectric system Pending CN114594457A (en)

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* Cited by examiner, † Cited by third party
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CN115164825A (en) * 2022-07-27 2022-10-11 中国卫星海上测控部 Automatic digital guide system based on ADS-B
CN116186494A (en) * 2023-04-24 2023-05-30 中国西安卫星测控中心 Precision calculation and evaluation method for large number of measurement and control equipment based on precise ephemeris inversion

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115164825A (en) * 2022-07-27 2022-10-11 中国卫星海上测控部 Automatic digital guide system based on ADS-B
CN115164825B (en) * 2022-07-27 2024-04-30 中国卫星海上测控部 Automatic digital guiding system based on ADS-B
CN116186494A (en) * 2023-04-24 2023-05-30 中国西安卫星测控中心 Precision calculation and evaluation method for large number of measurement and control equipment based on precise ephemeris inversion
CN116186494B (en) * 2023-04-24 2023-09-05 中国西安卫星测控中心 Precision calculation and evaluation method for large number of measurement and control equipment based on precise ephemeris inversion

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