CN114964259A - Attitude calculation method and system based on infrared focal plane array time domain signal and infrared image - Google Patents
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Abstract
The invention discloses an attitude resolving method and system based on infrared focal plane array time domain signals and infrared images, wherein in a single-axis infrared focal plane array sensor arrangement mode, the method comprises the steps of firstly carrying out data preprocessing on an infrared focal plane array, expanding a low-pixel infrared image by adopting a bicubic interpolation method and mapping the low-pixel infrared image to a gray space; detecting the texture straight-line slope of the gray level image through an image processing algorithm, and realizing attitude calculation of the pitch angle of the rotating projectile body based on the infrared image; and deducing the phase difference of each surface element of the infrared focal plane array by utilizing pitch angle information, and solving the roll angle of the projectile body based on the array time domain signal. The method is different from the traditional unit infrared attitude measurement method, realizes the resolution of attitude information by fusing array time domain signals and infrared image information in an infrared focal plane array single-axis sensor arrangement mode, and has the advantages of strong autonomy, high precision and no accumulated error.
Description
Technical Field
The invention belongs to the technical field of navigation control of rotating projectiles, and relates to an attitude calculation method and system based on infrared focal plane array time domain signals and infrared images.
Background
In order to realize modernization, intellectualization and informationization transformation and train installation of the precision guided weapon, the novel, autonomous, low-cost and high-precision attitude measurement method is concerned. In recent years, researchers have begun to use the earth infrared radiation field to realize attitude measurement of a carrier in addition to autonomous attitude measurement methods such as geomagnetism, inertia, solar azimuth angle, and the like, and have obtained certain research results.
At present, many researches are made on attitude parameter testing methods based on infrared, and for example, a high-precision attitude detection method of a static infrared earth sensor designed for a spacecraft running in a middle-high orbit is disclosed in a Chinese patent 201210141271. X. Chinese patent 201711216092.7 discloses a device for testing attitude of a spinning projectile based on infrared and geomagnetic compounding, which combines a unit infrared attitude measurement method and a geomagnetic attitude measurement method to realize attitude estimation of the spinning projectile. Xue 28156hi \ "long wave infrared radiation projectile attitude test system \" published in "foreign electronic measurement technology", et al, adopts MODTRAN atmospheric radiation calculation software to perform simulation calculation on infrared radiation under the circumstance of clear and cloudy summer at mid-latitude, establishes an infrared radiation attitude test model by a curve fitting method, and calculates the pitch angle and roll angle of the projectile body. However, the research of the current infrared attitude testing method still focuses on the attitude measurement theory of the unit infrared sensor, the unit infrared sensor is deficient in information quantity and insufficient in flexibility, installation errors are often introduced into the arrangement of the multi-axis sensors, and attitude angle measurement errors and system reliability are still to be improved.
Disclosure of Invention
The invention aims to provide a method and a system for calculating the attitude based on an infrared focal plane array time domain signal and an infrared image, which are used for solving the problems that the multi-axis arrangement of the existing unit infrared attitude measurement method is easy to introduce installation errors, the sensor information is deficient, the flexibility is insufficient and the like.
The technical solution for realizing the purpose of the invention is as follows: in a first aspect, the invention provides an attitude calculation method based on an infrared focal plane array time domain signal and an infrared image, which comprises the following steps:
step 1, data preprocessing and infrared gray level image generation: based on an infrared focal plane array attitude measurement mathematical model, carrying out data preprocessing on an infrared focal plane array, expanding a low-pixel infrared image by adopting a bicubic interpolation method, and mapping the low-pixel infrared image to a gray space through self-adaptive linear transformation;
step 3, resolving the projectile body roll angle based on the array time domain signals: and calculating the included angle between the roll angle of the projectile body and the equivalent roll angle of each sensitive surface element by combining the pitch angle of the projectile body obtained by calculation, and directly calculating the roll angle of the projectile body through any pixel of the infrared focal plane array sensor. And according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and fusing to obtain the final projectile roll angle.
In a second aspect, the present invention provides an attitude calculation system based on an infrared focal plane array time domain signal and an infrared image, including:
the data preprocessing and infrared gray image generating module is used for preprocessing data of the infrared focal plane array based on the infrared focal plane array attitude measurement mathematical model, expanding the low-pixel infrared image by adopting a bicubic interpolation method and mapping the low-pixel infrared image to a gray space through self-adaptive linear transformation;
the projectile pitch angle resolving module is used for selecting an adaptive threshold value to carry out binarization on the gray level image according to the obtained gray level image; adopting a Canny operator to carry out edge detection on the binary image; after extracting a useful edge coordinate set, performing straight line fitting by using a least square method to obtain the slope of a straight line, and finally realizing direct calculation of the pitch angle of the projectile body;
the projectile body roll angle calculating module is used for calculating included angles between the projectile body roll angle and the equivalent roll angles of all the sensitive surface elements by combining the projectile body pitch angle obtained through calculation, and directly calculating the roll angle of the projectile body through any one pixel of the infrared focal plane array sensor; and according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and fusing to obtain the final projectile roll angle.
In a third aspect, the invention provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the program.
In a fourth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In a fifth aspect, the invention provides a computer program product comprising a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the invention provides an attitude calculation method based on an infrared focal plane array, which solves the problems of the existing unit infrared attitude measurement method that the information content is deficient, the flexibility is insufficient, the multi-axis arrangement is easy to introduce installation errors and the like, and further expands and enriches the infrared attitude test theory;
(2) the invention provides a rotating projectile attitude calculation method based on fusion of a uniaxial infrared focal plane array time domain signal and an infrared image, which is used for realizing calculation of a pitch angle and a roll angle based on the infrared image and the array time domain signal respectively and has the advantages of autonomy, high precision, no accumulated error and the like;
(3) the invention adopts a single-axis infrared focal plane array arrangement mode, avoids the influence of installation errors on the attitude test, and further improves the precision and the use simplicity of the infrared attitude test method.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
FIG. 1 is a schematic diagram of a uniaxial infrared focal plane array sensor arrangement according to the method of the present invention.
FIG. 2 is a schematic diagram of attitude measurement based on a single-axis infrared focal plane array sensor in the method of the present invention.
Fig. 3 is a block flow diagram of the method of the present invention.
FIG. 4 is a solution error curve for the pitch angle and roll angle of a projectile using the method of the present invention.
Detailed Description
For the purpose of describing the technical aspects and technical objects of the present invention in detail, the following detailed description will be given with reference to the accompanying drawings in conjunction with the embodiments.
The single-axis infrared focal plane array sensor is arranged in a manner shown in figure 1, and the sensor T s Y mounted in a carrier coordinate system b The axis and the measurement schematic diagram are shown in fig. 2, and the large field angle direction of the sensor corresponds to the rolling direction of the projectile body.
With reference to fig. 3, the method for resolving the attitude of a rotating projectile based on the fusion of the time domain signal of the uniaxial infrared focal plane array and the infrared image, provided by the invention, comprises the following steps:
step 1, data preprocessing and infrared gray level image generation: based on an infrared focal plane array attitude measurement mathematical model, carrying out data preprocessing on an infrared focal plane array, expanding a low-pixel infrared image by adopting a bicubic interpolation method, and mapping the low-pixel infrared image to a gray space through self-adaptive linear transformation;
step 1.1, the theoretical model of each surface element of the uniaxial infrared focal plane array can be expressed as:
wherein theta is a pitch angle of the projectile body, and gamma is a roll angle of the projectile body. Sensor contains a x b infrared thermopile arrays(a and b are both even numbers). T is sij (theta, gamma) is output of the ith row and the jth column surface element of the infrared focal plane array, and a theoretical model is shown as the following formula:
wherein the single infrared sensor has an angle of view of alpha, alpha c For the transverse field angle, alpha, of the infrared focal plane array sensor r Is the longitudinal field angle. A is amplitude coefficient, B is offset, and A and B are obtained by experimental calibration. e.g. of the type ij The total eccentricity angle between the bin and the center of the sensor is calculated by: :
the included angle delta gamma between the equivalent transverse rolling angle of each sensitive surface element and the transverse rolling angle of the projectile body ij Can be calculated by the following formula:
and step 1.2, preprocessing according to the attenuation coefficient of each sensitive surface element of the infrared focal plane array sensor based on the infrared focal plane array attitude measurement mathematical model.
Establishing an infrared focal plane array coefficient matrix:
wherein,
therefore, the low-pixel infrared focal plane array data preprocessed by the infrared focal plane array coefficient matrix are as follows:
wherein,
T′ sij (θ,γ)＝A cosθsin(γ+Δγ ij )+B (8)
the amplitude A and the offset B in the above formula can be obtained by calibration through experiments.
And step 1.3, expanding the low-pixel infrared image by adopting a bicubic interpolation method, and interpolating an output matrix after attenuation coefficient matrix processing. The algorithm requires the selection of interpolation basis functions to fit the data. The commonly used interpolation basis function is chosen as shown in the following formula:
the bicubic interpolation formula is as follows:
f(i+u,j+v)＝PVQ (10)
wherein P, V, Q can be expressed as:
P＝[S(1+u) S(u) S(1-u) S(2-u)] (11)
Q＝[S(1+v) S(v) S(1-v) S(2-v)] T (13)
the interpolated low-pixel infrared image is mapped to a gray space through the following adaptive linear transformation, and finally a 'multiplied by b' gray image I can be obtained g ：
step 2.1, according to the obtained gray level image, selecting self-adaptive threshold Th 1 Binarization is carried out on the gray level image:
2.2, performing edge detection on the binary image by adopting a Canny operator, and extracting a useful edge coordinate set;
due to the flight characteristics of the rotating projectile, one or two edges corresponding to the threshold may exist in the actual detection process. By analyzing the number of 8 connected regions of the image, the number of edges can be judged so as to extract a useful edge coordinate set { (x) 1 ,y 1 )}。
And 2.3, after extracting a useful edge coordinate set, performing straight line fitting by using a least square method to obtain the slope k of a straight line, and finally realizing direct calculation of the pitch angle of the projectile by using the following formula:
step 3, resolving the projectile body roll angle based on the array time domain signals: and calculating the included angle between the roll angle of the projectile body and the equivalent roll angle of each sensitive surface element by combining the calculated pitch angle of the projectile body, and directly calculating the roll angle of the projectile body through any pixel of the infrared focal plane array sensor. According to the 3 sigma criterion, carrying out effectiveness analysis on the calculated roll angle data, and fusing to obtain the final projectile roll angle;
and 3.1, combining the preprocessed infrared data with the missile pitch angle obtained by the infrared image-based attitude direct resolving method, and calculating the roll angle of the missile body by the array time domain signal-based attitude direct resolving method. On the premise of knowing the pitch angle of the projectile body, obtaining the included angle delta gamma between the roll angle of the projectile body and the equivalent roll angle of each sensitive surface element according to the following formula ij ：
Step 3.2, directly calculating the roll angle of the projectile body through any pixel of the infrared focal plane array sensor, wherein the calculation method comprises the following steps:
the direct calculation of the attitude angle in the above formula involves the operation of an inverse trigonometric function, so that the criterion is made in the actual calculation process
Using criterion C of previous moment k-1 Criterion C with current time k The solving truth table is shown in the following table:
table 1 direct calculation of roll angle truth table
Step 3.3, according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and establishing an effectiveness coefficient formula;
wherein v is ij Is the point data residual error; σ is the standard deviation of all data.
After the effectiveness coefficients of the transverse rolling angles of all the surface elements obtained by calculation are respectively solved, the final transverse rolling angle of the projectile is obtained according to the following formula:
based on the same inventive concept, the invention also provides an attitude calculation system based on the infrared focal plane array time domain signal and the infrared image, which comprises the following steps:
the data preprocessing and infrared gray image generating module is used for preprocessing data of the infrared focal plane array based on the infrared focal plane array attitude measurement mathematical model, expanding the low-pixel infrared image by adopting a bicubic interpolation method and mapping the low-pixel infrared image to a gray space through self-adaptive linear transformation;
the projectile pitch angle resolving module is used for selecting an adaptive threshold value to carry out binarization on the gray level image according to the obtained gray level image; adopting a Canny operator to carry out edge detection on the binary image; after a useful edge coordinate set is extracted, performing straight line fitting by using a least square method to obtain the slope of a straight line, and finally realizing direct calculation of the pitch angle of the projectile body;
the projectile body roll angle calculating module is used for combining the projectile body pitch angle obtained through calculation, calculating included angles between the projectile body roll angle and the equivalent roll angles of all the sensitive surface elements, and directly calculating the roll angle of the projectile body through any pixel of the infrared focal plane array sensor; and according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and fusing to obtain the final projectile roll angle.
The specific implementation manner of each module in the attitude calculation system is the same as that of each step of the attitude calculation method, and is not described herein again.
The modules in the attitude calculation system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The present invention will be described in detail with reference to examples.
Examples
The attitude measurement device adopting the uniaxial infrared focal plane array sensor arrangement is arranged on a three-axis turntable to carry out semi-physical experiment, and attitude calculation of the pitch angle and the roll angle of the projectile body is carried out according to the method provided by the invention. FIG. 4 is a solution error curve for the pitch angle and roll angle of a projectile using the method of the present invention.
As can be seen from FIG. 4, when the method of the present invention is used for measuring the attitude of the rotating projectile, the solution errors of the pitch angle and the roll angle are respectively controlled within +/-2 degrees and +/-1.8 degrees. The rotating projectile attitude calculation method based on the fusion of the uniaxial infrared focal plane array time domain signals and the infrared images only adopts the uniaxial sensor arrangement, obtains the projectile pitch angle by solving the angle of the infrared images, calculates the absolute roll angle of the projectile by utilizing the array time domain signals, and has the advantages of simple and convenient installation, no installation error, low cost, strong autonomy, rich information content, no accumulated error and the like.
The present invention is not intended to be limited to the particular embodiments shown and described, and all changes, equivalents and modifications that come within the spirit and scope of the invention are desired to be protected.
Claims (8)
1. An attitude calculation method based on infrared focal plane array time domain signals and infrared images is characterized by comprising the following steps:
step 1, data preprocessing and generation of infrared gray level images: based on an infrared focal plane array attitude measurement mathematical model, carrying out data preprocessing on an infrared focal plane array, expanding a low-pixel infrared image by adopting a bicubic interpolation method, and mapping the low-pixel infrared image to a gray space through self-adaptive linear transformation;
step 2, resolving the projectile pitch angle based on the infrared image: selecting an adaptive threshold value to carry out binarization on the gray level image according to the obtained gray level image; adopting a Canny operator to carry out edge detection on the binary image; after a useful edge coordinate set is extracted, performing straight line fitting by using a least square method to obtain the slope of a straight line, and finally realizing direct calculation of the pitch angle of the projectile body;
step 3, resolving the projectile body roll angle based on the array time domain signals: calculating included angles between the roll angles of the projectile bodies and the equivalent roll angles of all the sensitive surface elements by combining the pitch angles of the projectile bodies obtained by calculation, and directly calculating the roll angles of the projectile bodies through any pixel of the infrared focal plane array sensor; and according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and fusing to obtain the final projectile roll angle.
2. The attitude calculation method based on the infrared focal plane array time domain signal and the infrared image according to claim 1, wherein the data preprocessing and the generation of the infrared gray image in the step 1 specifically include the following steps:
step 1.1, the theoretical model of each surface element of the uniaxial infrared focal plane array can be expressed as:
wherein theta is a pitch angle of the projectile body, and gamma is a roll angle of the projectile body; the sensor contains a x b infrared thermopile arrays, wherein a and b are even numbers; t is sij (theta, gamma) is output of the ith row and the jth column surface element of the infrared focal plane array, and a theoretical model is shown as the following formula:
wherein the single infrared sensor has an angle of view of alpha, alpha c For the transverse field angle, alpha, of the infrared focal plane array sensor r A longitudinal field angle; a is an amplitude coefficient, B is offset, and A and B are obtained by experimental calibration; e.g. of the type ij The total eccentricity angle between the bin and the center of the sensor is calculated by:
the included angle delta gamma between the equivalent transverse rolling angle of each sensitive surface element and the transverse rolling angle of the projectile body ij Calculated by the following formula:
step 1.2, preprocessing according to attenuation coefficients of all sensitive surface elements of the infrared focal plane array sensor based on the infrared focal plane array attitude measurement mathematical model;
establishing an infrared focal plane array coefficient matrix:
wherein,
therefore, the low-pixel infrared focal plane array data preprocessed by the infrared focal plane array coefficient matrix are as follows:
wherein,
T′ sij (θ,γ)＝Acosθsin(γ+Δγ ij ) The amplitude A and the bias B in the formula of + B (8) are obtained by experimental calibration;
step 1.3, expanding the low-pixel infrared image by adopting a bicubic interpolation method, mapping the low-pixel infrared image to a gray scale space through self-adaptive linear transformation, and finally obtaining a 'multiplied by b' gray scale image I g ：
3. The method for calculating the attitude based on the infrared focal plane array time-domain signal and the infrared image according to claim 2, wherein the step 2 of calculating the pitch angle of the projectile based on the infrared image specifically comprises the following steps:
step 2.1, according to the obtained gray level image, selecting self-adaptive threshold Th 1 Binarization is carried out on the gray level image:
step 2.2, performing edge detection on the binary image by adopting a Canny operator, and extracting a useful edge coordinate set { (x) 1 ,y 1 )}；
Step 2.3, after extracting a useful edge coordinate set, performing straight line fitting by using a least square method to obtain the slope k of a straight line, and finally realizing direct calculation of the pitch angle of the projectile by using the following formula:
4. the attitude calculation method based on the infrared focal plane array time-domain signal and the infrared image according to claim 3, wherein the step 3 of calculating the array time-domain signal-based projectile body roll angle specifically comprises the following steps:
step 3.1, combining the pitch angle of the projectile body obtained by resolving, and calculating the included angle delta gamma between the roll angle of the projectile body and the equivalent roll angle of each sensitive surface element by using the formula (4) ij ；
Step 3.2, directly calculating the roll angle of the projectile through any pixel of the infrared focal plane array sensor:
wherein A is y 、B y Respectively representing the amplitude and the offset of the calibrated sensor output signal;
step 3.3, according to the 3 sigma criterion, carrying out effectiveness analysis on the roll angle data obtained by calculation, and establishing an effectiveness coefficient formula;
wherein v is ij For the point data residual, σ is the standard deviation of all data;
after the effectiveness coefficients of the transverse rolling angles of all the surface elements obtained by calculation are respectively solved, the final transverse rolling angle of the projectile is obtained according to the following formula:
5. an attitude calculation system based on infrared focal plane array time domain signals and infrared images is characterized by comprising:
the data preprocessing and infrared gray level image generating module is used for preprocessing data of the infrared focal plane array based on the infrared focal plane array attitude measurement mathematical model, expanding the low-pixel infrared image by adopting a bicubic interpolation method and mapping the low-pixel infrared image to a gray level space through self-adaptive linear transformation;
the projectile pitch angle resolving module is used for selecting an adaptive threshold value to carry out binarization on the gray level image according to the obtained gray level image; adopting a Canny operator to carry out edge detection on the binary image; after a useful edge coordinate set is extracted, performing straight line fitting by using a least square method to obtain the slope of a straight line, and finally realizing direct calculation of the pitch angle of the projectile body;
the projectile body roll angle calculating module is used for calculating included angles between the projectile body roll angle and the equivalent roll angles of all the sensitive surface elements by combining the projectile body pitch angle obtained through calculation, and directly calculating the roll angle of the projectile body through any one pixel of the infrared focal plane array sensor; and according to a 3 sigma criterion, carrying out effectiveness analysis on the calculated roll angle data, and fusing to obtain the final projectile roll angle.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1-4 are implemented when the program is executed by the processor.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
8. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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| CN117968734A (en) * | 2024-03-28 | 2024-05-03 | 南京信息工程大学 | Fault diagnosis method and device for missile-borne infrared focal plane array sensor |
| CN118258426A (en) * | 2024-05-30 | 2024-06-28 | 南京信息工程大学 | Infrared attitude measurement method and device |
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| CN117968734A (en) * | 2024-03-28 | 2024-05-03 | 南京信息工程大学 | Fault diagnosis method and device for missile-borne infrared focal plane array sensor |
| CN118258426A (en) * | 2024-05-30 | 2024-06-28 | 南京信息工程大学 | Infrared attitude measurement method and device |
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