CN116499457A - Optical telescope and laser range finder combined target positioning method based on single equipment - Google Patents
Optical telescope and laser range finder combined target positioning method based on single equipment Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses a single-equipment-based optical telescope and laser range finder combined target positioning method, which comprises the following steps: acquiring two rows of track numbers of the space target, and determining celestial coordinates of the space target relative to the earth center at any moment based on the two rows of track numbers; converting celestial coordinates into first geocentric coordinates in a geocentric coordinate system according to a preset matrix; determining a second geocentric coordinate of the photoelectric telescope according to the position information of the photoelectric telescope; determining the horizon of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinates and the second geocentric coordinates; inputting the horizon and a preset pointing error correction model into the photoelectric telescope, and outputting pointing information of the photoelectric telescope; the preset pointing error correction model is used for correcting the pointing information of the photoelectric telescope; according to the pointing information, measuring the distance between the space target and the photoelectric telescope by a laser range finder; the pointing information and the distance are taken as positioning information of the space object.
Description
Technical Field
The invention belongs to the technical field of aerospace measurement and control, and particularly relates to a single-equipment-based combined target positioning method of an optical telescope and a laser range finder.
Background
Currently, as the types of space targets are more and more, the coverage of such targets is wide, including artificial satellites, stars, space fragments, reentrant space targets and the like, and as space targets are gradually increased, the requirements for observing, positioning and managing the space targets are also continuously increased. The current observation method of the space target mainly comprises two main modes of optical telescope detection and radar detection. Compared with radar equipment, the optical telescope has the characteristics of simple structure, convenience in operation and the like, but can only provide angle measurement information, and can not provide positioning information for a target as single equipment, so that the advantage of the telescope can not be well played in target positioning.
Disclosure of Invention
In order to solve the problems in the related art, the invention provides a single-device-based combined target positioning method of an optical telescope and a laser range finder. The technical problems to be solved by the invention are realized by the following technical scheme:
the invention provides a single-equipment-based optical telescope and laser range finder combined target positioning method, which comprises the following steps:
acquiring two rows of track numbers of a space target, and determining celestial coordinates of the space target relative to the earth center at any moment based on the two rows of track numbers;
converting the celestial coordinates into first geocentric coordinates in a geocentric coordinate system according to a preset matrix;
determining a second geocentric coordinate of the photoelectric telescope according to the position information of the photoelectric telescope;
determining the horizontal coordinate of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinate and the second geocentric coordinate;
inputting the horizon and a preset pointing error correction model into the photoelectric telescope, and outputting pointing information of the photoelectric telescope; the preset pointing error correction model is used for correcting the pointing information of the photoelectric telescope;
according to the pointing information, measuring the distance between the space target and the photoelectric telescope through a laser range finder;
and taking the pointing information and the distance as positioning information of the space target.
In some embodiments, the preset matrix includes: a preset polar shift conversion matrix, a preset time angle conversion matrix, a preset nutation conversion matrix and a preset time difference conversion matrix; the converting the celestial coordinate into a first geocentric coordinate in a geocentric coordinate system according to a preset matrix includes:
and converting the celestial coordinates into geocentric coordinates in a geocentric coordinate system according to a preset polar shift conversion matrix, a preset time angle conversion matrix, a preset nutation conversion matrix and a preset time difference conversion matrix to obtain the first geocentric coordinates.
In some embodiments, the first geocentric coordinates are expressed as:
；
wherein,,for the polar shift conversion matrix, and, < >>，/>Polar coordinates that are instantaneous ground poles; />Is said time-angle transformation matrix, and, < >>，/>When the real star is instantaneous Greenner; />For the nutation switching matrix and, < > is>，/>、/>And->All are time constants; />For the time difference conversion matrix, and, <' > is>，/>Nutating in yellow meridian>Nutating in yellow-red intersection angle>Is the intersection angle of the true equatorial plane and the equatorial plane; />、/>And->All are change matrixes of the rotation motion of the photoelectric telescope; />For the celestial coordinates, +.>Is the first geocentric coordinates.
In some embodiments, the pointing information includes: azimuth and pitch; the preset pointing error correction model comprises the following steps: an azimuth error correction model and a pitch error correction model.
In some embodiments, the expression of the orientation error correction model is:
；
the expression of the pitching error correction model is as follows:
；
wherein,,for the orientation error correction model, +.>For the pitch error correction model, +.>For the visual axis aliases +.>For azimuth pitch vertical error, +.>And->Are all base tilt errors +.>For the first pitch bearing error->For the second pitch bearing error->For north-south bearing error, < >>For east-west bearing error, <' > in the first place>For the visual axis shake error, < >>For the azimuth angle to be entered, +.>For the pitch angle to be entered +.>、、/>And->Are allThe coefficients are preset.
In some embodiments, the location information includes longitude, latitude, and elevation of the optical telescope; the determining the horizon coordinates of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinates and the second geocentric coordinates includes:
determining a first conversion matrix and a second conversion matrix according to the longitude and the latitude;
determining a coordinate difference between the first geocentric coordinates and the second geocentric coordinates;
and converting the coordinate difference by adopting the first conversion matrix and the second conversion matrix to obtain the horizontal coordinate of the space target relative to the photoelectric telescope.
In some embodiments, the expression of the horizon is:
；
wherein,,for the horizon, ∈>For the longitude->For the latitude>For the first transformation matrix, +.>For the second conversion matrix, +.>For the first geocentric coordinates, +.>For the second geocenter to sitAnd (5) marking.
In some embodiments, the optoelectronic telescope is co-located with the laser rangefinder; according to the pointing information, measuring the distance between the space target and the photoelectric telescope by a laser range finder comprises the following steps:
transmitting the pointing information to the laser range finder;
and controlling the laser range finder to send laser pulses to the position corresponding to the pointing information, determining the distance between the space target and the laser range finder according to the time of transmitting the laser pulses and the time of receiving the laser pulses reflected by the space target, and taking the distance between the space target and the laser range finder as the distance between the space target and the photoelectric telescope.
The invention has the following beneficial technical effects:
because the laser ranging technology has high measurement precision, and the photoelectric telescope can provide high-precision angle measurement information, the invention can fully exert the advantages of the photoelectric telescope and the laser range finder by combining the photoelectric telescope and the laser range finder to position a single-station space target, can also realize high-precision positioning of the space target, and provides a target positioning method with accurate positioning and convenient operation.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a flowchart of a single-device-based optical telescope and laser rangefinder combined target positioning method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Fig. 1 is a flowchart of a single-device-based optical telescope and laser rangefinder combined target positioning method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
s101, acquiring two rows of track numbers of the space target, and determining the celestial coordinates of the space target relative to the earth center at any moment based on the two rows of track numbers.
Here, two lines of orbit elements (TLEs) provide the orbital eccentricity in kepler elements, the angle between the satellite orbit plane and the equatorial plane, the satellite orbit intersection point, the right ascent, and the near-site polar angle. In addition, the ground clearance angle and the average motion are provided, and the two parameters can calculate the satellite over-near place moment and the orbit semi-long axis in the Kepler orbit root number.
Here, after the type of the space object to be located is selected, the TLE root number of the space object to be located can be selected from the TLE root numbers corresponding to the existing space objects of each type, and the selected TLE root number is analyzed and corrected by adopting the SGP4 model matched with the TLE root number, so as to obtain the celestial coordinates of the space object to be located.
S102, converting the celestial coordinates into first geocentric coordinates in a geocentric coordinate system according to a preset matrix.
Specifically, the space target's celestial coordinates may be converted to coordinates in a geodetic coordinate system by the following formula (1), thereby obtaining the space target's geodetic coordinates (hereinafter referred to as first geodetic coordinates):(1) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is a polar shift conversion matrix, and, +.>，/>Polar coordinates that are instantaneous ground poles;is a time-angle transformation matrix, and, +.>，/>When the real star is instantaneous Greenner; />Converting matrix for nutationAnd (2) a->，/>、/>And->All are time constants; />Is a time difference conversion matrix, and, +.>，/>Nutating in yellow meridian>Nutating in yellow-red intersection angle>Is the intersection angle of the true equatorial plane and the equatorial plane; />、/>And->All are change matrixes of the rotation motion of the photoelectric telescope; />Celestial coordinates of a space object, +.>Is the first geocentric coordinates.
Here, in the relative rotational movement between the bodies, theRotation about coordinate axis X, Y, Z is defined as substantial rotation. Thus, any other form of rotation may be converted into these three basic rotations for convenience in studying the relative motion of the coordinate system. Complex rotations between coordinate systems are typically decomposed into basic rotational movements about coordinate axes, which are then combined. Any form of rotation can be converted into a combination of these three basic rotations. The telescope is rotated about the desired axis set during operation, assuming that the mechanical system of the telescope is free of any geometric errors. The rotation of the two axes may be determined according to the principle of rotation about the coordinate axes in the global coordinate system. Defining a matrix rotated about the X, Y, Z axis as、/>And->。
The motion coordinate system vector is rotated around the X-axis in the coordinate system O-XYZObtained, the change matrix of the motion coordinate system to O-XYZ +.>Is formula (2): />(2). When->Is thatWhen the above->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->When the above->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->Obtaining the->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->When the above->。
The motion coordinate system vector is rotated around the X-axis in the coordinate system O-XYZObtained, the change matrix of the motion coordinate system to O-XYZ +.>Is formula (3): />(3). When->Is->When the above->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->When the above->。
The motion coordinate system vector is rotated around the Z axis in the coordinate system O-XYZObtained, the change matrix of the motion coordinate system to O-XYZ +.>Is formula (4): />(4). When->Is->When the above->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->When the above->The method comprises the steps of carrying out a first treatment on the surface of the When->Is->When the above is obtained。
S103, determining a second geocentric coordinate of the photoelectric telescope according to the position information of the photoelectric telescope.
Here, the positional information of the photoelectric telescope includes the longitude of the optical telescopeLatitude->And elevation->The geocentric coordinates of the photoelectric telescope can be calculated by the following formula (5)>(hereinafter referred to as second geocentric coordinates):
(5) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the first eccentricity of an ellipsoid, +.>And->，/>Is the semimajor axis of the earth->Is the semi-minor axis of the earth.
S104, determining the horizon coordinates of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinates and the second geocentric coordinates.
Here, it can be based on longitudeAnd latitude->Determining a first transformation matrix and a second transformation matrix respectively, and determining a coordinate difference between the first geocentric coordinates and the second geocentric coordinates; and converting the coordinate difference by adopting a first conversion matrix and a second conversion matrix to obtain the horizon coordinate of the space target relative to the photoelectric telescope.
Specifically, the expression of the horizon is formula (6):
(6) Wherein->Is the horizon coordinate +.>Longitude->Latitude,>for the first transformation matrix>For the second conversion matrix->For the first geocentric coordinates,/->Is the second geocentric coordinates.
S105, inputting the horizon and a preset pointing error correction model into the photoelectric telescope, and outputting pointing information of the photoelectric telescope; the preset pointing error correction model is used for correcting the pointing information of the photoelectric telescope.
Here, the photoelectric telescope used in the present invention may be a horizontal photoelectric telescope.
Here, the pointing information outputted from the photoelectric telescope is azimuthAnd pitch angle->. The preset pointing error correction model comprises the following steps: an azimuth error correction model and a pitch error correction model. Specifically, the expression of the azimuth error correction model is formula (7), and the expression of the pitch error correction model is formula (8):
（7）；
（8）；
wherein,,for the azimuth error correction model, +.>For pitch error correction model, +.>For the visual axis aliases +.>For azimuth pitch vertical error, +.>Base tilt error for north orientation, +.>Base tilt error for easter orientation, +.>For the first pitch bearing error->For the second pitch bearing error->For north-south bearing error, < >>For east-west bearing error, <' > in the first place>For the visual axis shake error, < >>、/>、/>And->Are all preset coefficients, and are->For the azimuth angle to be entered, +.>Is the pitch angle to be input.
Here, by adopting the above-mentioned azimuth error correction model and pitch error correction model to correct the pointing information of the photoelectric telescope, the accuracy of the pointing information obtained by the photoelectric telescope can be improved, thereby being beneficial to improving the accuracy of positioning the space target.
Here, after inputting the horizon coordinates of the space object and the preset pointing error correction model into the photoelectric telescope, the photoelectric telescope is first pointed to a position according to the horizon coordinates, and an initial azimuth angle at the position is obtainedAnd an initial pitch angle ∈ ->Afterwards, the photoelectricity is telescopicMirror will->Substitution of the azimuth error correction model +.>Obtaining an azimuth error->And will->Substitution of the Pitch error correction model +.>Obtaining a pitch angle error->Will->As corrected azimuth angle, and will +.>As a corrected pitch angle; afterwards, the photoelectric telescope is according to->Andpointing to a new position and obtaining the visual axis center of the photoelectric telescope at this position (+)>，/>) And generating a CCD image at the position by a CCD (charge coupled device) receiving device of the photoelectric telescope, and obtaining a center point coordinate of the CCD image>，/>) After that, the final pitch angle +_is calculated by the formula (9)>The final azimuth angle +.>。
Equation (9) is as follows:(9) The method comprises the steps of carrying out a first treatment on the surface of the Equation (10) is as follows: />(10) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (-) is>，/>) Scale for CCD image, +.>For the off-target amount of the spatial target in the x-direction, < >>Is the off-target amount of the space target in the y direction.
Here the number of the elements is the number,the value range of the formula (I) is-90 degrees, and the formula (I) is calculated from the horizon to the zenith; />The value range of (2) is 0-360 degrees, and the photoelectric telescope starts from the north to the east clockwise.
S106, measuring the distance between the space target and the photoelectric telescope through a laser range finder according to the pointing information.
Here, the photoelectric telescope is located at the same position as the laser range finder, for example, may be located at any position on the ground together.
Here, the azimuth angle can beAnd pitch angle->Transmitting the data to a laser range finder, adjusting the self-directed back-emitted laser pulse according to the received data by the laser range finder, returning the laser pulse after striking a space target, and measuring the laser pulse round-trip time interval according to a self-contained time timer after the laser range finder receives the reflected return (using>Indicated) this time interval multiplied by the speed of light +.>The distance between the space object and the photoelectric telescope can be converted (using +.>Representation), as in formula (11):（11）。
and S107, taking the pointing information and the distance as positioning information of the space target.
Here, according to the distanceAnd azimuth +.>And pitch angle->The positioning of the space object can be achieved.
In some embodiments, the above pointing error correction model may be obtained by the following steps before S105:
1) The photoelectric telescope is adopted to observe a plurality of stars with known space positions and evenly distributed in the all-sky area, so as to obtain the actual observation data of each starAnd corresponding ideal data->；/>，Is the total number of stars observed; />Is->Azimuth angle of actual observation of individual stars, +.>Is->The actual observed pitch angle of the individual stars, +.>Is->Azimuth angle of ideal observation of individual stars, +.>Is->Ideal observed pitch angle of individual stars;
2) Based on actual observations of each starAnd corresponding ideal data->Determining the pointing error data +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>And->Expressed as formula (12): />（12）。
3) Constructing an azimuth error correction modelAnd a pitch error correction model +.>Wherein->The formula of (2) is shown as the formula (7) above>Formula (8) above, and, +.>、/>、/>、/>、/>、/>、And->Are all unknown parameters.
4) According to the formulas in the above step 2) and step 3), the following formula (13) is constructed:(13) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>And->Observing random errors for each star;
5) Selecting the sum of squares of residual errors after model correction as an objective function, constructing an equation set to be solved, and solving parameters pointing to an error correction model according to the equation set to be solved、/>、/>、/>、/>、/>、/>And->. The equation set to be solved is equation (14): />（14）。
6) According to the solved parameters、/>、/>、/>、/>、/>、/>And->Obtain the azimuth error correction model->Is described in terms of a pitch error correction model +.>Is an expression of (2).
In some embodiments, the implementation devices of the above methods may be optoelectronic telescopes. In some embodiments, the execution bodies of steps S101 to S105 and S107 in the above method may be photoelectric telescopes, and the execution body of S106 may be a laser range finder.
The invention has the following beneficial technical effects:
because the laser ranging technology has high measurement precision, and the photoelectric telescope can provide high-precision angle measurement information, the invention can fully exert the advantages of the photoelectric telescope and the laser range finder by combining the photoelectric telescope and the laser range finder to position a single-station space target, can also realize high-precision positioning of the space target, and provides a target positioning method with accurate positioning and convenient operation.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (8)
1. An optical telescope and laser range finder combined target positioning method based on single equipment is characterized by comprising the following steps:
acquiring two rows of track numbers of a space target, and determining celestial coordinates of the space target relative to the earth center at any moment based on the two rows of track numbers;
converting the celestial coordinates into first geocentric coordinates in a geocentric coordinate system according to a preset matrix;
determining a second geocentric coordinate of the photoelectric telescope according to the position information of the photoelectric telescope;
determining the horizontal coordinate of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinate and the second geocentric coordinate;
inputting the horizon and a preset pointing error correction model into the photoelectric telescope, and outputting pointing information of the photoelectric telescope; the preset pointing error correction model is used for correcting the pointing information of the photoelectric telescope;
according to the pointing information, measuring the distance between the space target and the photoelectric telescope through a laser range finder;
and taking the pointing information and the distance as positioning information of the space target.
2. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 1 wherein the pre-set matrix comprises: a preset polar shift conversion matrix, a preset time angle conversion matrix, a preset nutation conversion matrix and a preset time difference conversion matrix; the converting the celestial coordinate into a first geocentric coordinate in a geocentric coordinate system according to a preset matrix includes:
and converting the celestial coordinates into geocentric coordinates in a geocentric coordinate system according to a preset polar shift conversion matrix, a preset time angle conversion matrix, a preset nutation conversion matrix and a preset time difference conversion matrix to obtain the first geocentric coordinates.
3. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 2 wherein the first geocentric coordinates are expressed as:
；
wherein,,for the polar shift conversion matrix, and, < >>，/>Polar coordinates that are instantaneous ground poles; />Is said time-angle transformation matrix, and, < >>，/>When the real star is instantaneous Greenner; />For the nutation switching matrix and, < > is>，/>、/>And->All are time constants; />For the time difference conversion matrix, and, <' > is>，/>Nutating in yellow meridian>Nutating in yellow-red intersection angle>Is the intersection angle of the true equatorial plane and the equatorial plane; />、/>And->All are change matrixes of the rotation motion of the photoelectric telescope; />For the celestial coordinates, +.>Is the first geocentric coordinates.
4. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 1 wherein the pointing information comprises: azimuth and pitch; the preset pointing error correction model comprises the following steps: an azimuth error correction model and a pitch error correction model.
5. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 4 wherein the expression of the azimuth error correction model is:
；
the expression of the pitching error correction model is as follows:
；
wherein,,for the orientation error correction model, +.>For the pitch error correction model, +.>For the visual axis aliases +.>For azimuth pitch vertical error, +.>And->Are all base tilt errors +.>For the first pitch bearing error->For the second pitch bearing error->For north-south bearing error, < >>For east-west bearing error, <' > in the first place>For the visual axis shake error, < >>For the azimuth angle to be entered, +.>For the pitch angle to be entered +.>、/>、/>Andall are preset coefficients.
6. The single device-based optical telescope and laser rangefinder combined target positioning method of claim 1 wherein the location information comprises longitude, latitude, and elevation of the optical telescope; the determining the horizon coordinates of the space target relative to the photoelectric telescope according to the position information, the first geocentric coordinates and the second geocentric coordinates includes:
determining a first conversion matrix and a second conversion matrix according to the longitude and the latitude;
determining a coordinate difference between the first geocentric coordinates and the second geocentric coordinates;
and converting the coordinate difference by adopting the first conversion matrix and the second conversion matrix to obtain the horizontal coordinate of the space target relative to the photoelectric telescope.
7. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 6 wherein the horizon is expressed as:
；
wherein,,for the horizon, ∈>For the longitude->For the latitude>For the first conversion momentArray (S)>For the second conversion matrix, +.>For the first geocentric coordinates, +.>Is the second geocentric coordinates.
8. The single-device-based optical telescope and laser rangefinder combined target positioning method of claim 1 wherein the optoelectronic telescope is co-located with the laser rangefinder; according to the pointing information, measuring the distance between the space target and the photoelectric telescope by a laser range finder comprises the following steps:
transmitting the pointing information to the laser range finder;
and controlling the laser range finder to send laser pulses to the position corresponding to the pointing information, determining the distance between the space target and the laser range finder according to the time of transmitting the laser pulses and the time of receiving the laser pulses reflected by the space target, and taking the distance between the space target and the laser range finder as the distance between the space target and the photoelectric telescope.
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