CN117687346A - Space image stabilization control system and control method of carrier-based photoelectric theodolite - Google Patents
Space image stabilization control system and control method of carrier-based photoelectric theodolite Download PDFInfo
- Publication number
- CN117687346A CN117687346A CN202410143697.1A CN202410143697A CN117687346A CN 117687346 A CN117687346 A CN 117687346A CN 202410143697 A CN202410143697 A CN 202410143697A CN 117687346 A CN117687346 A CN 117687346A
- Authority
- CN
- China
- Prior art keywords
- image
- module
- angle
- theodolite
- pitch angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000006641 stabilisation Effects 0.000 title claims abstract description 43
- 238000011105 stabilization Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012937 correction Methods 0.000 claims abstract description 68
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 24
- 230000006340 racemization Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 19
- 239000013598 vector Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 7
- 230000008859 change Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Image Processing (AREA)
Abstract
The invention relates to the technical field of photoelectric measurement, in particular to a space image stabilization control system and a control method of a ship-based photoelectric theodolite, wherein the method comprises the following steps: s1: constructing a space image stabilization control system of the ship-based photoelectric theodolite; s2: the inertial navigation module collects the position and attitude information of the ship; s3: the encoder module inputs the acquired azimuth angle and pitch angle to the main control module, and the main control module calculates an azimuth angle correction value, a pitch angle correction value and an image rotation correction angle according to the attitude information, the azimuth angle and the pitch angle; s4: the servo control module controls the pointing direction of the photoelectric theodolite according to the azimuth angle correction value and the pitch angle correction value; s5: the image enhancement module performs racemization and image stabilization processing on a real-time image acquired by the photoelectric theodolite according to the image rotation correction angle to obtain a space image stabilization image; s6: the console receives and displays spatially stabilized images. The invention can correct the three-dimensional change of the space target in real time and has the function of stabilizing the image of space orientation.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to a space image stabilization control system and a control method of a ship-based photoelectric theodolite.
Background
The photoelectric theodolite is used as an important photoelectric tracking and measuring device and is widely applied to tasks such as a range weapon test, track tracking of flight equipment, gesture measurement and the like. The ship-based photoelectric theodolite can drift an imaging view field due to position change and posture change caused by ship navigation, so that the space pointing and imaging stability of the photoelectric theodolite are affected, and tracking errors are caused. The attitude change compensation method of the moving platform at the present stage mainly adopts an attitude sensor to acquire the attitude information of the platform, such as a gyroscope, an inclinometer and the like, and adopts a tripod head technology to complete image stabilization work together with an electronic racemization function, but the technology is widely applied to an aerial camera unmanned aerial vehicle system and a vehicle-mounted platform system, but the unmanned aerial vehicle and the vehicle-mounted platform system both belong to close-range image acquisition, the requirement on measurement precision is lower, and the quality of an instrument adopted by the image acquisition is smaller, so the attitude change compensation method of the moving platform at the present stage is not suitable for measurement application occasions of a large-scale carrier-borne photoelectric theodolite.
Disclosure of Invention
The invention provides a space image stabilizing control system and a control method of a carrier-based photoelectric theodolite, which can correct three-dimensional change of a space target in real time and have a space orientation image stabilizing function, and the invention aims to solve the problems that the gesture change compensation method of a moving platform in the prior art is low in measurement precision and the like and is not suitable for measurement application occasions of the large-scale carrier-based photoelectric theodolite.
The invention provides a space image stabilization control system of a ship-borne photoelectric theodolite, which comprises a main control module, an inertial navigation module, a servo control module, an encoder module, an image enhancement module and a control console, wherein the inertial navigation module, the servo control module, the encoder module, the image enhancement module and the control console are connected with the main control module;
the inertial navigation module is used for acquiring the position information and the attitude information of the ship in real time and inputting the acquired position information and attitude information into the main control module;
the encoder module is used for collecting azimuth angles and pitch angles output by the photoelectric theodolite and inputting the collected azimuth angles and pitch angles to the main control module;
the main control module is used for calculating an azimuth angle correction value, a pitch angle correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth angle and the pitch angle, inputting the azimuth angle correction value and the pitch angle correction value into the servo control module and inputting the image rotation correction angle into the image enhancement module;
the servo control module is used for controlling the pointing direction of the photoelectric theodolite according to the azimuth angle correction value and the pitch angle correction value;
the image enhancement module is used for racemizing and stabilizing images of real-time images acquired by the photoelectric theodolite according to the image rotation correction angle to obtain spatially stabilized images, and inputting the spatially stabilized images to the control console;
the console is used for receiving and displaying the spatially stabilized image.
Preferably, the image enhancement module comprises an image acquisition sub-module, an image enhancement sub-module, a communication sub-module, an electronic racemization sub-module, an electronic image stabilization sub-module and an image output sub-module, wherein,
the image acquisition submodule is used for acquiring real-time images output by the photoelectric theodolite;
the image enhancement submodule is used for carrying out self-adaptive image enhancement processing on the real-time image and inputting the obtained self-adaptive enhancement image into the electronic racemization submodule;
the communication submodule is used for receiving and inputting an image rotation correction angle to the electronic racemization submodule;
the electronic racemization submodule is used for racemizing the self-adaptive enhanced image according to the image rotation correction angle to obtain a racemized image;
the electronic image stabilizing submodule is used for carrying out image stabilizing and cutting processing on the rotation image to obtain a space image stabilizing image;
the image output submodule is used for inputting the spatially stabilized image to the console according to a specified format.
Preferably, the process of obtaining the spatially stabilized image by using the electronic image stabilizing submodule is specifically as follows:
the electronic image stabilizing sub-module obtains corresponding characteristic points by carrying out characteristic matching on the racemized image and the reference frame image, carries out motion estimation on the offset of the racemized image according to the displacement mapping of all the characteristic points, obtains motion vectors, sequentially carries out filtering and correction on the motion vectors, sequentially carries out reverse movement and cutting on the racemized image according to the corrected motion vectors, and realizes stable output of an image sequence of the spatially stabilized image.
Preferably, the adaptive image enhancement processing includes enhancement and defogging, smoothing filtering, background suppression, high dynamic enhancement, and nonlinear stretch enhancement processing of the real-time image.
The invention provides a space image stabilization control method of a carrier-based photoelectric theodolite, which is realized by using a space image stabilization control system of the carrier-based photoelectric theodolite, and specifically comprises the following steps:
s1: constructing a space image stabilization control system of the ship-based photoelectric theodolite;
s2: the inertial navigation module acquires position information and attitude information of the ship in real time, wherein the position information and attitude information comprise a course angle, a roll angle and a pitch angle;
s3: the encoder module inputs the acquired azimuth angle and pitch angle output by the photoelectric theodolite to the main control module, and the main control module calculates an azimuth angle correction value and a pitch angle correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth angle and the pitch angle;
s4: the servo control module controls the pointing direction of the photoelectric theodolite according to the azimuth angle correction value and the pitch angle correction value;
s5: the image enhancement module performs racemization and image stabilization processing on a real-time image acquired by the photoelectric theodolite according to the image rotation correction angle to obtain a space image stabilization image;
s6: the console receives and displays spatially stabilized images.
Preferably, the step S3 specifically includes the following steps:
s31: taking the position information acquired by the inertial navigation module in real time as the real-time station address coordinates of the photoelectric theodolite;
s32: according to the attitude information of the ship, the azimuth angle and the pitch angle output by the photoelectric theodolite acquired by the encoder module are converted into the azimuth angle and the pitch angle pointed by the geodetic coordinate system through the following steps:
wherein,the course angle, the roll angle and the pitch angle are respectively acquired by the inertia module, A and E are respectively the azimuth angle and the pitch angle which are output by the photoelectric theodolite and acquired by the encoder module, and the angle is +.>Azimuth angle pointed by geodetic coordinate system output by photoelectric theodolite, < ->Pitch angle pointed by geodetic coordinate system output by photoelectric theodolite, ">，/>And->The azimuth angle and the pitch angle output by the photoelectric theodolite collected by the encoder module are converted into intermediate variables of the azimuth angle and the pitch angle pointed by the geodetic coordinate system, and the intermediate variables have no physical meaning;
s33: according to the calculation result of the formula (2), taking the azimuth angle pointed by the geodetic coordinate system output by the photoelectric theodolite as an azimuth angle correction value, and taking the pitch angle pointed by the geodetic coordinate system output by the photoelectric theodolite as a pitch angle correction value;
s34: setting the optical axis direction of a lens barrel of the photoelectric theodolite to be parallel to the roll angle direction of the ship, and setting the pitch axis direction of the lens barrel to be parallel to the pitch axis direction of the ship and setting the azimuth axis direction of the lens barrel to be parallel to the heading axis direction of the ship;
s35: calculating an image rotation correction angle by：
Wherein,is a rotation matrix from the camera coordinate system of the electro-optic theodolite to the geodetic coordinate system.
Compared with the prior art, the invention has the following beneficial effects:
the invention specifically designs a space-oriented image stabilizing technology of the carrier-based photoelectric theodolite aiming at the use environment of the carrier-based photoelectric theodolite: (1) The invention adopts the high-precision inertial navigation module to acquire the position information and the attitude information of the ship in real time, corrects the station address coordinates of the photoelectric theodolite in real time by utilizing the position information, and corrects the compensation position of the pointing value of the photoelectric theodolite according to the real-time station address coordinates; (2) According to the attitude information and the current pointing value of the photoelectric theodolite, the influence of the change of the ship attitude on the pointing value of the photoelectric theodolite is corrected in real time.
Drawings
FIG. 1 is a schematic structural diagram of a space image stabilization control system of a carrier-based electro-optic theodolite according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an image enhancement module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an effect of an electronic racemization sub-module and an electronic image stabilization sub-module on processing an image according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for controlling spatial image stabilization of a carrier-based electro-optic theodolite according to an embodiment of the present invention.
Reference numerals: the device comprises a console 1, an inertial navigation module 2, an image enhancement module 3, a main control module 4, a servo control module 5, an encoder module 6, a photoelectric theodolite 7, an image acquisition sub-module 31, an image enhancement sub-module 32, a communication sub-module 33, an electronic racemization sub-module 34, an electronic image stabilization sub-module 35 and an image output sub-module 36.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
The ship is in a state of shaking at any time due to the influence of sea waves, so that the site and the observation state of the photoelectric theodolite are also in a state of changing at any time. The space image stabilization control system of the ship-based photoelectric theodolite provided by the invention can stabilize visual images of operators and has a good auxiliary effect on finding and capturing tracking targets by the operators.
Fig. 1 shows a structure of a space image stabilization control system of a ship-based photoelectric theodolite according to an embodiment of the present invention.
As shown in fig. 1, the space image stabilization control system of the ship-borne photoelectric theodolite 7 provided by the invention comprises a main control module 4, and an inertial navigation module 2, a servo control module 5, an encoder module 6, an image enhancement module 3 and a console 1 which are connected with the main control module 4.
The inertial navigation module 2 is used for collecting the position information and the attitude information of the ship in real time and inputting the collected position information and attitude information into the main control module 4.
The encoder module 6 is used for collecting the azimuth angle and the pitch angle output by the photoelectric theodolite 7 and inputting the collected azimuth angle and pitch angle into the main control module 4.
The main control module 4 is configured to calculate an azimuth correction value and a pitch correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth and the pitch, input the azimuth correction value and the pitch correction value to the servo control module 5, and input the image rotation correction angle to the image enhancement module 3.
The servo control module 5 is used for controlling the pointing direction of the photoelectric theodolite 7 according to the azimuth angle correction value and the pitch angle correction value.
The image enhancement module 3 is used for racemizing and stabilizing images of real-time images acquired by the electro-optic theodolite 7 according to the image rotation correction angle, obtaining spatially stabilized images, and inputting the spatially stabilized images to the console 1.
The console 1 is used for receiving and displaying spatially stabilized images.
Fig. 2 illustrates a structure of an image enhancement module provided according to an embodiment of the present invention; fig. 3 illustrates the effect of the electronic racemization sub-module and the electronic image stabilization sub-module on processing an image according to an embodiment of the present invention.
As shown in fig. 2-3, the image enhancement module 3 includes an image acquisition sub-module 31, an image enhancement sub-module 32, a communication sub-module 33, an electronic racemization sub-module 34, an electronic image stabilization sub-module 35, and an image output sub-module 36, wherein,
the image acquisition sub-module 31 is used for acquiring real-time images output by the electro-optic theodolite 7.
The image enhancement submodule 32 is used for performing adaptive image enhancement processing on the real-time image and inputting the obtained adaptive enhancement image to the electronic racemization submodule 34.
The adaptive image enhancement processing includes enhancement and defogging, smoothing filtering, background suppression, high dynamic enhancement and nonlinear stretch enhancement processing of the real-time image.
The communication sub-module 33 is configured to receive and input the image rotation correction angle to the electronic racemization sub-module 34.
The electronic racemization submodule 34 is used for racemizing the adaptive enhancement image according to the image rotation correction angle to obtain a racemized image.
The electronic image stabilizing sub-module 35 is used for stabilizing and clipping the rotation image to obtain a space image stabilizing image.
The electronic image stabilizing sub-module 35 performs inverse movement and clipping processing on the clipping image to offset or reduce image shake generated when deviation occurs to the predicted attitude information of the electro-optic theodolite 7, and obtains a stable spatially stabilized image of the observation target within the field of view of the electro-optic theodolite 7.
The image output sub-module 36 is used for inputting the spatially stabilized image to the console 1 in a specified format.
The encoder module 6 inputs the collected azimuth angle and pitch angle of the photoelectric theodolite 7 to the main control module 4 through a serial port, and the image collecting sub-module 31 collects real-time images output by the photoelectric theodolite 7 through optical fibers.
In order to eliminate the acquisition delay of the platform attitude information of the ship of the inertial navigation module 2 and the error of the platform attitude information of the ship caused by the prediction error of the main control module 4 on the platform attitude information of the ship (because the acquisition of the inertial navigation information is delayed to a certain extent, the prediction is generally performed through the filtering of various algorithms, the correct platform attitude information of the ship at the current moment is predicted according to the delayed inertial navigation information at the current moment, but in the actual use process, the deviation appears on the prediction of the correct platform attitude information of the ship due to the instability of sea conditions), the deviation can cause the shaking of the target to be detected in the image field of the photoelectric theodolite 7, and the electronic image stabilization is to solve the problem that the target to be detected shakes in the image field of the photoelectric theodolite 7 due to the offset misalignment of the inertial navigation information.
The processing procedure and processing effect of the racemized image and the spatially stabilized image are shown in fig. 3, and the process of obtaining the spatially stabilized image by using the electronic image stabilizing submodule 35 specifically includes:
the electronic image stabilizing sub-module 35 obtains corresponding feature points by performing feature matching on the racemic image and the reference frame image, performs motion estimation on the offset of the racemic image according to displacement mapping of all the feature points to obtain motion vectors, sequentially filters and corrects the motion vectors, sequentially reversely moves and cuts the racemic image according to the corrected motion vectors, and realizes stable output of an image sequence of the spatially stable image.
Fig. 4 shows a flow photo-theodolite 7 of the spatial image stabilization control method of the carrier-based photo-theodolite according to the embodiment of the invention.
As shown in fig. 4, the spatial image stabilization control method of the carrier-based photoelectric theodolite 7 provided by the invention is realized by using a spatial image stabilization control system of the carrier-based photoelectric theodolite 7, and specifically comprises the following steps:
s1: and constructing a space image stabilizing control system of the ship-borne photoelectric theodolite 7.
S2: the inertial navigation module 2 collects position information and attitude information of the ship in real time, wherein the position information and attitude information comprise course angles, roll angles and pitch angles.
S3: the encoder module 6 inputs the acquired azimuth angle and pitch angle output by the electro-optic theodolite 7 to the main control module 4, and the main control module 4 calculates an azimuth angle correction value and a pitch angle correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth angle and the pitch angle.
The step S3 specifically comprises the following steps:
s31: the position information acquired by the inertial navigation module 2 in real time is used as the real-time station address coordinates of the photoelectric theodolite 7.
S32: according to the attitude information of the ship, the azimuth angle and the pitch angle output by the photoelectric theodolite 7 acquired by the encoder module 6 are converted into the azimuth angle and the pitch angle pointed by the geodetic coordinate system through the following steps:
wherein,course angle, roll angle and pitch angle acquired by the inertial module respectively, and A and E are azimuth angle and pitch angle output by the photoelectric theodolite 7 acquired by the encoder module 6 respectively, and +.>Is light ofAzimuth angle of the geodetic coordinate system output by electro theodolite 7, < >>For the pitch angle pointed by the geodetic coordinate system output by the electro-optic theodolite 7,/for the pitch angle pointed by the geodetic coordinate system>，/>And->The azimuth angle and the pitch angle output by the photoelectric theodolite 7 collected by the encoder module 6 are converted into intermediate variables of the azimuth angle and the pitch angle pointed by the geodetic coordinate system, and the intermediate variables have no physical meaning;
s33: according to the calculation result of the formula (2), the azimuth angle pointed by the geodetic coordinate system output by the electro-optical theodolite 7 is used as an azimuth angle correction value, and the pitch angle pointed by the geodetic coordinate system output by the electro-optical theodolite 7 is used as a pitch angle correction value.
S34: the optical axis direction of the lens barrel of the photoelectric theodolite 7 is parallel to the roll angle direction of the ship, the pitch axis direction of the lens barrel is parallel to the pitch axis direction of the ship, and the azimuth axis direction of the lens barrel is parallel to the heading axis direction of the ship.
S35: calculating an image rotation correction angle by：
Wherein,is a rotation matrix from the camera coordinate system of the electro-optic theodolite 7 to the geodetic coordinate system.
S4: the servo control module 5 controls the pointing direction of the electro-optic theodolite 7 according to the azimuth correction value and the pitch correction value.
S5: the image enhancement module 3 performs racemization and image stabilization processing on the real-time image acquired by the electro-optic theodolite 7 according to the image rotation correction angle to obtain a space image stabilization image.
S6: the console 1 receives and displays spatially stabilized images.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (6)
1. The space image stabilization control system of the ship-borne photoelectric theodolite is characterized by comprising a main control module, and an inertial navigation module, a servo control module, an encoder module, an image enhancement module and a control console which are connected with the main control module;
the inertial navigation module is used for acquiring the position information and the attitude information of the ship in real time and inputting the acquired position information and attitude information into the main control module;
the encoder module is used for collecting an azimuth angle and a pitch angle output by the photoelectric theodolite and inputting the collected azimuth angle and pitch angle to the main control module;
the main control module is used for calculating an azimuth angle correction value, a pitch angle correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth angle and the pitch angle, inputting the azimuth angle correction value and the pitch angle correction value into the servo control module, and inputting the image rotation correction angle into the image enhancement module;
the servo control module is used for controlling the pointing direction of the photoelectric theodolite according to the azimuth angle correction value and the pitch angle correction value;
the image enhancement module is used for racemizing and stabilizing images of real-time images acquired by the photoelectric theodolite according to the image rotation correction angle to obtain spatially stabilized images, and inputting the spatially stabilized images to the control console;
the console is used for receiving and displaying the spatially stabilized image.
2. The space image stabilization control system of the ship-based electro-optic theodolite according to claim 1, wherein the image enhancement module comprises an image acquisition sub-module, an image enhancement sub-module, a communication sub-module, an electronic racemization sub-module, an electronic image stabilization sub-module and an image output sub-module, wherein,
the image acquisition sub-module is used for acquiring real-time images output by the photoelectric theodolite;
the image enhancement submodule is used for carrying out self-adaptive image enhancement processing on the real-time image and inputting the obtained self-adaptive enhanced image into the electronic racemization submodule;
the communication submodule is used for receiving and inputting the image rotation correction angle to the electronic racemization submodule;
the electronic racemization submodule is used for racemizing the self-adaptive enhanced image according to the image rotation correction angle to obtain a racemized image;
the electronic image stabilizing submodule is used for stabilizing and cutting the racemized image to obtain a space image stabilizing image;
the image output submodule is used for inputting the spatially stabilized image to the console according to a specified format.
3. The space image stabilization control system of the ship-borne photoelectric theodolite according to claim 2, wherein the process of obtaining the space image stabilization image by using the electronic image stabilization submodule is specifically as follows:
and the electronic image stabilizing submodule obtains corresponding characteristic points by carrying out characteristic matching on the racemized image and the reference frame image, carries out motion estimation on the offset of the racemized image according to displacement mapping of all the characteristic points to obtain a motion vector, sequentially carries out filtering and correction on the motion vector, and sequentially carries out reverse movement and cutting operation on the racemized image according to the corrected motion vector to realize stable output of the image sequence of the space image stabilizing image.
4. The space image stabilization control system of the ship-borne electro-optic theodolite according to claim 2, wherein the adaptive image enhancement processing comprises enhancement and defogging, smoothing filtering, background suppression, high dynamic enhancement and nonlinear stretching enhancement processing of the real-time image.
5. A space image stabilization control method of a carrier-based photoelectric theodolite, which is realized by using the space image stabilization control system of the carrier-based photoelectric theodolite according to any one of claims 1 to 4, and is characterized by comprising the following steps:
s1: building a space image stabilization control system of the ship-based photoelectric theodolite;
s2: the inertial navigation module acquires position information and attitude information of the ship in real time, wherein the position information and attitude information comprise a course angle, a roll angle and a pitch angle;
s3: the encoder module inputs the acquired azimuth angle and pitch angle output by the photoelectric theodolite to the main control module, and the main control module calculates an azimuth angle correction value, a pitch angle correction value and an image rotation correction angle according to the position information, the attitude information, the azimuth angle and the pitch angle;
s4: the servo control module controls the pointing direction of the photoelectric theodolite according to the azimuth angle correction value and the pitch angle correction value;
s5: the image enhancement module performs racemization and image stabilization processing on the real-time image acquired by the photoelectric theodolite according to the image rotation correction angle to obtain a space image stabilization image;
s6: the console receives and displays the spatially stabilized image.
6. The method for controlling the spatial image stabilization of the carrier-based electro-optic theodolite according to claim 5, wherein the step S3 specifically comprises the following steps:
s31: taking the position information acquired by the inertial navigation module in real time as the real-time station address coordinates of the photoelectric theodolite;
s32: according to the attitude information of the ship, the azimuth angle and the pitch angle output by the photoelectric theodolite acquired by the encoder module are converted into the azimuth angle and the pitch angle pointed by the geodetic coordinate system through the following steps:
wherein,the course angle, the roll angle and the pitch angle acquired by the inertia module are respectively, A and E are respectively the azimuth angle and the pitch angle output by the photoelectric theodolite acquired by the encoder module, and>azimuth angle pointed by the geodetic coordinate system output for the electro-optic theodolite, +.>A pitch angle pointed by a geodetic coordinate system output by the photoelectric theodolite, +.>，And->The azimuth angle and the pitch angle output by the photoelectric theodolite acquired by the encoder module are converted into intermediate variables of the azimuth angle and the pitch angle pointed by a geodetic coordinate system, and the intermediate variables have no physical meaning;
s33: according to the calculation result of the formula (2), taking the azimuth angle pointed by the geodetic coordinate system output by the photoelectric theodolite as an azimuth angle correction value, and taking the pitch angle pointed by the geodetic coordinate system output by the photoelectric theodolite as a pitch angle correction value;
s34: the optical axis direction of the lens barrel of the photoelectric theodolite is parallel to the roll angle direction of the ship, the pitch axis direction of the lens barrel is parallel to the pitch axis direction of the ship, and the azimuth axis direction of the lens barrel is parallel to the heading axis direction of the ship;
s35: calculating the image rotation correction angle by：
Wherein,is a rotation matrix from a camera coordinate system of the electro-optic theodolite to a geodetic coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410143697.1A CN117687346A (en) | 2024-02-01 | 2024-02-01 | Space image stabilization control system and control method of carrier-based photoelectric theodolite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410143697.1A CN117687346A (en) | 2024-02-01 | 2024-02-01 | Space image stabilization control system and control method of carrier-based photoelectric theodolite |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117687346A true CN117687346A (en) | 2024-03-12 |
Family
ID=90137472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410143697.1A Pending CN117687346A (en) | 2024-02-01 | 2024-02-01 | Space image stabilization control system and control method of carrier-based photoelectric theodolite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117687346A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103017793A (en) * | 2012-12-21 | 2013-04-03 | 中国科学院长春光学精密机械与物理研究所 | Method for stabilizing visual axis of ship-bone theodolite during ship swing |
| CN103064430A (en) * | 2012-12-18 | 2013-04-24 | 湖南华南光电(集团)有限责任公司 | Mechanical and electrical integration type image stabilization device |
| CN103900609A (en) * | 2014-03-26 | 2014-07-02 | 哈尔滨工程大学 | Real-time course precision detection system and method for inertial navigation system for ships |
| CN107860401A (en) * | 2017-10-27 | 2018-03-30 | 中国科学院西安光学精密机械研究所 | Measuring device and method for correcting pointing value of photoelectric theodolite in real time |
| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| CN111308470A (en) * | 2019-11-18 | 2020-06-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Electronic stabilization method and system for unmanned shipborne radar equipment |
| WO2021027323A1 (en) * | 2019-08-14 | 2021-02-18 | 北京理工大学 | Hybrid image stabilization method and device based on bionic eye platform |
| KR20220020068A (en) * | 2020-08-11 | 2022-02-18 | 삼성중공업 주식회사 | System and method for measuring target location using image recognition |
| CN117311400A (en) * | 2023-11-28 | 2023-12-29 | 中国科学院长春光学精密机械与物理研究所 | Optimized ship-based photoelectric theodolite semi-automatic tracking method and system |
-
2024
- 2024-02-01 CN CN202410143697.1A patent/CN117687346A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064430A (en) * | 2012-12-18 | 2013-04-24 | 湖南华南光电(集团)有限责任公司 | Mechanical and electrical integration type image stabilization device |
| CN103017793A (en) * | 2012-12-21 | 2013-04-03 | 中国科学院长春光学精密机械与物理研究所 | Method for stabilizing visual axis of ship-bone theodolite during ship swing |
| CN103900609A (en) * | 2014-03-26 | 2014-07-02 | 哈尔滨工程大学 | Real-time course precision detection system and method for inertial navigation system for ships |
| CN107860401A (en) * | 2017-10-27 | 2018-03-30 | 中国科学院西安光学精密机械研究所 | Measuring device and method for correcting pointing value of photoelectric theodolite in real time |
| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| WO2021027323A1 (en) * | 2019-08-14 | 2021-02-18 | 北京理工大学 | Hybrid image stabilization method and device based on bionic eye platform |
| CN111308470A (en) * | 2019-11-18 | 2020-06-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Electronic stabilization method and system for unmanned shipborne radar equipment |
| KR20220020068A (en) * | 2020-08-11 | 2022-02-18 | 삼성중공업 주식회사 | System and method for measuring target location using image recognition |
| CN117311400A (en) * | 2023-11-28 | 2023-12-29 | 中国科学院长春光学精密机械与物理研究所 | Optimized ship-based photoelectric theodolite semi-automatic tracking method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110033480B (en) | Aerial photography measurement-based airborne photoelectric system target motion vector estimation method | |
| CN108919841B (en) | Composite shaft control method and system of photoelectric tracking system | |
| CA2513514C (en) | Compensation for overflight velocity when stabilizing an airborne camera | |
| US20090096664A1 (en) | Method, Apparatus and Computer Program Product for Providing Stabilization During a Tracking Operation | |
| CN111609759B (en) | Shooting control method and device for intelligent firearm sighting device | |
| CN110622091A (en) | Cloud deck control method, device and system, computer storage medium and unmanned aerial vehicle | |
| US11150350B2 (en) | Systems and methods for northfinding | |
| CN109782810B (en) | Video satellite moving target tracking imaging method and device based on image guidance | |
| CN107192376A (en) | Unmanned plane multiple image target positioning correction method based on interframe continuity | |
| CN111486868B (en) | Photoelectric telescope azimuth-free expansion calibration method based on ground feature | |
| CN110537197A (en) | Image processing apparatus, maturation history image creation system and program | |
| CN109143303B (en) | Flight positioning method and device and fixed-wing unmanned aerial vehicle | |
| CN115562378B (en) | Photoelectric stable platform, angular velocity compensation method and storage medium | |
| CN111366155A (en) | Local scanning method based on airborne photoelectric system | |
| CN114396944B (en) | Autonomous positioning error correction method based on digital twinning | |
| CN115343743A (en) | Astronomical satellite integrated navigation positioning system and method independent of horizontal reference and satellite signal | |
| CN110223233B (en) | Unmanned aerial vehicle aerial photography image building method based on image splicing | |
| CN111103608A (en) | Positioning device and method used in forestry surveying work | |
| CN109949655B (en) | Dual coordination method and system for head-mounted display system | |
| CN117687346A (en) | Space image stabilization control system and control method of carrier-based photoelectric theodolite | |
| CN112689084B (en) | Airborne photoelectric reconnaissance imaging system and electronic image stabilization method | |
| CN113654528B (en) | Method and system for estimating target coordinates through unmanned aerial vehicle position and cradle head angle | |
| US11415990B2 (en) | Optical object tracking on focal plane with dynamic focal length | |
| CN115077560A (en) | Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system | |
| CN112268558A (en) | Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |