基于激光测距的机载光电成像系统目标定位
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摘要
针对小型机载光电平台无法准确获取视轴指向问题,设计了一种基于激光测距的目标定位算法。利用机载光电侦察平台锁定跟踪目标的特性,对同一目标多次测量,采用激光测距装置获取目标与载机间的距离信息。根据WGS-84定义的地球椭球模型建立系统的测量方程。考虑到测量方程的非线性,利用扩展卡尔曼滤波对目标位置进行估计。该定位方法精度只受到GPS接收机定位精度和激光测距机测量精度的影响,目标定位误差与机载光电侦察设备视轴指向测量无关。采用蒙特卡洛法仿真分析载机位置测量误差及激光测距系统位置误差对目标定位的影响,结果显示该算法定位精度较高。采用飞行试验数据验证了该目标定位算法的有效性,在飞行高度8 000m时,目标定位精度优于8m。相比于传统定位算法,该方法可将定位精度明显提高。同时此定位方法易于部署,可操作性强,具有较大的应用价值。
As the line of sight(LOS)measurement cannot be obtained accurately for a small-scale,airborne,electro-optical imaging system,a laser range finder(LRF)is proposed based on a target geolocation algorithm.According to target locking and tracking characteristics of an airborne photoelectric detection platform,the same target is measured repeatedly.The distance between the airborne electro-optical imaging system and target is measured by the LRF.Considering the ellipsoidal earth model and global digital elevation model,which is defined by the World Geodetic System 1984,a system measurement equation has been established.Owing to the nonlinearity of the measurement equation,an extended Kalman filter is applied to the target geographical position estimation.The geolocation calculation accuracy is primarily affected by the measurement errors of the GPS and LRF and is inde-pendent of the LOS measurement error.The influence of the aircraft position measurement and distance measurement errors on the target geolocation calculation accuracy is analyzed using Monte Carlo method.The simulation result demonstrates that the proposed algorithm has high target geolocation accuracy.The validity of the geolocation algorithm is verified by the flight test in which the plane flies at altitude of 8 000 mfor photographing the target and the root mean square error of the target geolocation is less than 8 m.When compared with the traditional algorithm,the target geolocation accuracy is improved by four times using our proposed algorithm.Further,this algorithm is easy to deploy and has strong operability and great practical value.
As the line of sight(LOS)measurement cannot be obtained accurately for a small-scale,airborne,electro-optical imaging system,a laser range finder(LRF)is proposed based on a target geolocation algorithm.According to target locking and tracking characteristics of an airborne photoelectric detection platform,the same target is measured repeatedly.The distance between the airborne electro-optical imaging system and target is measured by the LRF.Considering the ellipsoidal earth model and global digital elevation model,which is defined by the World Geodetic System 1984,a system measurement equation has been established.Owing to the nonlinearity of the measurement equation,an extended Kalman filter is applied to the target geographical position estimation.The geolocation calculation accuracy is primarily affected by the measurement errors of the GPS and LRF and is inde-pendent of the LOS measurement error.The influence of the aircraft position measurement and distance measurement errors on the target geolocation calculation accuracy is analyzed using Monte Carlo method.The simulation result demonstrates that the proposed algorithm has high target geolocation accuracy.The validity of the geolocation algorithm is verified by the flight test in which the plane flies at altitude of 8 000 mfor photographing the target and the root mean square error of the target geolocation is less than 8 m.When compared with the traditional algorithm,the target geolocation accuracy is improved by four times using our proposed algorithm.Further,this algorithm is easy to deploy and has strong operability and great practical value.
引文
[1]檀立刚.机载光电侦察设备目标自主定位技术研究[D].长春:长春光学精密机械与物理研究所,2012.TAN L G.Research of Target Automatic Positioning Technology in Airborne Photo-electricity Survey Equipment[D].Changchun:Changchun Institute of Optics Fine Mechanics and Physics,2012.
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[8]王晶,高利民,姚俊峰.机载测量平台中的坐标转换误差分析[J].光学精密工程,2009,17(2):388-394.WANG J,GAO L M,YAO J F.Analysis on coordinate conversion error of airborne measuring device[J].Opt.Precision Eng.,2009,17(2):388-394.(in Chinese)
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[10]杜言鲁,丁亚林,许永森,等.TDI-CCD全景式航空相机对地目标定位的算法[J].光学学报,2017(3):0328003.DU Y L,DING Y L,XU Y S,et al..Geo-location algorithm for TDI-CCD aerial panoramic camera[J].Acta Optica Sinica,2017(3):0328003.(in Chinese)
[11]乔川,丁亚林,许永森,等.大角度倾斜成像航空相机对地目标定位[J].光学精密工程,2017,25(7):1714-1726.QIAO CH,DING Y L,XU Y S,et al..Ground target geo-location using imaging aerial camera with large inclined angles[J].Opt.Precision Eng.,2017,25(7):1714-1726.(in Chinese)
[12] QIAO C,DING Y L,XU Y X,et al..Ground target geolocation based on digital elevation model for airborne wide-area reconnaissance system[J].Journal of Applied Remote Sensing,2018,12(1):016004.
[13] LIU C L,LIU J H,SONG Y M,et al..A novel system for correction of relative angular displacement between airborne platform and UAV in target localization[J].Sensors,2017,17(3):510.
[14]王晶,杨立保,高利民.机载光电平台目标定位测量技术[J].长春理工大学学报:自然科学版,2009,32(4):531-534.WANG J,YANG L B,GAO L M.Target orientation measuring of airborne EO platform[J].Journal of Changchun University of Science and Technology:Natural Science Edition,2009,32(4):531-534.(in Chinese)
[15]徐诚,黄大庆.无人机光电侦测平台目标定位误差分析[J].仪器仪表学报,2013(10):2265-2270.XU CH,HUANG D Q.Error analysis for target localization with unmanned aerial vehicle electrooptical detection platform[J].Chinese Journal of Scientific Instrument,2013(10):2265-2270.(in Chinese)
[16]孙辉.机载光电平台目标定位与误差分析[J].中国光学,2013,6(6):912-918.SU H.Target localization and error analysis of airborne electro-optical platform[J].Chinese Optics,2013,6(6):912-918.
[17]孙辉,李志强,张建华,等.机载光电平台目标交会定位[J].中国光学,2015,8(6):988-996.SU H,LI ZH Q,ZHANG J H,et al..Target localization with intersection measurement for airborne electro-optical platform[J].Chinese Optics,2015,8(6):988-996.(in Chinese)
[18]崔锦泰,陈关荣.卡尔曼滤波及其实时应用[M].北京:清华大学出版社,2013.CUI J T,CHEN G R.Kalman Filtering with Real-Time Applications[M].Beijing:Tsinghua University Press,2013.(in Chinese)
[19]张玉莲,储海荣,张宏巍,等.MEMS陀螺随机误差特性研究及补偿[J].中国光学,2016,9(4):501-510.ZHANG Y M,CHU H R,ZHANG H W,et al..Characterists and compensation method of MEMS gyroscope random error[J].Chinese Optics,2016,9(4):501-510.(in Chinese)
[2]展凤江,沈宏海,汪沛,等.导航信息滞后补偿实现高速无人机对地精确定位[J].光学精密工程,2015,23(9):2506-2512.ZHAN F J,SHEN H H,WANG P,et al..Precise ground target location of subsonic UAV by compensation delay of navigation information[J].Opt.Precision Eng.,2015,23(9):2506-2512.(in Chinese)
[3]王家骐,金光,颜昌翔.机载光电跟踪测量设备的目标定位误差分析[J].光学精密工程,2005,13(2):105-116.WANG J Q,JIN G,YAN CH X.Orientation error analysis of airborne opto-electric tracking and measuring device[J].Opt.Precision Eng.,2005,13(2):105-116.(in Chinese)
[4]郝睿鑫.基于激光测距的目标定位技术的研究[D].西安:西安工业大学,2014.HAO R X.Research on the Method of Localization of Target Based on Laser Ranging Technology[D].Xi′an:Xi′an Technological University,2014.(in Chinese)
[5]赵滨.基于机载光电测量系统的目标定位精度研究[D].南京:南京航空航天大学,2012.ZHAO B.Research on Positioning Technology of Target in Airborne Photo-electricity Measuring System[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2012.(in Chinese)
[6] GUO L,ANG H,ZHENG X.Ground moving target geo-location from monocular camera mounted on a micro air vehicle[J].SPIE,2011,8194:819419.
[7]檀立刚,戴明,刘晶红,等.机载光电测量设备目标自主定位误差分析[J].光学精密工程,2013,21(12):3133-3140.TAN L G,DAI M,LIU J H,et al..Error analysis of target automatic positioning for airborne photo-electric measuring device[J].Opt.Precision Eng.,2013,21(12):3133-3140.(in Chinese)
[8]王晶,高利民,姚俊峰.机载测量平台中的坐标转换误差分析[J].光学精密工程,2009,17(2):388-394.WANG J,GAO L M,YAO J F.Analysis on coordinate conversion error of airborne measuring device[J].Opt.Precision Eng.,2009,17(2):388-394.(in Chinese)
[9] STICH E J.Geo-pointing and threat location techniques for airborne border surveillance[C].IEEE International Conference on Technologies for Homeland Security,2013:136-140.
[10]杜言鲁,丁亚林,许永森,等.TDI-CCD全景式航空相机对地目标定位的算法[J].光学学报,2017(3):0328003.DU Y L,DING Y L,XU Y S,et al..Geo-location algorithm for TDI-CCD aerial panoramic camera[J].Acta Optica Sinica,2017(3):0328003.(in Chinese)
[11]乔川,丁亚林,许永森,等.大角度倾斜成像航空相机对地目标定位[J].光学精密工程,2017,25(7):1714-1726.QIAO CH,DING Y L,XU Y S,et al..Ground target geo-location using imaging aerial camera with large inclined angles[J].Opt.Precision Eng.,2017,25(7):1714-1726.(in Chinese)
[12] QIAO C,DING Y L,XU Y X,et al..Ground target geolocation based on digital elevation model for airborne wide-area reconnaissance system[J].Journal of Applied Remote Sensing,2018,12(1):016004.
[13] LIU C L,LIU J H,SONG Y M,et al..A novel system for correction of relative angular displacement between airborne platform and UAV in target localization[J].Sensors,2017,17(3):510.
[14]王晶,杨立保,高利民.机载光电平台目标定位测量技术[J].长春理工大学学报:自然科学版,2009,32(4):531-534.WANG J,YANG L B,GAO L M.Target orientation measuring of airborne EO platform[J].Journal of Changchun University of Science and Technology:Natural Science Edition,2009,32(4):531-534.(in Chinese)
[15]徐诚,黄大庆.无人机光电侦测平台目标定位误差分析[J].仪器仪表学报,2013(10):2265-2270.XU CH,HUANG D Q.Error analysis for target localization with unmanned aerial vehicle electrooptical detection platform[J].Chinese Journal of Scientific Instrument,2013(10):2265-2270.(in Chinese)
[16]孙辉.机载光电平台目标定位与误差分析[J].中国光学,2013,6(6):912-918.SU H.Target localization and error analysis of airborne electro-optical platform[J].Chinese Optics,2013,6(6):912-918.
[17]孙辉,李志强,张建华,等.机载光电平台目标交会定位[J].中国光学,2015,8(6):988-996.SU H,LI ZH Q,ZHANG J H,et al..Target localization with intersection measurement for airborne electro-optical platform[J].Chinese Optics,2015,8(6):988-996.(in Chinese)
[18]崔锦泰,陈关荣.卡尔曼滤波及其实时应用[M].北京:清华大学出版社,2013.CUI J T,CHEN G R.Kalman Filtering with Real-Time Applications[M].Beijing:Tsinghua University Press,2013.(in Chinese)
[19]张玉莲,储海荣,张宏巍,等.MEMS陀螺随机误差特性研究及补偿[J].中国光学,2016,9(4):501-510.ZHANG Y M,CHU H R,ZHANG H W,et al..Characterists and compensation method of MEMS gyroscope random error[J].Chinese Optics,2016,9(4):501-510.(in Chinese)