CN115134477B - Synchronous positioning method for photoelectric system - Google Patents
Synchronous positioning method for photoelectric system Download PDFInfo
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- CN115134477B CN115134477B CN202210474890.4A CN202210474890A CN115134477B CN 115134477 B CN115134477 B CN 115134477B CN 202210474890 A CN202210474890 A CN 202210474890A CN 115134477 B CN115134477 B CN 115134477B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 238000004806 packaging method and process Methods 0.000 claims description 3
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- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a synchronous positioning method of a photoelectric system, wherein a carrier flies along a preset track above an operation area, the photoelectric system scans at a certain speed in a roll direction, and the pitching compensates the flying speed of the aircraft, so that the seamless coverage of a specific area in a mountain area is realized, the geographic coordinates of each frame of image point are calculated, and the images are transmitted to the ground in real time for image stitching, so that a large-scale single comprehensive image is formed. The invention can reduce frame positioning error caused by asynchronous data images, greatly reduce positioning precision error and improve positioning precision.
Description
Technical Field
The invention belongs to the technical field of synchronous positioning, mainly relates to a technology for positioning a target by an airborne photoelectric stabilized platform, and in particular relates to a photoelectric system synchronous positioning method capable of improving the target positioning precision through time sequence consistency.
Background
The on-board optoelectronic stabilized platform studied by the applicant is required to have the capability of performing a wide-range search on a target and the capability of generating accurate geographic coordinates of the target. These demands require accurate target positioning, often in a system where a television camera, high precision stable gyroscopic platform, high precision inertial navigation, fast scan mirrors, image processing boards, etc. are required. The traditional photoelectric stabilized platform collects the target video image through the television camera, collects parameters such as longitude and latitude height, attitude value and the like of the current carrier through high-precision inertial navigation, and simultaneously collects angle pointing information of the gyro stabilized platform to calculate the geographic positioning information of the target, wherein the information is collected and crosslinked and transmitted to a central computer for processing through system communication, and because uncontrollable factors such as time delay exist in the system communication transmission, the longitude and latitude height and the attitude value of the high-precision inertial navigation are periodically output, and the inertial navigation parameters of the television camera at the photographing time cannot be obtained, so that the calculated positioning precision is poor and the system positioning requirement cannot be met.
At present, domestic airborne equipment does not have reverse scanning mirror participation control on a target positioning system, most of the domestic airborne equipment does not have time sequence control, but the domestic airborne equipment is only roughly used for positioning a target according to the longitude and latitude height, the angle direction and the distance value of inertial navigation of a carrier, the error is large, and the requirement of large-range searching and monitoring and accurate positioning of a remote target cannot be met.
Disclosure of Invention
Object of the invention
The purpose of the invention is that: aiming at the requirements of the on-board photoelectric stabilized platform for performing large-scale search and generating accurate geographic coordinate information on mountain targets in real time, acquiring target video images through a television camera, acquiring longitude and latitude height and attitude values of a current carrier through high-precision inertial navigation, and simultaneously acquiring angle pointing information of a gyro stabilized platform to solve the problem of asynchronous geographic positioning information of the targets, the photoelectric system synchronous positioning method for solving the problem of positioning accuracy of a time sequence system is provided.
(II) technical scheme
In order to solve the technical problems, the invention provides a synchronous positioning method of a photoelectric system, which is used for positioning an operation target by an onboard photoelectric stabilization platform, wherein the onboard photoelectric stabilization platform comprises a central computer, a television camera, an angle resolving board, an inertial navigation, a quick reflection mirror and an image processing board; and a time keeping circuit is arranged in the central computer, the television camera and the angle resolving board, the inertial navigation second pulse signals are respectively sent to the central computer, the television camera and the angle resolving board, meanwhile, the central computer, the television camera and the angle resolving board respectively receive UTC time in the inertial navigation RS422 communication data, when the second pulse signals are received, UTC+1 time in the received RS422 communication is written, and meanwhile, the central computer, the television camera and the angle resolving board calibrate the time to be 0 seconds and start according to the time.
The fast-reflection mirror outputs a pulse level at the zero crossing moment, the television camera is triggered to synchronously expose at the moment through the pulse level, and meanwhile, the time of the exposure moment of the television camera is superimposed on the video data output by the fast-reflection mirror.
And storing each frame of data output by inertial navigation in a register, inquiring three frames of data near the zero crossing moment when receiving the zero crossing pulse, performing mathematical locus algorithm processing, obtaining one frame of fitting inertial navigation data at the zero crossing moment through fitting, and storing the fitting inertial navigation data in the register.
And when the angle resolving board receives the fast reverse zero-crossing moment, the angle direction information of the moment is acquired, and meanwhile, the time of the acquisition moment and the angle direction information of the moment are packed and sent to the central computer and stored in the register.
And (3) calibrating an accurate time value of the moment when the quick-return zero moment is received by the central computer, and simultaneously searching corresponding fitting inertial navigation data and angle pointing information in the register according to the moment to acquire the geographic positioning value of the target.
And determining an image of the target positioning information at the moment according to the time of the exposure moment superimposed on the video data output by the television camera, and completing the matching of the video data and the target geographic positioning value.
(III) beneficial effects
According to the synchronous positioning method of the photoelectric system, which is provided by the technical scheme, by utilizing the synchronous positioning technology, the positioning error caused by the asynchronous data images can be reduced, the positioning precision error is greatly reduced, and the positioning precision is improved.
Drawings
FIG. 1 is a timing block diagram of a system real-time positioning.
Fig. 2 is a schematic diagram of the system timing principle.
Fig. 3 is a system zero crossing timing block diagram.
Fig. 4 is a schematic block diagram of frame positioning parameters.
Fig. 5 is a schematic block diagram of frame alignment parameters matching video.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
The preferred embodiment of the invention provides a method for real-time positioning accuracy of a time sequence solving system for a certain large-range airborne photoelectric stabilized platform. The carrier flies along a preset track above an operation area, the photoelectric system scans at a certain speed in a rolling direction, and the pitching compensates the flying speed of the aircraft, so that seamless coverage of a mountain area and a mountain area specific area is realized, the geographic coordinates of each frame of image point are calculated, and the images are transmitted to the ground in real time for image stitching, so that a large-scale single comprehensive image is formed.
Considering that the data exchange among a quick reflection mirror, a high-precision inertial navigation, a television camera, an angle resolving plate and the like in an onboard photoelectric stabilized platform is realized by RS422 communication, the exposure of the television camera is carried out at a quick reflection zero moment, the target positioning parameters of the frame of image are acquired, the central computer firstly carries out RS422 communication cross-linking with inertial navigation data to receive inertial navigation data such as longitude and latitude height and attitude of a carrier, the central computer then receives aiming line angle information through RS422 of the angle resolving plate, the transmission period of the inertial navigation data is 3ms, the transmission period of the aiming line angle information is 1ms, and because the two communication systems are relatively independent and have delay errors of the communication period, the transmission delay of the inertial navigation data and the aiming line angle information data received by the central computer is not ensured to be real-time data, and the transmission delay of one frame of video data is not ensured to be 40ms, and the inertial navigation data and the angle direction information are sent to the image processing plate to be the frame of video data of the image processing plate, which is exposed by the television camera at the moment. If the real-time problem of the system is solved without time sequence design, the problems that the positioning parameters and the angle pointing parameters do not have the same time, the video and the positioning parameters are poor in matching performance, so that the positioning data and the angle pointing parameters cannot be aligned at the time, the overlapped images are matched with the images at the previous time and the like can occur; a specific implementation timing diagram is shown in fig. 1.
The core technology of the invention is to collect angle pointing information, inertial navigation data and image data at the moment when the fast reflection mirror crosses zero. The data alignment mainly takes zero crossing of a fast reflection mirror as a reference moment, the moment is recorded and is respectively given to a central computer, and as no unified timing reference exists, the time is given to a computer board, a television camera and an angle resolving board through second pulse output by high-precision inertial navigation, meanwhile, UTC time transmitted by the high-precision inertial navigation at the moment is combined, clock time in the board is kept in the three parts, and the consistency of the internal time of the three parts is realized, and a specific implementation block diagram is shown in figure 2.
The fast-feedback zero-crossing time is the core time of the whole time sequence, zero-crossing pulse is output at the time, and a central computer collects the pulse and records the time of the zero-crossing time according to the clock in the computer board; the zero-crossing pulse is simultaneously sent to an angle resolving board, the angle pointing information of the zero-crossing moment is collected, and the angle pointing information and the collection moment are packed; acquiring the zero crossing pulse to trigger the television camera to expose, packaging the exposed video data and exposure time, and sending the video data and the exposure time to an image processing board; a specific implementation block diagram is shown in fig. 3.
The high-precision inertial navigation transmits inertial navigation data such as longitude and latitude height, attitude and the like of a carrier acquired once every 3ms and UTC time at the moment to a central computer, the computer receives a plurality of groups of inertial navigation data and puts the inertial navigation data into a cache, and according to three groups of inertial navigation data which are searched for and closest to the moment at zero crossing moment time 1 recorded by the central computer in FIG. 3, mathematical track fitting operation processing is carried out to obtain the inertial navigation data at the zero crossing moment; meanwhile, the angle resolving board in fig. 3 is sent to the angle pointing information at the zero crossing time and the zero crossing time are packaged and output to the central computer, and the central computer searches the angle pointing information corresponding to the zero crossing time according to the zero crossing time 1; according to inertial navigation data of the same zero crossing time 1, the angle pointing information calculates a target positioning parameter at the zero crossing time in a central computer, packages the zero crossing time 1 at the same time, and sends the package data to an image processing board; a specific implementation block diagram is shown in fig. 4.
According to the exposure time of the package on the video data received by the image processing board of fig. 3, searching the target positioning data at the same moment in the cache of the image processing board, matching the package of target positioning data with the video data, and completing the alignment of the image and the positioning parameters; a specific implementation block diagram is shown in fig. 5.
According to the method, the device and the system, the quick-return zero-crossing moment is taken as a time reference, a time keeping circuit is arranged in a central computer, a television camera and an angle resolving board through second pulse for time alignment, angle pointing information is acquired at the quick-return zero-crossing moment, video exposure is carried out at the quick-return zero-crossing moment, longitude and latitude height and attitude parameters of a carrier at the zero-crossing moment are calculated through fitting of multiple groups of parameters acquired through inertial navigation, and the alignment of data at the zero-crossing moment is carried out to complete video frame positioning.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (1)
1. The synchronous positioning method of the photoelectric system is characterized in that the method is used for positioning an operation target by an airborne photoelectric stabilization platform, and the airborne photoelectric stabilization platform comprises a central computer, a television camera, an angle resolving plate, an inertial navigation mirror, a quick reflection mirror and an image processing plate; a time keeping circuit is arranged in the central computer, the television camera and the angle resolving board, the inertial navigation second pulse signals are respectively sent to the central computer, the television camera and the angle resolving board, meanwhile, the central computer, the television camera and the angle resolving board respectively receive UTC time in inertial navigation communication data, when the second pulse signals are received, UTC+1 time in the received communication data is written, and meanwhile, the central computer, the television camera and the angle resolving board calibrate the time to be 0 seconds and start timing according to the time;
the fast-reflection mirror outputs a pulse level at the zero crossing moment, the television camera is triggered to synchronously expose at the moment through the pulse level, and meanwhile, the time of the exposure moment of the television camera is superimposed on the video data output by the fast-reflection mirror;
Each frame of data output by inertial navigation is stored in a register, when a zero crossing pulse is received, three frames of data near the zero crossing moment are inquired, mathematical locus algorithm processing is carried out, one frame of fitting inertial navigation data at the zero crossing moment is obtained through fitting, and the fitting inertial navigation data are stored in the register;
When the angle resolving board receives the fast reverse zero crossing moment, the angle pointing information of the moment is collected, meanwhile, the time of the collection moment and the angle pointing information of the moment are packed and sent to a central computer, and the information is stored in a register;
The method comprises the steps that a central computer receives a quick-return zero-crossing moment, an accurate time value of the moment is calibrated, and meanwhile, fitting inertial navigation data and angle pointing information corresponding to the moment in a register are searched for to obtain a geographic positioning value of the target;
Determining an image of target positioning information at the moment according to the time of exposure moment superimposed on video data output by a television camera, and completing matching of the video data and a target geographic positioning value;
the data exchange among the quick reflection mirror, the inertial navigation, the television camera and the angle resolving board is communicated through RS 422;
the fast reflection mirror is exposed at zero crossing time, and at the moment, the target positioning parameters of the frame of image are collected;
the central computer firstly carries out RS422 communication and cross-linking with inertial navigation data to receive longitude and latitude height and attitude inertial navigation data of the carrier, and then receives angle pointing information through RS422 of the angle resolving board;
The central computer collects zero crossing pulses and records the time of the zero crossing moment; the zero-crossing pulse is simultaneously sent to an angle resolving board, the angle pointing information of the zero-crossing moment is collected, and the angle pointing information and the collection moment are packed; acquiring the zero crossing pulse to trigger the television camera to expose, packaging the exposed video data and exposure time, and sending the video data and the exposure time to an image processing board;
the transmission period of the inertial navigation data is 3ms, and the transmission period of the aiming line angle information is 1ms;
The inertial navigation transmits the carrier longitude and latitude height and attitude inertial navigation data acquired once every 3ms and UTC time at the moment to a central computer, the computer receives a plurality of groups of inertial navigation data and puts the data into a cache, searching three groups of inertial navigation data closest to the zero crossing moment recorded by a central computer, and performing mathematical track fitting operation processing to obtain the inertial navigation data of the zero crossing moment;
The angle resolving board packages and outputs the angle pointing information at the zero crossing moment and the zero crossing moment time to the central computer, and the central computer searches the angle pointing information corresponding to the zero crossing moment according to the zero crossing moment; then according to inertial navigation data and angle pointing information at the same zero crossing moment, calculating a target positioning parameter at the zero crossing moment in a central computer, packaging the zero crossing moment at the same time, and sending the package data to an image processing board;
and the image processing board receives a series of positioning data with zero crossing moment identification, and caches the positioning data in the image processing board, and according to the exposure time of the package on the video data received by the image processing board, the image processing board caches the target positioning data at the same moment, and then matches the package of target positioning data with the video data, thereby completing the alignment of the image and the positioning parameters.
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| CN106896720A (en) * | 2017-03-09 | 2017-06-27 | 中国科学院光电技术研究所 | Improved fast reflecting mirror inertial stability control method based on strapdown acceleration measurement |
| CN111026165A (en) * | 2019-12-02 | 2020-04-17 | 西安应用光学研究所 | Aiming line wide area scanning control method based on airborne photoelectric system |
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| US7308342B2 (en) * | 2004-01-23 | 2007-12-11 | Rafael Armament Development Authority Ltd. | Airborne reconnaissance system |
| US8810796B2 (en) * | 2009-04-21 | 2014-08-19 | Michigan Aerospace Corporation | Light processing system and method |
| US9353646B2 (en) * | 2011-01-19 | 2016-05-31 | President And Fellows Of Harvard College | Slippery surfaces with high pressure stability, optical transparency, and self-healing characteristics |
| GB2506338A (en) * | 2012-07-30 | 2014-04-02 | Sony Comp Entertainment Europe | A method of localisation and mapping |
| EP3869219B1 (en) * | 2017-12-01 | 2025-01-22 | Origin Research Wireless, Inc. | Apparatus, systems and methods for event detection and recognition based on a wireless signal |
| KR102044508B1 (en) * | 2018-03-14 | 2019-11-13 | 국방과학연구소 | Method and apparatus for providing navigation data in inertial navigation system |
| DE102018010197A1 (en) * | 2018-12-18 | 2020-06-18 | GRID INVENT gGmbH | Electronic element and electrically controlled display element |
| CN111488001A (en) * | 2020-05-11 | 2020-08-04 | 成都寰蓉光电科技有限公司 | Fast reflecting mirror composite stable platform control system and design method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106896720A (en) * | 2017-03-09 | 2017-06-27 | 中国科学院光电技术研究所 | Improved fast reflecting mirror inertial stability control method based on strapdown acceleration measurement |
| CN111026165A (en) * | 2019-12-02 | 2020-04-17 | 西安应用光学研究所 | Aiming line wide area scanning control method based on airborne photoelectric system |
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