Object positioning system based on position and attitude of airborne photoelectric gondola

Abstract

The invention discloses an object positioning system based on the position and attitude of an airborne photoelectric gondola, and the system is arranged in the airborne photoelectric gondola. The system includes a dynamic inclination angle obtaining module, a positioning module and a processing module, wherein the dynamic inclination angle obtaining module obtains the pitch angle theta and roll angle gamma information of the airborne photoelectric gondola; the processing module obtains the longitude Bc, the latitude Lc, the height Hc and the yaw angle phi of the airborne photoelectric gondola; and according to the longitude, latitude and height of the airborne photoelectric gondola as well as the longitude Bm, latitude Lm and height Hm of a ground reference point, the processing module converts a geodetic right-angle coordinate system into an ENU coordinate system (Xwk, Ywk, Zwk); and according to an object image obtained by the airborne photoelectric gondola, the processing module obtains the pixel coordinates (u, v) of an object in the image, a translation matrix T1 is generated by combining the focal length f of a camera of the gondola, the distance Yc of the axial center image of the gondola and the camera to the sea surface and the geodetic right-angle coordinate system (Xck, Yck, Zck) of the ground reference point, practical latitude, longitude and elevation of the object is obtained via the pixel coordinates of the object, and measurement for the object is completed.

Description

technical field [0001] The invention relates to a target positioning system based on the position and attitude information of an airborne photoelectric pod. Mainly related to patent number: G01 Measurement; Test G01S Radio Orientation; Radio Navigation; Using Radio Waves to Measure Distance or Velocity; Positioning systems; use of signals transmitted by such systems to determine position, velocity or attitude G01S19 / 38 Use of signals transmitted by satellite radio-beacon positioning systems to determine navigation schemes G01S19 / 39 Transmission of satellite radio-beacon positioning systems with time-stamped information , such as GPS [Global Positioning System], GLONASS [Global Navigation Satellite System] or GALILEOG01S19 / 42 to determine the position. Background technique [0002] With the increasing number and density of ships, aircraft and personnel at sea, the navigation environment is becoming more and more complex, and the global climate is abnormal, the probability an...

AI Technical Summary

Problems solved by technology

[0005] The navigation information comes from the aircraft carrier. Since the navigation system is a special device, it is difficult to select the interface or obtain the data format.

[0006] Because the position and attitude information of the photoelectric pod is directly related to the target positioning, but the navigation information of the aircraft carrier is introduced into the positioning calculation. Although the photoelectric pod is installed on the aircraft carrier, the position and attitude information of the two are not synchronized. , it is difficult to guarantee the real-time performance of position and attitude information

In addition, the acquisition of the position and attitude information of the aircraft carrier itself cannot be achieved in real time, and accurate target positioning information cannot be calculated based on non-real-time position and attitude information

[0007] The aircraft carrier and the photoelectric pod are connected through a shock absorber, which effectively isolates most of the vibrations that are harmful to the target imaging of the photoelectric pod. However, since the shock absorber is rigid or made of metal and plastic, its own characteristics are difficult to obtain , so the motion characteristics of the shock absorber also need to be considered. The navigation information of the aircraft carrier cannot actually be directly equivalent to the position and attitude of the photoelectric pod

[0008] It is precisely because of the above three problems that it is difficult to achieve high precision by combining infrared or visible light images of sea surface targets with aircraft carrier navigation information.

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