光电经纬仪单站空间余弦及多站面面交汇的飞机姿态测量-赵立荣

1711200911OpticsandPrecisionEngineeringVol.17No.11Nov.2009:20090831;:20090918.:863(No.2006AA703104)1004924X(2009)11278608赵立荣,柳玉晗,朱玮,曹永刚,于晓波(中国科学院长春光学精密机械与物理研究所,吉林长春130033):,,,;,Hough,X,,,,,6000m,1;30~150,0.6,,:光电经纬仪;飞机姿态;Hough变换;面面交汇方法:V556;TP391.4:AMeasurementofaircraftattitudebyspatialcosinerelationshipinsinglestationandplanestointersectioninmultistationofelectroopticaltheodoliteZHAOLirong,LIUYuhan,ZHUWei,CAOYonggang,YUXiaobo(ChangchunInstituteofOptics,FineMechanicsandPhysics,ChineseAcademyofSciences.Changchun130033,China)Abstract:Inordertorealizetheaircraftattitudemeasurement,thispaperpresentedmeasurementmethodstoobtaintheaircraftattitudebyusingthespatialcosinerelationshipinthesinglestationtheodoliteandusingtheplanestointersectioninthemultistationtheodolite.Whenthesinglestationtheodolitewasintroducedinameasureddistancefromtheaircraftpostureinformation,anexhaustiveapproachwasusedtoaccesstotheaircraftaxisofthefeaturepointsandthelocationinthespacewasusedtoobtainspacepostureparameters.Whenthemultistationtheodolitewasintroducedtogettheinformationoftheaircraftflightattitudebyusingtheplanestointersection,atwodimensionalimagewasusedtoobtaintheobjectiveaxisbyHoughtransformfittingalgorithm.Andthen,theverticaldistanceoftheorigintothecentralaxisofatargetandtheanglebetweenthecentralaxisnormalofthetargerandtheXaxiswerecalculatedtoobtainthelinearequationinthetwodimensionalplane.Thetwodimensionalaxisoftargetimageandthecamerasystem'sopticalcentercanonlyidentifyaspaceplane,thentheplanestotheintersectionmethodwasusedtoobtainthespaceaxisandtogettheaircraftyawaxisangleandpitchangle.Experimentalresultsshowthatthatofthesinglestationtheodoliteislessthan1whenitsdistanceislessthan6000mandthatofthemultistationtheodoliteislessthan0.6whenitsintersectionangleisbetween30and150.Accordingtothetestresultsoftheprecisioncomparing,itisconcludedthatthemathematicalmodeliscorrectandthealgorithmisreasonableinextractingeffectivelyparametersoftheaircraft'sattitude.Keywords:electroopticaltheodolite;aircraftattitude;Houghtransform;planestointersectionmethod1引言,,,,,,,,[15][6],CCD,,,BP;[7];[8]Hu,,,,,;,2工作原理,,,,,,,,11Fig.1Flowchartofjob2.12.1.1单站确定空间目标的位置公式278711,:,,AE,(1)X=X0+RcosAcosEY=Y0+RsinEZ=Z0+RsinAcosE,(1):(X0,Y0,Z0);R;AE2.1.2空间余弦法求特征点的坐标,,(),,M1M2M1M22,M1,M2(A1,E1)(A2,E2),L,L=M1M2,R1,OM1=R1,R2,R2=OM2=BM1M2,BM1=P1P22Fig.2SpacepositionofcharacterdotOP1P2(Lcos)2=(R1cosE1)2+(R2cosE2)2-2(R1cosE1)(R2cosE2)cos(A1-A2).(2)OM2P2,R1sinE1+Lsin=R2sinE2.(3)(2)(3)R2:R22-2R1(cosE1cosE2cos(A1-A2)+sinE1sinE2)R2+R21-L2=0.(4)(4):R2=-b+b2-4ac2a,(5):a=1,b=-2R1(cosE1cosE2cos(A1-A2)+sinE1sinE2),c=R21-L2.(5)R2,R2,(1)M22.1.3单站具有距离信息的目标姿态计算(1),(x1,y1,z1),(x2,y2,z2)::=arctan((z2-z1)/(x2-x1)),(6):=arctan((y2-y1)/(x2-x1)2+(z2-z1)2)).(7)2.2,,,(),,,,,,,3O1,O23Fig.3Principleofintersection278817,AB,ABO1ABO22.2.1目标二维中轴线的提取Hough:(x0,y0),r=xcos+ysin(,r)r=x0cos+y0sinLn,(,r)nn(0,r0),0,r0,(0,r0)[9],Hough,,8Hough,Xcos+Ysin-P=0,(8):X,0~360;P,44Fig.4Middleaxislineofplane2.2.2面面交汇测量目标的空间中轴线,,f,,X,YX,Y,Z,[10],:Xcos+Ysin-PfZ=0.(9),,,,Z,X,YX,Y(X),(),,,(Z)f,,X,(Z)XY,XY,[11]O1(O1x,O1y,O1z),X1,Y1,Z1(Lx,Ly,Lz),(Mx,My,Mz),(Nx,Ny,Nz)()(X1,Y1,Z1),(X1,Y1,Z1),:X=LxX1+MxY1+NxZ1+O1xY=LyX1+MyY1+NyZ1+O1yZ=LzX1+MzY1+NzZ1+O1z,(10),,,:a1X+b1Y+c1Z=0a2X+b2Y+c2Z=0,(11):X:l=b1c1b2c2,(12)Y:278911,:m=c1a1c2a2,(13)Z:n=a1b1a2b2.(14),,:=arccosa1a2+b1b2+c1c2(a21+b21+c21)(a22+b22+c22),(15)::=arctannl,(16):=arctanml2+n2.(17)3结果分析VC++6.0CCD,CCD10241024,380mm51,6214m,3.11,112121Tab.1Resultdata()AE11284.5443.62012284.2943.6222Tab.2CoordinateXYZ11-5181.6173.581-2187.912-5195.118173.517-2188.967(6)(7),33Tab.3Contrastdataofsinglestationtheodolite()12.7270.63713.3541.37477Fig.7Errorcurvesofsinglestationtheodolite7,m,279017,(),6000m,1;6000m,13.2Hough,,8Hough,13,X,P2431Tab.3Planarequationparametersoftheodolite1()P(pixel)F(mm)284.483.6489.5411.68382.242Tab.4Planarequationparametersoftheodolite2()P(pixel)F(mm)106.081.9890.8021.83379.834,55Tab.5Contrastdataofmultistationtheodolite()12.7270.63713.0550.9649,(),,(),30~150,0.69Fig.9Errorcurvesofmultistationtheodolite3.3,:3.3.1单站数据1,66Tab.6Contrastdataofsinglestationtheodolite()89.9460.58190.5191.2651010Fig.10Errorcurvesofsinglestationtheodolite3.3.2多站交汇,7279111,:7Tab.7Contrastdataofmultistationtheodolite()89.9460.58190.3620.8771111Fig.11Errorcurvesofmultistationtheodolite4结论,,6000m,1;,30~150,0.6,,,,,:[1]赵学颜,李迎春.靶场光学测量[M].:,2001.ZHAOXY,LIYC.OpticalMeasureatShootingRange[M].Beijing:NationalDefensePress,2001.(inChinese)[2]朱玮,赵立荣,柳玉晗,等.[J].光学精密工程,2008,16(11):21402144.ZHUW,ZHAOLR,LIUYH,etal..Theextractionmethodformissilebullets'multipletargetsofoptoelectronictheodolites[J].Opt.PrecisionEng.,2008,16(11):21402144.(inChinese)[3]李文军,陈涛.[J].光学精密工程,2007,15(2):254260.LIWJ,CHENT.Analysisandrestrainingofrandomnoiseofoptoelectronictrackingsystem[J].Opt.PrecisionEng.,2007,15(2):254260.(inChinese)[4]王宏波,庄志宏,张清泰.[J].红外与激光工程,2003,32(1):812.WANGHB,ZHUANGZHH,ZHANGQT.StudyonrecognitionofaircraftstatusbasedOndynamicinfraredimages[J].InfraredandLaserEngineering,2003,32(1):812.(inChinese)[5]DUARTE