机载光电平台相对角位移测量系统设计

Apparatus Design for Surveying Relative Angular Translation of Airborne Optoelectronic Platform

为了解决机载光电平台与载机间存在相对角位移造成目标定位精度下降问题,设计了一种机载光电平台相对角位移实时测量系统。对现阶段使用的机载光电平台目标定位精度不高的原因以及基于改进的多控制点相机在线标定与姿态测量等理论进行研究。分析了机载光电平台目标定位误差的主要原因;对基于单目视觉理论的机载光电平台相对角位移测量方案进行研究,并以相机标定理论为原型给出了相对角位移测量的数学模型;结合多控制点立体靶标并使用随机并行梯度下降算法(SPGD)与直接线性变换方法(DLT),给出了三步法求解机载光电平台相对角位移的方法;使用设计的方法对机载光电平台相对角位移进行了测量,给出了实验与仿真结果。实验结果表明:设计的机载光电平台相对角位移测量方法精度优于0.092°,单次测量平均耗时小于0.54ms,完全满足现阶段机载光电平台相对角位移测量的精度与实时性等相关要求。

In order to resolve the problem of target orientation precision descent that is caused by relative angular translation between optoelectronic （OE） platform and aircraft, a measurement system is proposed to survey this angular movement. The reason of target orientation descent of present airborne OE platform is analyzed and both attitude measurement and camera calibration algorithm based on multiple control points on system are involved. Primary reason which conducts target orientation descent is introduced. Using monocular vision, angular translation measurement method is proposed, and mathematical model is set up based on camera calibration. Then, three-step method used for surveying relative angular translation is established by stochastic parallel gradient descent （SPGD） and direct linear transformation （DLT） with multiple control points. Both simulative and experimental results are achieved. The experiments show that the precision of measuring relative angular translation method is smaller than 0.092° and 0.54 ms is consumed by a single measurement. It can satisfy the requirements of relative angular translation between aircraft and OE platform precisely and timely.