多运动传感器测量系统坐标统一方法

Coordinate Unification Method for Moving Multi-sensor Measurement System

针对飞机、舰船和车辆等运动平台上不同类型主/被动传感器信息融合难点,分析了运动平台姿态对目标方位和俯仰角测量值的影响,讨论了受平台姿态变化影响的侧倾角、前倾角、平面旋转角、平面旋转轴角、目标假方位和假俯仰角等有关概念和定义,推导出受姿态变化影响的平台直角坐标系与平台空间直角坐标系关系,给出了运动平台传感器测量参数与目标地理位置之间正反变换解析方法,结果支持运动、固定平台传感器测量系统坐标统一。

Aimed at difficult points for information fusion on moving platforms equipped with multi-active/passive sensors,such as airplane,vessels and vehicles,the influences of the position and the pose of moving platforms on target bearing and pitch angle are analyzed.Some concepts and definitions of factors influenced by the position and the pose of moving platform are discussed,such as sidesway angle,forerake angle,plane rotating angle,plane rotation axis angle,target pseudobearing angle and pitching angle.The relation between space rectangular and platform rectangular coordinate systems influenced by the position and the pose is derived.The forward and inverse transition methods between moving platform multi-sensor measuring parameters and target geographical locations are proposed.Experimental results show that the method can support the coordinate unification for moving and fixed platform sensors in measurement system.