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一种特征直线交会求解的姿态处理方法

A Pose Information Acquisition Method Based on Characteristic Line Intersection Analysis

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摘要

为了解决目前飞机类目标无目标模型,且目标主体中轴线难于准确提取的难题,提出一种基于分类直线交会解析的姿态信息获取方法。通过推导基准坐标系下姿态角定义与欧拉角递进旋转的唯一对应性关系获取基准旋转矩阵,对承载姿态信息的特征直线进行分类,并提出一种在非中轴直线以外交会的姿态角信息求解方法。该方法利用特征直线与中轴线的相对姿态关系,将直接交会获取基准系下的特征直线向量作为旋转变换输入条件,利用两直线同步旋转前后的向量空间关系,采用修正的Rodrigues变换获取关键姿态旋转矩阵,最后解析求解时刻旋转矩阵获取所需的姿态信息。校飞试验验证了所提算法的可行性,其稳定性优于模型匹配法。所提算法无需建模及特征匹配,处理效率得到了显著提高,普遍适用于导弹及飞机类目标姿态处理,为靶场光学姿态处理提供了一种新的思路和方法。

Abstract

To solve the problems of the lack of a model and inaccurate axis extraction of an airplane, a method for rendezvous analysis pose attainment of classified lines is proposed. In this method, first, a rotation matrix is obtained by deriving the unique correspondence between the pose definition and the progressive rotation of Euler angles in the reference coordinate system, and the lines are classified based on the carried pose information. Furthermore, a method for non-axis rendezvous analysis pose attainment, which uses the relative pose relationship between the feature line and the intersecting axis as input value for rotation transformation and obtains the rotation matrix by improving the feature line vector in the reference system, is implemented. Then, the pose rotation matrix is obtained by the modified Rodrigues transformation using the vector space relationship between the synchronous rotations of the two lines. The pose information can be analyzed using the solving time matrix. Tests show that the stability of the proposed algorithm is better than that of the model matching method, and its processing efficiency is considerably increased. Moreover, it has obvious advantages in terms of anti-occlusion, feature location, and tracking, which provides a new direction for the optical pose processing of the range.

Newport宣传-MKS新实验室计划
补充资料

中图分类号:TP394.1

DOI:10.3788/LOP57.091203

所属栏目:仪器,测量与计量

基金项目:军内科研项目;

收稿日期:2019-09-01

修改稿日期:2019-09-20

网络出版日期:2020-05-01

作者单位    点击查看

胡小丽:中国华阴兵器试验中心, 陕西 华阴 714200
唐明刚:中国华阴兵器试验中心, 陕西 华阴 714200
吴海英:中国华阴兵器试验中心, 陕西 华阴 714200

联系人作者:唐明刚(huxiaoli32@163.com)

备注:军内科研项目;

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引用该论文

Hu Xiaoli,Tang Minggang,Wu Haiying. A Pose Information Acquisition Method Based on Characteristic Line Intersection Analysis[J]. Laser & Optoelectronics Progress, 2020, 57(9): 091203

胡小丽,唐明刚,吴海英. 一种特征直线交会求解的姿态处理方法[J]. 激光与光电子学进展, 2020, 57(9): 091203

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