光学学报, 2019, 39 (11): 1112003, 网络出版: 2019-11-06
基于立体成像机载光电相机的目标定位 下载: 887次
Target Location Based on Stereo Imaging of Airborne Electro-Optical Camera
测量 机载光电相机 目标定位 立体成像 卡尔曼滤波 measurement airborne electro-optical camera target location stereo imaging Kalman filter
摘要
受激光测距机作用距离和脉冲频率等的限制,主动测距方法无法在高空斜视远距离大区域成像模式中得以应用。针对该问题,提出了一种对同一目标区域进行多次立体成像测量的定位算法。利用机载定位系统测出平台位置、姿态信息,以及相机框架轴角信息,建立目标区域地理坐标与图像像素点间的映射关系,利用地球椭球模型求解目标初始地理信息,应用卡尔曼滤波器对数据进行自回归预测,采用蒙特卡罗法仿真分析误差对定位精度的影响。结果表明,立体成像40次后目标的定位精度优于20 m,立体成像180次后目标的定位精度优于10 m。采用飞行实验数据验证了该目标定位算法的有效性,在飞行高度为9800 m、倾斜角为78°时,立体成像40次后目标的定位精度优于35 m,可满足工程应用需求。
Abstract
The active ranging method cannot be applied to high-altitude inclined-angle large-area aerial imaging because of the limits of operating range and impulse frequency of the laser range finder. Aiming at the problem, the location algorithm based on multiple stereo imaging measurements is developed for the same target region. According to platform position and attitude information measured by airborne position and orientation system (POS) and outer and inner gimbal angel of aerial camera, a mapping relation between the geographical position of target area and image pixels is built. The ellipsoidal earth model is used to solve the initial geographical positions of the points in target area, and Kalman filter is applied to autoregressive prediction. The influence of measurement error on location accuracy is analyzed with Monte Carlo method. The simulation results show target location accuracy is less than 20 m and 10 m after stereo imaging for 40 times and 180 times, respectively. The validity of the target location algorithm is verified by flight tests in which the aircraft flies at altitude of 9800 m and target inclined angle is 78°. Target location accuracy through stereo imaging for 40 times is less than 35 m, which meets the requirement of engineering applications.
刘志明, 张雪菲, 匡海鹏, 李清军, 乔川. 基于立体成像机载光电相机的目标定位[J]. 光学学报, 2019, 39(11): 1112003. Zhiming Liu, Xuefei Zhang, Haipeng Kuang, Qingjun Li, Chuan Qiao. Target Location Based on Stereo Imaging of Airborne Electro-Optical Camera[J]. Acta Optica Sinica, 2019, 39(11): 1112003.