车载经纬仪自主定位定向技术的研究
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摘要
车载机动式不落地测量是靶场光学测量设备发展的重要趋势,而光电经纬仪一旦脱离大地测量点参考,就必须测量出仪器所在的精确位置信息和方位基准,为弹道测量提供可靠的参考零点依据。自主定位定向是指利用经纬仪本身的光学望远镜系统进行天文观测来确定其所在的天文坐标点和方位零基准—真北。
本文首先推导了天文导航的三角导航公式,然后研究了天文定位、定向的理论方法。在垂线偏差的形成分析的基础上,指出垂线偏差是测站弹道测量必须采用天文坐标原因。对经纬仪无源交会测量基本原理分析后,论文研究了定位、定向误差、垂线偏差对经纬仪测角精度的影响。仿真了定位、定向误差在单站、多站测量体制中弹道测量的影响,指出误差符号相异将导致最大的弹道测量误差。
结合经纬仪的特点,改进天顶内插法,减小轴系误差的影响,应用矢量定位和最小二乘估计对测站天文坐标点进行解算。给出了载车平台的初始不水平度的补偿办法,采用坐标旋转法推导了平台的三维旋转与平台倾斜量和倾斜方位的关系,并且研究了九参数模型法的经纬仪外场标校。分别采用CL多小波变换,高斯曲面拟合法对星图预处理,最后计算了拍摄星图的质心,并在此基础上将天顶光轴处虚拟为主星,提出了基于该主星的适合经纬仪的局部星图识别算法。
分析了时角法定向的主要误差源、包括时间和站址误差,对恒星平位置向视位置转换过程中各种误差也进行修正。采用倾角传感器测量车载经纬仪的姿态变化,在恒星回扫中采用卡尔曼滤波抑制了传感器的随机误差,提高了经纬仪的指向精度,最后给出方位角的实测值和计算的理论值,经过编码器置数定向。
Trailer-mounted theodolite is the one of the most popular direction of shooting range optics measuring instrument, after changing baselines,the exact positions and reference azimuth of the instrument must be measured in order to provide spatial origion for trajectory. Trailer-mounted theodolite autonomous position and orientation means get site acronomical coordinates and zero reference azimuth—the true north by astronomical observation with its own optics telescope system.
Triangle navigation formula is derived firstly,then celestial location and orientation method technology is introduced, by analyzing the generation of vertical deflection, the prinple that ballistic trajectory measuring by optical instrument must using astronomical coordinates is insured. Intersection method of theodolite is investigated, how position and orientation error as while as vertical deflection acts on angle error is given in addition, also the trajectory error caused by position and orientation error in only one or muti-sites situation is put forward in simulation,results shows that the maximal error lead by signal diffrerence.
In order to reduce the axis error of the telescope,zenith-inserted-method is impr- oved combined with feature of system,multi-star vector positon mehod and least squa -res optimal estimation is used to compute astronomical coordinates,the method of compensate initial level error is also put forward,the relationship of tilt quantity and tilt azimuth between plane 3D movement is given by the coordinate rotation ,The nine parameter model is derived for the cinetheodolites field calibration. Star ima -ge is filted by CL multi-wavelet tansformation and the centroid is computed by gauss curve plane method ,then assume the zenith point as the main star to form a new star identifacaion algorithm.
Time and site positon error are the primary error source of hour mehod, besides,some kind of correction are needed during switching star horizontal-position to apparent position. By reason of random error, dual-axis inclinometer is used to observe attitude change wihle theodolite working on the trailer,in the other hand,kalman filter is used in star back- scan course to improve pointing precision.Finally ,directional precision is showen by actual data.
本文首先推导了天文导航的三角导航公式,然后研究了天文定位、定向的理论方法。在垂线偏差的形成分析的基础上,指出垂线偏差是测站弹道测量必须采用天文坐标原因。对经纬仪无源交会测量基本原理分析后,论文研究了定位、定向误差、垂线偏差对经纬仪测角精度的影响。仿真了定位、定向误差在单站、多站测量体制中弹道测量的影响,指出误差符号相异将导致最大的弹道测量误差。
结合经纬仪的特点,改进天顶内插法,减小轴系误差的影响,应用矢量定位和最小二乘估计对测站天文坐标点进行解算。给出了载车平台的初始不水平度的补偿办法,采用坐标旋转法推导了平台的三维旋转与平台倾斜量和倾斜方位的关系,并且研究了九参数模型法的经纬仪外场标校。分别采用CL多小波变换,高斯曲面拟合法对星图预处理,最后计算了拍摄星图的质心,并在此基础上将天顶光轴处虚拟为主星,提出了基于该主星的适合经纬仪的局部星图识别算法。
分析了时角法定向的主要误差源、包括时间和站址误差,对恒星平位置向视位置转换过程中各种误差也进行修正。采用倾角传感器测量车载经纬仪的姿态变化,在恒星回扫中采用卡尔曼滤波抑制了传感器的随机误差,提高了经纬仪的指向精度,最后给出方位角的实测值和计算的理论值,经过编码器置数定向。
Trailer-mounted theodolite is the one of the most popular direction of shooting range optics measuring instrument, after changing baselines,the exact positions and reference azimuth of the instrument must be measured in order to provide spatial origion for trajectory. Trailer-mounted theodolite autonomous position and orientation means get site acronomical coordinates and zero reference azimuth—the true north by astronomical observation with its own optics telescope system.
Triangle navigation formula is derived firstly,then celestial location and orientation method technology is introduced, by analyzing the generation of vertical deflection, the prinple that ballistic trajectory measuring by optical instrument must using astronomical coordinates is insured. Intersection method of theodolite is investigated, how position and orientation error as while as vertical deflection acts on angle error is given in addition, also the trajectory error caused by position and orientation error in only one or muti-sites situation is put forward in simulation,results shows that the maximal error lead by signal diffrerence.
In order to reduce the axis error of the telescope,zenith-inserted-method is impr- oved combined with feature of system,multi-star vector positon mehod and least squa -res optimal estimation is used to compute astronomical coordinates,the method of compensate initial level error is also put forward,the relationship of tilt quantity and tilt azimuth between plane 3D movement is given by the coordinate rotation ,The nine parameter model is derived for the cinetheodolites field calibration. Star ima -ge is filted by CL multi-wavelet tansformation and the centroid is computed by gauss curve plane method ,then assume the zenith point as the main star to form a new star identifacaion algorithm.
Time and site positon error are the primary error source of hour mehod, besides,some kind of correction are needed during switching star horizontal-position to apparent position. By reason of random error, dual-axis inclinometer is used to observe attitude change wihle theodolite working on the trailer,in the other hand,kalman filter is used in star back- scan course to improve pointing precision.Finally ,directional precision is showen by actual data.
引文
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[2]张尧禹.车载平台变形测量和误差校正技术的研究[D]:[博士学位论文].北京:中国科学院研究生院,2003.
[3]张政.车载光电经纬仪在准动基座下的测量误差修正研究[D]:[硕士学位论文].长沙:国防科技大学,2007.
[4]刘占荣,刘全等.自行武器系统的定位定向方法探索[J].情报指挥控制系统与仿真技术,2003,1: 33-36.
[5]严恭敏.车载自主定位定向系统研究[D]:[博士学位论文].西安:西北工业大学,2006.
[6]季必达,冯惠兰.一种天文/惯性/GPS/激光测距组合应用方法分析[J].导航,2001,6(1): 83-91.
[7]黄巍,王跃刚,沈琰等.导弹发射车SINS /GNS定位定向技术[J].弹箭与制导学报,2009,29(3): 59-61.
[8]洪绍明,杨永平,段德磊.常用定向方法综述及其比较[J]:勘察科学技术. 2008.1:52-56.
[9]赵学颜,李迎春.靶场光学测量[M].北京:装备指挥技术学院,2001.
[10]Anna Muller,Beat Burki,Hans-Gert Kahle.First First Results from new High- precisionMeasurements of Deflections of the Vertical inSwitzerland. Geodesy and Geodynamics Laboratory, ETH Zurich, CH-8093 Zurich, Switzerland
[11]张荣辉.自主引导载运工具导航技术与先进控制策略的研究[D]:[博士学位论文].北京:中国科学院研究生院,2009.
[12]刘真.基于天文导航的无人机定位方法研究[D]:[硕士学位论文].西安:西安电子科技大学,2009.
[13]房建成,宁晓琳.天文导航原理及应用[M].第一版.北京:北京航空航天大学出版社出版.2006年,10月,3-58,295-297.
[14]张捍卫,许厚泽,王爱生.天文经纬度和天文方位角测定的基本原理[J].测绘科学,2006,31(4):157-160.
[15]王若璞.新型大地天文测量系统工程化研究[D]:[硕士学位论文].郑州:中国人民解放军信息工程大学,2004.
[16]董鸿闻,钟纬玲.我国50年来高精度大地天文测量[J].测绘标准化,2002,55(18): 26-31.
[17]张超,郑勇,孟凡玉.利用测日实现快速天文定向[J].测绘科学技术学报,2007,24(5): 343-345.
[18]张超,郑勇,李长会.利用任意星进行天文定向的研究[J].测绘科学,2005,30(4):30-32.
[19]吴能伟.动目标实时定位技术与融合算法研究[D]:[博士学位论文].北京:中国科学院研究生院,2007.
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