飞机姿态测量装置的光学系统设计及算法研究
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摘要
在新型号飞机试飞实验中,姿态参数测量是十分关键的。这些参量不仅反映飞机的飞行状态,而且对分析飞机的气动参量、试验鉴定以及排除故障隐患等具有实用价值和现实意义。光电测量技术具有非接触、简单方便、精度高等优点,在航空、航天领域中都具有着重要的应用,如无人机自主着舰光电引导系统、舰载直升机助降光电引导系统及航天器空间交会对接过程中的光电导航系统等。但这些系统的测量精度及实时性都有着较高的要求,有时甚至十分苛刻。因此,利用光电测量技术实现飞机三维姿态测量具有重要研究意义。
本文利用合作目标的单站姿态测量原理,结合实际大气湍流条件下激光光束的漂移及扩展效应,提出利用补偿和定位后的激光光斑质心确定飞机外部姿态的方法。通过计算单帧激光光斑中心,提取单位时间内激光光斑质心组成的外围轮廓特征点,并将其构成多边形；以多边形图像质心作为参照,建立姿态测量自适应补偿模型。利用得到的自适应补偿模型求解飞机三维姿态信息。
论文随后设计了飞机姿态测量装置中的光学系统,根据R-C光学系统,基于三级像差理论,设计了主次镜的基本结构,利用反射系统消除球差及彗差,完成折反系统的设计全视场弥散斑分布均匀。场曲小于0.05mm,全视场畸变小于0.1%。MTF在1161p/mm时接近衍射极限。
为了满足实时性的要求,基于透视投影原理,推导求解目标三维姿态的最优化函数。通过统计大量光斑图像实验数据,将大气湍流的影响考虑在目标姿态测量误差中,提高了激光光斑中心的提取精度。采用多边形质心方法计算激光光斑中心,消除某一时刻由外界环境造成的偶然事件,提高了测量过程中每个环节的准确性。计算结果表明,当目标距离为3km时,采用模拟退火算法迭代解算并对结果进行自适应补偿,得到的姿态角误差最大值为0.221°,说明采用自适应补偿技术的姿态测量算法具有较高的姿态测量精度和收敛性。
In the new airplane flight test experiments, the measurement of attitude parameters is the key. It is of great practical value and significance in practical applications such as aircraft design, test identification and failure analysis and so on. Electro-optical measurement technology has the advantage of non-contact, simple and high accuracy. It is importantly used in aviation and space field, such as UAV autonomous landing, the landing guidance system for a ship-borne helicopter, and the optical guidance system in the spacecraft rendezvous and docking. But these systems have a high requisition on measurement accuracy and real-time, sometimes even very harsh. Therefore, using of electric-optical measuring technology to achieve the plane 3D attitude measuring has important research significance.
A new method of ascertaining plane outside attitude by compensation and positioning of the laser spot center was proposed, using cooperative target attitude measurement principle combined with the wander and spreading effects of the laser beam under actual atmospheric turbulence. A polygon can be formed through calculating the centroid of the single frame laser spot and extracting feature point of outline constituted by centroid of the laser spot within unit interval, the gravity center of which was taken as reference, and then adaptive attitude measurement compensation model can be established.3D pose information of the plane can be calculated by using the adaptive compensation model.
The optical system of aircraft attitude measuring device was designed. According to the R-C system and the theory of Third-order aberration, the basic structure of the primary baffle and secondary baffle was designed. The R-C system was designed by using the reflex system to eliminate the Spherical aberration and Coma. The dispersion spot of full view was uniform distributed. Field curvature was less than 0.05 mm, and the Full field distortion was less than 0.1%. The MTF closed to the diffraction limit at 1161p/mm.
In order to satisfy the requirement of real-time, the optimization function of target 3D attitude was solved based on the perspective projection principle. Through the statistics of the experimental data of spot image, the influence of atmospheric turbulence was considered into target attitude measuring error, which can improve the precision of the laser spot center extraction. Laser flare center was calculated by the method of polygon centroid, which eliminated accident caused by outside environment and improved the accuracy of each link in the measuring process. Numerical results show that the maximum of adaptive error compensation of the attitude angle is 0.221°by using simulated annealing algorithm to iterative solver and adaptive compensation when the target distance is 3km, which indicated that attitude measurement algorithm by using adaptive compensation technology has high accuracy and convergence.
本文利用合作目标的单站姿态测量原理,结合实际大气湍流条件下激光光束的漂移及扩展效应,提出利用补偿和定位后的激光光斑质心确定飞机外部姿态的方法。通过计算单帧激光光斑中心,提取单位时间内激光光斑质心组成的外围轮廓特征点,并将其构成多边形；以多边形图像质心作为参照,建立姿态测量自适应补偿模型。利用得到的自适应补偿模型求解飞机三维姿态信息。
论文随后设计了飞机姿态测量装置中的光学系统,根据R-C光学系统,基于三级像差理论,设计了主次镜的基本结构,利用反射系统消除球差及彗差,完成折反系统的设计全视场弥散斑分布均匀。场曲小于0.05mm,全视场畸变小于0.1%。MTF在1161p/mm时接近衍射极限。
为了满足实时性的要求,基于透视投影原理,推导求解目标三维姿态的最优化函数。通过统计大量光斑图像实验数据,将大气湍流的影响考虑在目标姿态测量误差中,提高了激光光斑中心的提取精度。采用多边形质心方法计算激光光斑中心,消除某一时刻由外界环境造成的偶然事件,提高了测量过程中每个环节的准确性。计算结果表明,当目标距离为3km时,采用模拟退火算法迭代解算并对结果进行自适应补偿,得到的姿态角误差最大值为0.221°,说明采用自适应补偿技术的姿态测量算法具有较高的姿态测量精度和收敛性。
In the new airplane flight test experiments, the measurement of attitude parameters is the key. It is of great practical value and significance in practical applications such as aircraft design, test identification and failure analysis and so on. Electro-optical measurement technology has the advantage of non-contact, simple and high accuracy. It is importantly used in aviation and space field, such as UAV autonomous landing, the landing guidance system for a ship-borne helicopter, and the optical guidance system in the spacecraft rendezvous and docking. But these systems have a high requisition on measurement accuracy and real-time, sometimes even very harsh. Therefore, using of electric-optical measuring technology to achieve the plane 3D attitude measuring has important research significance.
A new method of ascertaining plane outside attitude by compensation and positioning of the laser spot center was proposed, using cooperative target attitude measurement principle combined with the wander and spreading effects of the laser beam under actual atmospheric turbulence. A polygon can be formed through calculating the centroid of the single frame laser spot and extracting feature point of outline constituted by centroid of the laser spot within unit interval, the gravity center of which was taken as reference, and then adaptive attitude measurement compensation model can be established.3D pose information of the plane can be calculated by using the adaptive compensation model.
The optical system of aircraft attitude measuring device was designed. According to the R-C system and the theory of Third-order aberration, the basic structure of the primary baffle and secondary baffle was designed. The R-C system was designed by using the reflex system to eliminate the Spherical aberration and Coma. The dispersion spot of full view was uniform distributed. Field curvature was less than 0.05 mm, and the Full field distortion was less than 0.1%. The MTF closed to the diffraction limit at 1161p/mm.
In order to satisfy the requirement of real-time, the optimization function of target 3D attitude was solved based on the perspective projection principle. Through the statistics of the experimental data of spot image, the influence of atmospheric turbulence was considered into target attitude measuring error, which can improve the precision of the laser spot center extraction. Laser flare center was calculated by the method of polygon centroid, which eliminated accident caused by outside environment and improved the accuracy of each link in the measuring process. Numerical results show that the maximum of adaptive error compensation of the attitude angle is 0.221°by using simulated annealing algorithm to iterative solver and adaptive compensation when the target distance is 3km, which indicated that attitude measurement algorithm by using adaptive compensation technology has high accuracy and convergence.
引文
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[4]陈万通,秦红磊,丛丽等.GPS姿态测量中的可靠性理论研究[J].电机与控制学报,2010,14(8)：63-69.
[5]刘瑞华,张鹏,张磊.基于单天线GPS的伪姿态测量算法研究[J].中国民航大学学报,2009,6(27)：25-28.
[6]马安朝,吴洪生.机陀螺姿态模拟器校准方法的探讨[J].计量与测试技术,2010,17(5)：27-28.
[7]贾方秀,丁振良,袁锋.相位法激光测距接收系统[J].光学精密工程,2003,,27(3)：2377-2384.
[8]羊毅,丁全心,刘红漫.激光技术在机载光电探测与制导系统中的应用[J].红外与激光工程,2008,37(9)：14-20.
[9]陈奕,郭颖,杨俊等.脉冲式高精度激光测距技术研究[J].红外,2010,31(6)：1-5.
[10]刘万里,曲兴华,欧阳健飞等.激光跟踪测量系统角度自动校正装置设计[J].光学精密工程,2008,16(9)：1695-1700.
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