靶场光测定位方法研究与应用
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摘要
光学测量技术是靶场测控技术的重要组成部分。光电经纬仪作为靶场最主要的光学测量设备之一,可以通过判读其拍摄到的飞行目标图像,为靶场提供精确的目标飞行轨迹和姿态参数,这些参数是武器试验鉴定及故障分析的重要依据。但由于可见光和红外经纬仪各自的缺陷和局限性,导致目前靶场对目标飞行轨迹测量的成功率较低,耗费了大量人力、物力和财力。本文正是着眼于靶场光测定位的这一实际困难,在靶场现有设备和原有定位方法的基础上,开辟了利用可见光经纬仪和红外经纬仪联合定位的新思路,提出了基于线-面交会和基于极线约束两种全新的定位方法,成功解决了靶场面临的难题,提高了靶场光测的可靠性与成功率。
论文的主要工作及其研究成果如下:
1.提出了一种基于线-面交会的可见光与红外图像联合定位方法,从数学上推导了由提点偏差引起的定位误差模型和由提线偏差引起的定位误差模型,并仿真验证了方法的精度,其仿真结果表明:方法完全满足靶场对目标飞行轨迹测量的精度要求,可以应用于工程实践,解决了靶场面临的难题;
2.推导了传统线-线交会方法的单变量误差模型,从相互独立的单变量角度分析比较了线-面交会定位方法与线-线交会定位方法的精度,并对分析得出的结论进行了仿真验证;
3.提出了一种基于极线约束的可见光与红外图像联合定位方法,对由判读偏差产生的定位误差进行了推导分析,并仿真计算了方法的定位精度,还对基于线-面交会的方法和基于极线约束的方法进行了定位精度的仿真比较,得到了相应的结论;
4提出了一种基于线-面交会和面-面交会的红外经纬仪定位方法,利用线-面交会完成了对目标尾焰尖点的精确定位,巧妙的避免了两红外图像找不到同名点的问题,将误差从图像转移到空间上,然后利用目标尾焰的红外辐射特性对结果进行修正,其仿真结果表明:方法的测量精度较好,有效的解决了靶场光测中红外经纬仪的精确定位难题;
5.采用线-面交会方法和定参数分析方法完成了某型号导弹的异常分析,在分析中突出了线-面交会方法的重要作用,体现了本文方法的广泛应用背景和巨大研究潜力。
Optical measurement technique is an important component of measurement and control technology in shooting ranges. Photoelectric theodolite is one of the most important optical measuring equipments in shooting ranges, and the ballistic trajectory and pose parameters of the flight object, which are the significant evidences for the assessment of weapon test and the analysis of failure, can be obtained by interpreting the images captured by it. However, due to the defects and limitations of visible and infrared theodolite, the success rate of target trajectory’s measure is low in shooting ranges currently,which costs a lot of manpower, material and financial resources. This dissertation just focused on the practial difficulties of shooting range, proposed a new idea of measuring the ballistic trajectory of the target with visible theodolite and infrared theodolite. Two orientational methods of IR/visible image based on line-plane intersection and epipolar constraint are proposed, which makes the problems of shooting ranges solved successfully, and the rate of success and reliability of interpretation is greatly improved.
The main works and contribution of this dissertation are as follows:
1. An orientational method of IR/visible image based on line-plane intersection is proposed. The orientational error models produced by getting point warp and getting axes warp are derivated by using mathematical method, and the results are validated by emulation. Emulation results show that the method can meet the requirement of shooting ranges, which can be used in project, and solve the problems of shooting ranges.
2. The orientational error model produced by single variable of line-line intersection method is derivated. The dissertation compares orientational accuracy of line-plane intersection method with line-line intersection method by independent univariat analysis. And the analytical conclusion is proved by emulation.
3. An orientational method of IR/visible image based on epipolar constraint is proposed. The orientational error produced by interpreting warp is derivated and analysed. The orientational accuracy of this method is calculated by emulation. And then this dissertation compared the orientational accuracy of the two orientational methods based on line-plane intersection and epipolar constraint, and obtained some conclusion.
4. An orientational method of IR/visible image based on line-plane intersection and plane-plane intersection is proposed. This method obtained the accurate position of motor exhaust plume by using line-plane intersection method, and avoided the difficult problem of finding homonymy points in two views, which transfered the error from image to space successfully. At last, it corrected the orientational error based on infrared radiation characteristics of target exhaust plume. The emulation results show that the precision of this method is high, and the method solved the problems of accurate orientation by infrared theodolite in shooting ranges.
5. Abnormity of certain model missile is analyzed by using line-plane intersection method and fixed parameter analysis method.The application highlights the important role of our method, and reflects the widely application background and a huge research potential of it.
论文的主要工作及其研究成果如下:
1.提出了一种基于线-面交会的可见光与红外图像联合定位方法,从数学上推导了由提点偏差引起的定位误差模型和由提线偏差引起的定位误差模型,并仿真验证了方法的精度,其仿真结果表明:方法完全满足靶场对目标飞行轨迹测量的精度要求,可以应用于工程实践,解决了靶场面临的难题;
2.推导了传统线-线交会方法的单变量误差模型,从相互独立的单变量角度分析比较了线-面交会定位方法与线-线交会定位方法的精度,并对分析得出的结论进行了仿真验证;
3.提出了一种基于极线约束的可见光与红外图像联合定位方法,对由判读偏差产生的定位误差进行了推导分析,并仿真计算了方法的定位精度,还对基于线-面交会的方法和基于极线约束的方法进行了定位精度的仿真比较,得到了相应的结论;
4提出了一种基于线-面交会和面-面交会的红外经纬仪定位方法,利用线-面交会完成了对目标尾焰尖点的精确定位,巧妙的避免了两红外图像找不到同名点的问题,将误差从图像转移到空间上,然后利用目标尾焰的红外辐射特性对结果进行修正,其仿真结果表明:方法的测量精度较好,有效的解决了靶场光测中红外经纬仪的精确定位难题;
5.采用线-面交会方法和定参数分析方法完成了某型号导弹的异常分析,在分析中突出了线-面交会方法的重要作用,体现了本文方法的广泛应用背景和巨大研究潜力。
Optical measurement technique is an important component of measurement and control technology in shooting ranges. Photoelectric theodolite is one of the most important optical measuring equipments in shooting ranges, and the ballistic trajectory and pose parameters of the flight object, which are the significant evidences for the assessment of weapon test and the analysis of failure, can be obtained by interpreting the images captured by it. However, due to the defects and limitations of visible and infrared theodolite, the success rate of target trajectory’s measure is low in shooting ranges currently,which costs a lot of manpower, material and financial resources. This dissertation just focused on the practial difficulties of shooting range, proposed a new idea of measuring the ballistic trajectory of the target with visible theodolite and infrared theodolite. Two orientational methods of IR/visible image based on line-plane intersection and epipolar constraint are proposed, which makes the problems of shooting ranges solved successfully, and the rate of success and reliability of interpretation is greatly improved.
The main works and contribution of this dissertation are as follows:
1. An orientational method of IR/visible image based on line-plane intersection is proposed. The orientational error models produced by getting point warp and getting axes warp are derivated by using mathematical method, and the results are validated by emulation. Emulation results show that the method can meet the requirement of shooting ranges, which can be used in project, and solve the problems of shooting ranges.
2. The orientational error model produced by single variable of line-line intersection method is derivated. The dissertation compares orientational accuracy of line-plane intersection method with line-line intersection method by independent univariat analysis. And the analytical conclusion is proved by emulation.
3. An orientational method of IR/visible image based on epipolar constraint is proposed. The orientational error produced by interpreting warp is derivated and analysed. The orientational accuracy of this method is calculated by emulation. And then this dissertation compared the orientational accuracy of the two orientational methods based on line-plane intersection and epipolar constraint, and obtained some conclusion.
4. An orientational method of IR/visible image based on line-plane intersection and plane-plane intersection is proposed. This method obtained the accurate position of motor exhaust plume by using line-plane intersection method, and avoided the difficult problem of finding homonymy points in two views, which transfered the error from image to space successfully. At last, it corrected the orientational error based on infrared radiation characteristics of target exhaust plume. The emulation results show that the precision of this method is high, and the method solved the problems of accurate orientation by infrared theodolite in shooting ranges.
5. Abnormity of certain model missile is analyzed by using line-plane intersection method and fixed parameter analysis method.The application highlights the important role of our method, and reflects the widely application background and a huge research potential of it.
引文
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[3]杨榜林,岳全发.军事装备试验学[M].北京:国防工业出版社, 2002: 1~7.
[4]何照才.光学测量系统[M].北京:国防工业出版社, 2002: 1~11, 25.
[5]张小虎.靶场图像运动目标检测与跟踪定位技术研究[D].长沙:国防科技大学研究生院,2006: 5~8,33~36,67~71,88~95.
[6]张宇峰.红外数字图像判读处理方法研究[D].西安:西北工业大学,2005: 2.
[7]张密太.基于光电经纬仪的空间定位技术[D].西安:西安工业学院,2005: 1~3.
[8]美国发现号航天飞机通信天线失灵[EB/OL]. http://news.sciencenet.cn.
[9]权威解读:发射神七火箭可靠性提高,有两大新亮点[EB/OL]. http://www.gov.cn.
[10]王国龙,衣同胜.靶场光电测量技术应用展望[J].2003,11(4): 213~217.
[11]莫年祥.试验数据处理与应用[M].北京:装备指挥技术学院,2000.
[12]王之卓.摄影测量原理[M].北京:测绘科技出版社,1979:1~14.
[13]王之卓.摄影测量原理续编[M].北京:测绘科技出版社,1986:117~123.
[14]金为铣,杨先宏等.摄影测量学[M].武汉:武汉测绘科技大学出版社,1996.
[15]马颂德,张正友.计算机视觉[M].北京:科学出版社,1998:52~71.
[16]于起峰,陆宏伟,刘肖琳.基于图像的精密测量与运动测量[M].北京:科学出版社2002:96~108,137~151.
[17]刘利生.外弹道测量数据处理[M].北京:国防工业出版社,2002.
[18]张密太,侯宏录.光电经纬仪多站交会测量布站方法及仿真[J].西安工业学院学报,2005(1):20~22.
[19]杜俊峰.光电经纬仪测量精度指标的确定[J].应用光学,2006(6):506~509.
[20]项树林,刘书田.基于测量方案的光电经纬仪布站优化模型[J].飞行器测控学报,2009,28(5)30~34.
[21]于起峰,尚洋.摄像测量学原理与应用研究[M].北京:科学出版社,2009:36~39. [ 22 ]贾涛,陈涛等.基于外极线约束的视频判读方法[J].仪器仪表学报2005,26(8):625~627.
[23]尚洋.基于视觉的空间目标位置姿态测量方法研究[D].国防科学技术大学博士学位论文,2006.
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