多传感器远距离弹道测试系统与数据融合算法研究
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摘要
在靶场常规试验中,外弹道参数的获取是靶场弹道测试的主要任务,随着高新技术武器打击的远程化,靶场测试能力也要求实现远程化、精确化。目前,由于靶场单台设备的测试能力有限,且基于角度测量设备的测试误差会随着测试距离增加而呈线性增加,远远无法满足远距离弹道测试的要求,因此,为了实现远程弹道的测试,研究多台套、多类型测量设备协同工作、接力测量具有非常重要的意义。本文通过分析靶场测试中相关坐标关系,根据光学设备交会测量原理,提出了多台套光电经纬仪接力测量模型。本文主要分为以下几个环节
①弹丸空间位置的获取：在交会测量时,本文首先阐述了弹丸与弹丸图像之间关系,再通过图像处理技术获取到弹丸在像平面上的质心位置,最后根据成像原理和双站交会测量知识,计算出弹丸的空间位置坐标。
②数据的平滑拟合：由弹丸的空间坐标连成的弹道曲线不光顺甚至出现震荡现象,我们需要通过平滑拟合的方法进行弹道光顺,本文通过对几种常用的平滑拟合方法进行理论分析、试验对比,最终确定出适合弹道数据拟合的三次样条多项式拟合算法。
③弹道的拼接融合：为得到完整的弹道曲线,需要对多段弹道曲线进行拼接融合。拼接时,在两弹道相交处往往会出现弹道跳跃或弹道相交的现象,针对这两种情况,本文采用自适应的B样条弹道曲线融合方法,以得到完整光顺的弹道曲线。
本文首先对多台套的光电经纬仪接力测量模型作了详细论述,并对每章节提到的方法进行了仿真验证,再根据靶场提供的实验数据,经过坐标转换、弹道数据平滑拟合和弹道拼接融合,最终计算出完整的弹道曲线。实验证明,本方法可行。
In the conventional range experiment, the getting of external ballistic parameter is the main task of range ballistic test. Furthermore, with the long-distance shooting of the high-tech weapons, it is also require for the range test capacity to be more distant and accurate. Currently, as the test capability of a single range device is limited and the test errors based on angle measure tool will increase in linear with the increasing of measuring distance, it is quite difficult to meet the requirement of remote ballistic test, Therefore, in order to achieve the long-distance ballistic test, it has important significance to do research on cooperative work and relay measure using multi-set and multi-type measuring equipment.
This paper presents the photoelectric theodolite relay measure model using multi-type equipment, which based on the coordinate relationship in range test and the intersection measuring principle of optical equipment. The study of measuring model is mainly divided into the following sections:
1. The getting of pellet's spatial location:During the course of intersection measure, this paper firstly elaborates the relationship between space target and target image; and then acquires the centroid position of target in image plane by a series of image processing; finally, this paper figures out the spatial location coordinates of the projectile according to the imaging principles and the bistatic intersection measuring knowledge.
2. The smooth fitting of data:Because the ballistic line linked by the spatial coordinate of target isn't smooth and even oscillation, so we need make the trajectory smooth by the methods of data's smooth fitting. Experimental comparison and theoretical analysis of traditional smooth fitting methods are studied, and ultimately determines the cubic spline multinomial fitting algorithm which is appropriated for of ballistic data fitting. 3. The splicing and fusion of trajectory:To get the complete trajectory curve, we need make splicing and fusion of multi-stage ballistic curve. When splicing, there will always be a phenomenon of trajectory jump or trajectory intersection on the intersection of the two trajectory. For both cases, this paper chooses the adaptive B-spline ballistic curve fusion methods to get the complete and fairing trajectory curve.
This paper firstly elaborates the whole photoelectric theodolite relay measure mode in detail, and makes simulation verification of the methods mentioned in each section. And then figures out the ballistic curve according to the experimental data provided by range, using coordinate to transformation, smooth fitting of data and splice and fusion of trajectory. Experiments prove the feasibility of methods mentioned above.
①弹丸空间位置的获取：在交会测量时,本文首先阐述了弹丸与弹丸图像之间关系,再通过图像处理技术获取到弹丸在像平面上的质心位置,最后根据成像原理和双站交会测量知识,计算出弹丸的空间位置坐标。
②数据的平滑拟合：由弹丸的空间坐标连成的弹道曲线不光顺甚至出现震荡现象,我们需要通过平滑拟合的方法进行弹道光顺,本文通过对几种常用的平滑拟合方法进行理论分析、试验对比,最终确定出适合弹道数据拟合的三次样条多项式拟合算法。
③弹道的拼接融合：为得到完整的弹道曲线,需要对多段弹道曲线进行拼接融合。拼接时,在两弹道相交处往往会出现弹道跳跃或弹道相交的现象,针对这两种情况,本文采用自适应的B样条弹道曲线融合方法,以得到完整光顺的弹道曲线。
本文首先对多台套的光电经纬仪接力测量模型作了详细论述,并对每章节提到的方法进行了仿真验证,再根据靶场提供的实验数据,经过坐标转换、弹道数据平滑拟合和弹道拼接融合,最终计算出完整的弹道曲线。实验证明,本方法可行。
In the conventional range experiment, the getting of external ballistic parameter is the main task of range ballistic test. Furthermore, with the long-distance shooting of the high-tech weapons, it is also require for the range test capacity to be more distant and accurate. Currently, as the test capability of a single range device is limited and the test errors based on angle measure tool will increase in linear with the increasing of measuring distance, it is quite difficult to meet the requirement of remote ballistic test, Therefore, in order to achieve the long-distance ballistic test, it has important significance to do research on cooperative work and relay measure using multi-set and multi-type measuring equipment.
This paper presents the photoelectric theodolite relay measure model using multi-type equipment, which based on the coordinate relationship in range test and the intersection measuring principle of optical equipment. The study of measuring model is mainly divided into the following sections:
1. The getting of pellet's spatial location:During the course of intersection measure, this paper firstly elaborates the relationship between space target and target image; and then acquires the centroid position of target in image plane by a series of image processing; finally, this paper figures out the spatial location coordinates of the projectile according to the imaging principles and the bistatic intersection measuring knowledge.
2. The smooth fitting of data:Because the ballistic line linked by the spatial coordinate of target isn't smooth and even oscillation, so we need make the trajectory smooth by the methods of data's smooth fitting. Experimental comparison and theoretical analysis of traditional smooth fitting methods are studied, and ultimately determines the cubic spline multinomial fitting algorithm which is appropriated for of ballistic data fitting. 3. The splicing and fusion of trajectory:To get the complete trajectory curve, we need make splicing and fusion of multi-stage ballistic curve. When splicing, there will always be a phenomenon of trajectory jump or trajectory intersection on the intersection of the two trajectory. For both cases, this paper chooses the adaptive B-spline ballistic curve fusion methods to get the complete and fairing trajectory curve.
This paper firstly elaborates the whole photoelectric theodolite relay measure mode in detail, and makes simulation verification of the methods mentioned in each section. And then figures out the ballistic curve according to the experimental data provided by range, using coordinate to transformation, smooth fitting of data and splice and fusion of trajectory. Experiments prove the feasibility of methods mentioned above.
引文
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[3]李华.基于雷达与光电经纬仪协同工作的外弹道测试方法[J].弹箭与制导学报.2010,30(4)：134-136.
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[9]马顺南,李福才,李华敏.多站制连续波高精度测量体制研究[J].电讯技术,2006(5)：161-164.
[10]陈伟利,叶正茂,李颖.全测速多站系统的最优布站问题与数值算法[J].飞行器测控学报,2005,24(6)：59-62
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[17]乔向东.信息融合系统中目标跟踪技术研究[D][博士论文].西安电子科技大学.2003
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[19]Pramod K. Varshney.MuItisensor Data Fusion.Boston.[M].Intelligent Problem Solving Methodologies and Approaches Lecture Notes in Computer Science,2000, Volume 1821/2000,103-186, DOI:10.1007/3-540-45049-1_1
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[29]冀光祖,武拥军.关于光测设备布站的探讨[7].导弹试验技术,2005(2)：29-31.
[30]卢海波.光电经纬仪与雷达交会测量[J].长春理工大学学报,2003.26(3)：92-94.
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