直升机摄影测量算法与激光监测引导实验
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摘要
本文评述了直升飞机的常规引导和着降方法及国内外的着降与引导
装置的最新发展情况。对直升机着舰过程中精确定位的摄影测量算法和点
目标图像处理算法进行了研究，建立了用四个信标点测量直升飞机挂钩位
置的模型，推导了由信标像点的坐标计算挂钩位置的算法。对在摄影测量
算法中影响测量精度和视场角的因数进行了系统的分析，理论计算表明合
适的选择CCD摄象机的参数可以使直升飞机的定位精度达到10个厘米以
下。对点目标进行了高通滤波及门限检测模拟，结果表明经过高通滤波和
门限检测能较好的提取目标像元。
本文对直升飞机引导过程中扫描激光算法进行了系统的分析和研究，
首次提出了四反射镜测量距离与飞机引导，并以实验室现有的条件设计了
一套扫描激光测量角反射镜返回信号时间的原理性实验系统，为了实现数
据的自动测量，完成了通过单片机和计算机的串行接口进行双机通信的实
际电路研制和软件的编写，通过测量角反射镜返回的光信号时间差来模拟
飞机的距离和方位角，得到了满意的结果，说明我们的方法是正确的。为
今后研究实际系统提供了重要的依据，具有重要的参考价值。
The common guiding and landing methods of helicopters is discussed in
this dissertation. We studied the CCD-photogrammetry that will be used in the
landing of helicopter to measure the precise position. We made the model of
using the four signal dot to measure the position of the probe of the helicopter.
The factors which will affect on the maxim angle and error of
CCD-photogrammetry is discussed.The outcome of computing show that if we
select appropriate paraments of CCD we can control the error of measure in
five centimeters.The highpass filter we will be used to process the picture is
emulatored on the computer. The outcome has shown that the method of
highpass filter can pick up the signal well.
The scaning laser is use to measure the range of helicopter and guid it
returning miles away. The interface of singlechip and computer is designed to
measure data automatically.This method is brought forward in the first time.
We establish a suit of slass system emulating experiment which emulated the
signal that reflected from the angle-reflecting mirror.The experiment supply
the important base for the further real system that we will build and it has
important value.
装置的最新发展情况。对直升机着舰过程中精确定位的摄影测量算法和点
目标图像处理算法进行了研究，建立了用四个信标点测量直升飞机挂钩位
置的模型，推导了由信标像点的坐标计算挂钩位置的算法。对在摄影测量
算法中影响测量精度和视场角的因数进行了系统的分析，理论计算表明合
适的选择CCD摄象机的参数可以使直升飞机的定位精度达到10个厘米以
下。对点目标进行了高通滤波及门限检测模拟，结果表明经过高通滤波和
门限检测能较好的提取目标像元。
本文对直升飞机引导过程中扫描激光算法进行了系统的分析和研究，
首次提出了四反射镜测量距离与飞机引导，并以实验室现有的条件设计了
一套扫描激光测量角反射镜返回信号时间的原理性实验系统，为了实现数
据的自动测量，完成了通过单片机和计算机的串行接口进行双机通信的实
际电路研制和软件的编写，通过测量角反射镜返回的光信号时间差来模拟
飞机的距离和方位角，得到了满意的结果，说明我们的方法是正确的。为
今后研究实际系统提供了重要的依据，具有重要的参考价值。
The common guiding and landing methods of helicopters is discussed in
this dissertation. We studied the CCD-photogrammetry that will be used in the
landing of helicopter to measure the precise position. We made the model of
using the four signal dot to measure the position of the probe of the helicopter.
The factors which will affect on the maxim angle and error of
CCD-photogrammetry is discussed.The outcome of computing show that if we
select appropriate paraments of CCD we can control the error of measure in
five centimeters.The highpass filter we will be used to process the picture is
emulatored on the computer. The outcome has shown that the method of
highpass filter can pick up the signal well.
The scaning laser is use to measure the range of helicopter and guid it
returning miles away. The interface of singlechip and computer is designed to
measure data automatically.This method is brought forward in the first time.
We establish a suit of slass system emulating experiment which emulated the
signal that reflected from the angle-reflecting mirror.The experiment supply
the important base for the further real system that we will build and it has
important value.
引文
1． An electro_optifc precision approach and landing system , SPIE Vol 2463,1995
2． D.M Shemwell et al,Laser Centerline Localizer and Laser Glideslope Indicator for Visual Guidence on Approach to landing, SPIE Vol. 1694,1992
3． A.A. Vetter,D.M.Shellwell,Dual_Use of the Laser Centerline Localizer, SPIE Vol.2464,1995
4． R.M.Measures,Laser Remote Sensing,Wiley, 1984
5． J.T.Murry,Generation of 1． 5um Radiation Through Intra Cavity Solid State Raman in BaNi Nonlear Crystals Optics Letters,Vol20,issue9,P1017-1019, 1995
6． McManamon,T.Dorschner,D.Corkum,L.Feidman,D.Hobbs,M.Hioz,S.Lberm Optical Phased Array Technology,Proceedings of the IEEE,vol84,NO2 Feb 1996
7． P.McManamon,Ewatson,M.Eismann,Suggestions for low Cost Multifunction Sensing,IEEE Aerospace Conference,Snowmass,Colorado,Mar 1998
8． Paul F.McManamon,Laser Radar Development,SPIE Vol.3380
9． P.W.Lindley ,Helicopters and the ASW revolution ,Naval Forces, 1985． 90
10． ASW systems for aircraft, Navy International, 1984,89(9)
11． 姚仁俊，国外舰载直升机系统，现代舰船，1986，9
12． 张海生，海上飞机，外国航空母舰(下)，海军装备论证研究中心科 技部，1987，6
13． 赵秀丽，国外舰载直升机，现代舰船，1995，12
14． 蔡喜平，CCD敏感器系统测距测角技术的研究，航天控制，1995，3
15． 蔡喜平，运用计算机视觉对空间飞行器交会对接中的位置和姿态的测 量，宇航学报，1995，10
16． 许少华，飞机进场着陆光电辅助系统，舰船光学，1989，2
17． 施志果，激光改善夜间着陆，激光与光电子学进展，1996，4
18． 柏连发，微光CCD摄象器件综合特性分析，红外技术，1994，9
19． 高振榕，直升机着舰助降和牵引装置，现代舰船，1990，3
20． 黄玉明，航天器位姿光学测量，中国空间科学技术，1993，8
21． Willam J Wholfe，Locating Known Object in 3-D from a Single Perspective View,SPIE，1988：1002
22． Michael A Penna，Determining Camera Paramenters from the Perspective Projection of a Quadrilateral，Pattern Recognition．1991，24(6) ，533-541
23． 许介平，声光器件的原理、设计和应用，1982，12，科学出版社
2． D.M Shemwell et al,Laser Centerline Localizer and Laser Glideslope Indicator for Visual Guidence on Approach to landing, SPIE Vol. 1694,1992
3． A.A. Vetter,D.M.Shellwell,Dual_Use of the Laser Centerline Localizer, SPIE Vol.2464,1995
4． R.M.Measures,Laser Remote Sensing,Wiley, 1984
5． J.T.Murry,Generation of 1． 5um Radiation Through Intra Cavity Solid State Raman in BaNi Nonlear Crystals Optics Letters,Vol20,issue9,P1017-1019, 1995
6． McManamon,T.Dorschner,D.Corkum,L.Feidman,D.Hobbs,M.Hioz,S.Lberm Optical Phased Array Technology,Proceedings of the IEEE,vol84,NO2 Feb 1996
7． P.McManamon,Ewatson,M.Eismann,Suggestions for low Cost Multifunction Sensing,IEEE Aerospace Conference,Snowmass,Colorado,Mar 1998
8． Paul F.McManamon,Laser Radar Development,SPIE Vol.3380
9． P.W.Lindley ,Helicopters and the ASW revolution ,Naval Forces, 1985． 90
10． ASW systems for aircraft, Navy International, 1984,89(9)
11． 姚仁俊，国外舰载直升机系统，现代舰船，1986，9
12． 张海生，海上飞机，外国航空母舰(下)，海军装备论证研究中心科 技部，1987，6
13． 赵秀丽，国外舰载直升机，现代舰船，1995，12
14． 蔡喜平，CCD敏感器系统测距测角技术的研究，航天控制，1995，3
15． 蔡喜平，运用计算机视觉对空间飞行器交会对接中的位置和姿态的测 量，宇航学报，1995，10
16． 许少华，飞机进场着陆光电辅助系统，舰船光学，1989，2
17． 施志果，激光改善夜间着陆，激光与光电子学进展，1996，4
18． 柏连发，微光CCD摄象器件综合特性分析，红外技术，1994，9
19． 高振榕，直升机着舰助降和牵引装置，现代舰船，1990，3
20． 黄玉明，航天器位姿光学测量，中国空间科学技术，1993，8
21． Willam J Wholfe，Locating Known Object in 3-D from a Single Perspective View,SPIE，1988：1002
22． Michael A Penna，Determining Camera Paramenters from the Perspective Projection of a Quadrilateral，Pattern Recognition．1991，24(6) ，533-541
23． 许介平，声光器件的原理、设计和应用，1982，12，科学出版社