TDI-CCD全景式航空相机对地目标定位的算法
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摘要
为准确获取摄影区域地理位置信息,针对时间延迟积分电荷耦合器件(TDI-CCD)全景式航空相机未配备激光测距仪的情况,提出一种直接对地目标定位算法。依据机载定位定向系统(POS)测量的载机位置、姿态信息以及航空相机中编码器测量的俯角、位角信息,利用齐次坐标变换求解成像系统视轴(LOS)在地理坐标下的指向角以WGS-84坐标系下定义的地球椭球模型为基础,利用地球椭球计算理论确定目标区域经纬度信息。采用蒙特卡罗方法仿真分析了载机姿态角测量误差以及相机俯角、位角误差对视轴指向角计算精度的影响;着重分析了摄影倾斜角和目标区域地形起伏对对地目标定位精度的影响,指出摄影倾斜角和目标区域地形起伏越小,定位精度越高。采用飞行实验验证了该对地目标定位算法的有效性,在飞行高度为17750m,摄影倾斜角在63°~75°范围内,对地目标定位圆概率误差小于212.96m,可满足工程实际需要。
In order to obtain the geographic location of photography areas accurately,the geo-location algorithm is developed for time delay integral-charge coupled device(TDI-CCD)aerial panoramic camera without the laser range finder.Using aircraft position and attitude information measured by airborne position and orientation system(POS)along with the depression angle and position angle from the encoder in aerial camera,line of sight(LOS)pointing angle in geographic coordinate is solved by homogeneous coordinate transformation.According to the WGS-84 ellipsoidal earth model,longitude and latitude location is solved with the earth ellipsoid calculation theory.The influence of aircraft attitude angle measurement error and the depression angle and position angle measurement error on line of sight pointing angle calculation accuracy is analyzed with the Monte Carlo method.The impact of photography inclination angle and topographic change of target region on geo-location precision is investigated,which shows that the precision of geo-location is higher when the photography inclination angle and topographic change of target region are smaller.The validity of the geo-location algorithm is verified by the flight test in which the plane flies at an altitude of 17750 mand the photography inclination angle ranges from 63°to 75°.The circular error probability of target geo-location is less than 212.96 m,which meets the requirement of the project.
In order to obtain the geographic location of photography areas accurately,the geo-location algorithm is developed for time delay integral-charge coupled device(TDI-CCD)aerial panoramic camera without the laser range finder.Using aircraft position and attitude information measured by airborne position and orientation system(POS)along with the depression angle and position angle from the encoder in aerial camera,line of sight(LOS)pointing angle in geographic coordinate is solved by homogeneous coordinate transformation.According to the WGS-84 ellipsoidal earth model,longitude and latitude location is solved with the earth ellipsoid calculation theory.The influence of aircraft attitude angle measurement error and the depression angle and position angle measurement error on line of sight pointing angle calculation accuracy is analyzed with the Monte Carlo method.The impact of photography inclination angle and topographic change of target region on geo-location precision is investigated,which shows that the precision of geo-location is higher when the photography inclination angle and topographic change of target region are smaller.The validity of the geo-location algorithm is verified by the flight test in which the plane flies at an altitude of 17750 mand the photography inclination angle ranges from 63°to 75°.The circular error probability of target geo-location is less than 212.96 m,which meets the requirement of the project.
引文
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[2]Stich E J.Geo-pointing and threat location techniques for airborne border surveillance[C].IEEE International Conference on Technologies for Homeland Security,2013:136-140.
[3]Wang Jiaqi,Jin Guang,Yan Changxiang.Orientation error analysis of airborne opto-electric tracking and measuring device[J].Optics and Precision Engineering,2005,13(2):105-116.王家骐,金光,颜昌翔.机载光电跟踪测量设备的目标定位误差分析[J].光学精密工程,2005,13(2):105-116.
[4]Hao Ruixin.Research on the method of localization of target based on laser ranging technology[D].Xi′an:Xi′an Technological University,2014:12-23.郝睿鑫.基于激光测距的目标定位技术的研究[D].西安:西安工业大学,2014:12-13.
[5]Guo Li,Ang Haisong,Zheng Xiangming.Ground moving target geo-location from monocular camera mounted on a micro air vehicle[C].SPIE,2011,8194:819419.
[6]Zhao Bin.Research on positioning technology of target in airborne photo-electricity measuring system[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2011:14-26.赵滨.基于机载光电测量系统的目标定位精度研究[D].南京:南京航空航天大学,2011:14-26.
[7]Tan Ligang,Dai Ming,Liu Jinghong,et al.Error analysis of target automatic positioning for airborne photo-electri measuring device[J].Optics and Precision Engineering,2013,21(12):3133-3139.檀立刚,戴明,刘晶红,等.机载光电测量设备目标自主定位误差分析[J].光学精密工程,2013,21(12):3133-3139.
[8]Zhou Qianfei,Liu Jinghong,Xiong Wenzhuo,et al.Multi-target self-determination orientation system based on airborne photoelectric imaging platform[J].Acta Optica Sinia,2015,35(1):0112005.周前飞,刘晶红,熊文卓,等.机载光电成像平台的多目标自主定位系统研究[J].光学学报,2015,35(1):0112005.
[9]Xu Cheng,Huang Daqing.Error analysis for target location with unmanned aerial vehicle electro-optical detection platform[J].Chinese Journal of Scientific Instrument,2013,34(10):2265-2270.徐诚,黄大庆.无人机光电侦测平台目标定位误差分析[J].仪器仪表学报,2013,34(10):2265-2270.
[10]Sun Hui.Target localization and error analysis of airborne electro-optical platform[J].Chinese Optics,2013,6(6):912-918.孙辉.机载光电平台目标定位与误差分析[J].中国光学,2013,6(6):912-918.
[11]Li Deren,Wang Shugen,Zhou Yueqin.An introduction tophotogrammetry and remote sensing[M].Beijing:Surveying and Mapping Press,2008:164-169李德仁,王树根,周月琴.摄影测量与遥感概论[M].北京:测绘出版社,2008:164-169.
[12]Zhao Jiaxin,Zhang Tao,Yang Yongming,et al.Image motion velocity filed of TDI-CCD aerial panoramic camera[J].Acta Optica Sinia,2014,34(7):0728003.赵嘉鑫,张涛,杨永明,等.TDI-CCD全景航空相机的像移速度场计算模型研究[J].光学学报,2014,34(7):0728003.
[13]Qin Yongyuan.Inertial navigation[M].Beijing:Science Press,2014:171-180.秦永元.惯性导航[M].北京:科学出版社,2014:171-180.
[14]Kong Xiangyuan,Guo Jiming,Liu Zongquan.Foundation of geodesy[M].Wuhan:Wuhan University Press,2010:105-118.孔祥元,郭际明,刘宗泉.大地测量学基础[M].武汉:武汉大学出版社,2010:105-118.
[15]Zhang Xueping.Research on key technologies of direct georeferencing in POS-supported aerial photogrammetry[D].Wuhan:Wuhan University,2010:33-37.张雪萍.POS辅助航空摄影测量直接对地目标定位的关键技术研究[D].武汉:武汉大学,2010:33-37.
[16]Yuan Xiuxiao,Fu Jianhong,Zuo Zhengli,et al.Accuracy analysis of direct georeferencing by airborne position and orientation system in aerial photogrammetry[J].Geomatics and Information Science of Wuhan University,2006,31(10):847-850.袁修孝,傅建红,左正立,等.机载POS系统用于航空遥感直接对地目标定位的精度分析[J].武汉大学学报(信息科学版),2006,31(10):847-850.
[17]Held K J,Robinson B H.TIER II Plus airborne EO sensor LOS control and image geolocation[C].IEEE Aerospace Conference Proceedings,1997:377-405.