摘要
为同时对多个目标实施实时或准实时定位,建立了机载光电成像平台多目标自主定位系统,针对该系统提出一种基于像元视线向量的多目标自主定位模型。通过目标检测算法得到视场中各目标的像素坐标,根据单面阵电荷耦合器件(CCD)传感器的成像原理,构造各目标的视线向量并计算其与图像中心主目标的像元视线角,结合已测得的主目标相对光电平台的方位角、高低角和距离,计算出各目标与机载光电平台的角度与距离关系,应用全球定位系统(GPS)、航姿测量技术获取载机的位置姿态信息,通过齐次坐标变换方法计算出单幅图像中多个目标的大地坐标。针对镜头畸变引起的定位误差,提出基于畸变率的方法进行畸变修正。在1100 m高空对地面目标定位时,多目标定位的圆概率误差(CEP)约为28.74 m,大地高定位误差约为18 m,能同时对50个目标进行实时地理定位。当镜头畸变率为2%时,畸变修正后圆概率误差减小了7%。该多目标自主定位方法具有效率高,便于工程应用的优点。
In order to achieve multiple targets in real-time or near real-time orientation, a multi-target selfdetermination orientation system based on airborne photoelectric imaging platform is established and a precise multi-target self-determination orientation model based on line-of-sight vector of pixel is proposed for the system.Using target detection algorithms to obtain the precise pixel coordinates of each target, the line-of-sight vectors of each target are constructed based on image forming principles for single-plane array charge coupled device（CCD） sensors, and the view angles of pixel between the main target at image center and other targets are calculated.Combining with the azimuth angle, elevation angle and the distance between the main target and the photoelectric platform, the distance and angle relations between other targets and the photoelectric platform are calculated. Based on the position and attitude information of aircraft, which is obtained by the global positioning system（GPS）heading and attitude measuring system, the homogeneous coordinate transformation method is applied to calculate the geodetic coordinates of multiple targets in a single image. For the orientation error caused by the lens distortion,a method based on the lens distortion ratio is presented to correct it. When flying at an altitude of 1100 m, the circular error probable（CEP） of multi-target self-determination orientation system is approximately 28.74 m, and the height error is about 18 m. It can geolocate 50 targets in a single image in real-time. When the lens distortion ratio is 2%, the CEP of multiple targets position data is reduced by 7% after correcting the lens distortion. The multitarget self-determination orientation method has high efficiency and is convenient for engineering application.
出处
《光学学报》
EI
CAS
CSCD
北大核心
2015年第1期181-195,共15页
Acta Optica Sinica
基金
吉林省重大科技攻关项目(11ZDGG001)
装备预研项目(402040203)
国家林业公益性行业科研专项(201204515)
关键词
测量
多目标自主定位
视线向量
齐次坐标变换
畸变修正
递归最小二乘
measurement
multi-target self-determination orientation
line-of-sight vector
homogeneous coordinate transformation
distortion correction
recursive least squares
