摘要
根据现有无人机光电定位方法对动态目标定位的局限性,借鉴光电经纬仪角度交会定位方法,提出改进的基于机载光电平台的双机交会定位系统.介绍了交会定位系统的构成及其工作原理,构建辅助坐标系,对视轴向量进行齐次坐标转换,建立双机交会定位模型.研究了交会定位中载机相对目标位置对定位精度的影响,给出了理想的测量位置,得到最优定位位置,最优交会角为69.984°.最优位置下,当目标距离双机基线20km时,定位均方根误差为38.043 4m.分析了卡尔曼滤波对定位结果的影响,建立合适的滤波模型,滤波后的定位均方根误差减小到13.584 2m.
To address the limitation of existing unmannedaerialvehicle photoelectric localization method used for moving objects,this paper proposes an improved two-unmannedaerialvehicleintersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference.This paper introduces the makeup and operating principle of intersection localization system,creates auxiliary coordinate systems,transforms the light of sight vectorsinto homogeneous coordinates,and establishes a two-unmannedaerialvehicle intersection localization model.In this paper,the influence of the positional relationship between unmannedaerialvehicles and the target on localization accuracy has been studied in details to obtain an ideal measuring position and the optimal localization positionwhere the optimal intersection angle is 69.984°.Given the optimal position,the localization root-mean-square error will be 38.043 4 m when the target is 20 km away fromunmannedaerialvehicle baselines.Finally,the influence of Kalman filtering on localization results is analyzed,and an appropriate filtering model is established to reduce the localization root-mean-square error to 13.584 2 m.
出处
《光子学报》
EI
CAS
CSCD
北大核心
2017年第9期140-150,共11页
Acta Photonica Sinica
基金
国家自然科学基金(Nos.61308099
61304032)资助~~
关键词
无人机
机载光电平台
交会定位
坐标转换
精度分析
交会角
卡尔曼滤波
Unmannedaerialvehicle,Airborne optoelectronic platform
Intersection localization
Coordinate transformation
Accuracy analysis
Intersection angle
Kalman filtering
作者简介
左羽佳（1987-），女，博士研究生，主要研究方向为机载光电测量．Email：mzuoyujia0617@126．com
刘晶红（1967-），女，研究员，硕士，主要研究方向为机载光电成像与测量．Email：liul577@126．com
