1. An airborne optoelectronic system target geographic positioning method based on automatic tracking is characterized by comprising the following steps:

s1: in the target automatic tracking mode, the pixel coordinate position of the tracked target is obtained, and the pixel coordinate positions of the tracked target in the camera 1 and the camera 2 are respectively marked as (X)_l,Y_l)、(X_r,Y_r)；

S2: collecting a geodetic coordinate position P1 of the camera 1, aircraft attitude information corresponding to the camera 1, a deflection angle of a photoelectric zero position of the camera 1 relative to an aircraft shaft zero position of the camera 1, angle information of a camera coordinate system of the camera 1 relative to the photoelectric zero position of the camera 1, and an azimuth alpha of a northeast coordinate system of the camera 1 relative to a geocentric coordinate system₁And a pitch angle beta₁；

Collecting a geodetic coordinate position P2 of the camera 2, carrier attitude information corresponding to the camera 2, a deflection angle of a photoelectric zero position of the camera 2 relative to a carrier shaft zero position of the camera 2, angle information of a camera coordinate system of the camera 2 relative to the photoelectric zero position of the camera 2, and an azimuth angle alpha of a northeast coordinate system of the camera 2 relative to a geocentric coordinate system₂And a pitch angle beta₂；

S3: calculating to obtain a rotation matrix R between a camera coordinate system of the camera 1 and a camera coordinate system of the camera 2;

s4: calculating to obtain a translation vector T between the camera 1 and the camera 2;

s5: using the rotation matrix R, the translation vector T and the pixel coordinate position (X) of the tracked object in the camera 1 and the camera 2_l,Y_l)，(X_r,Y_r) Obtaining the tracked target at the camera1 three-dimensional position S (x, y, z) in the camera coordinate system;

s6 uses the three-dimensional position S (x, y, z) of the tracked target in the camera 1 camera coordinate system, the geodetic coordinate position P1 of the camera 1, the carrier attitude information corresponding to the camera 1, the offset angle of the photoelectric zero position of the camera 1 relative to the shaft zero position of the camera 1 carrier, the angle information of the camera 1 camera coordinate system relative to the photoelectric zero position of the camera 1, and the azimuth alpha of the geocentric coordinate system relative to the northeast coordinate system of the camera 1₁And a pitch angle beta₁And solving the longitude and latitude height of the tracked target.

2. The method as claimed in claim 1, wherein in step S2, the geodetic position P1 of the camera 1 comprises m₁Weft n₁High, l₁The attitude information of the carrier corresponding to the camera 1 comprises a course angle alpha_F1Angle of pitch beta_F1And roll angle gamma_F1The deviation angle of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the camera 1 comprises an azimuth alpha_d1Pitch beta_d1Rolling gamma_d1The angle information of the camera coordinate system of the camera 1 relative to the photoelectric zero position of the camera 1 comprises the pitch theta_EL1And roll theta_RQ1。

3. The method as claimed in claim 2, wherein in step S2, the geodetic position P2 of the camera 2 includes m₂Weft n₂High, l₂The attitude information of the carrier corresponding to the camera 2 comprises a course angle alpha_F2Angle of pitch beta_F2And roll angle gamma_F2The deviation angle of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the camera 2 carrier comprises an azimuth alpha_d2Pitch beta_d2Rolling gamma_d2The angular information of the camera 2 camera coordinate system relative to the photoelectric zero position of the camera 2 comprises the pitch theta_EL2And roll theta_RQ2。

4. The method for geo-locating a target in an airborne optoelectronic system based on automatic tracking as claimed in claim 3, wherein in step S3, the rotation matrix R is recorded as:

the calculation process of the rotation matrix R is as follows:

s3.1 Camera 2 Camera coordinate System rotation to Camera 2 northeast sky coordinate System

(1) Rotating the camera 2 camera coordinate system to the camera 2 photoelectric null position, wherein the angular information pitch θ of the camera 2 camera coordinate system with respect to the photoelectric null position_EL2Roll over theta_RQ2：

(2) Photoelectric zero rotation of camera 2 to camera 2 carrier axis zero, where α_d2Is the azimuth deviation angle beta of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the carrier_d2Is the pitching declination of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the carrier, gamma_d2Roll deflection angle of photoelectric zero position of camera 2 relative to zero position of shaft of the carrier:

(3) zero rotation of camera 2 carrier axis to camera 2 northeast sky coordinate system, where α_F2Is the corresponding carrier heading angle, beta, of camera 2_F2Is the pitch angle of the carrier, gamma_F2The transverse roll angle of the loader is as follows:

s3.2 the coordinate system of the camera 2 northeast rotates to the coordinate system of the camera 1 northeast

(1) The camera 2 is rotated from the northeast sky coordinate system to the geocentric coordinate system, where α₂，β₂Respectively representing the azimuth and the pitch angle of the coordinate system of the northeast of the camera 2 relative to the geocentric coordinate system;

(2) rotation matrix of geocentric coordinate system to the northeast of the camera 1, where α₁，β₁Respectively representing the orientation and the pitch angle of a relative geocentric coordinate system of the northeast of the camera 1;

s3.3 rotation of camera 1 northeast coordinate system to camera 1 photoelectric zero position

(1) Camera 1 northeast coordinate system rotates to the shaft of the carrier

α_F1Is the corresponding carrier heading angle, beta, of the camera 1_F1For the carrier pitch angle, gamma, of camera 1_F1For the corresponding roll angle of the camera 1, the formula is as follows:

(2) the shaft of the carrier rotates to the photoelectric zero position of the camera 1

Declination of photoelectric zero position of camera 1 relative to zero position of shaft of camera 1: orientation alpha_d1Pitch beta_d1Rolling gamma_d1The formula is as follows:

s3.4 camera 1 photoelectric zero positionRotate to camera 1 camera coordinate system, formula, where pitch θ_EL1Roll over theta_RQ1：

Finally, the camera 2 coordinate system to camera 1 coordinate system rotation matrixCan be expressed as: r ═ R₁*R₂*R₃*R₄*R₅*R₆*R₇*R₈。

5. The method for geo-locating a target based on an on-board electro-optical system with automatic tracking as claimed in claim 4, wherein in step S4, a translation vector T (T) from camera 2 camera coordinate system to camera 1 camera coordinate system is obtained_x,t_y,t_z) The process comprises the following steps:

s4.1 obtaining coordinates (x) of the camera 2 in the geocentric coordinate system_{4_2},y_{4_2},z_{4_2}) The longitude and latitude of the carrier corresponding to the camera 2 are m₂,n₂，R_eRecording as the radius of the earth;

s4.2 Camera 2 position (x) in geocentric coordinate System_{4_2},y_{4_2},z_{4_2}) Conversion to the northeast coordinates (x) of the camera 1_{5_1},y_{5_1},z_{5_1})

The longitude and latitude of the carrier corresponding to the camera 1 are m₁,n₁，R_eRecording as the radius of the earth;

a^T＝(x_{4_2},y_{4_2},z_{4_2})

(x_{5_1},y_{5_1},z_{5_1})＝＝T(·a^T-O_{earth core})

S4.3 converting the northeast coordinate system of the camera 1 into the photoelectric zero position of the camera 1

(1) Camera 1 northeast coordinate system rotates to the shaft of the carrier

The formula is as follows, wherein_F1Is the corresponding carrier heading angle, beta, of the camera 1_F1For the carrier pitch angle, gamma, of camera 1_F1The roll angle of the carrier corresponding to the camera 1;

(2) the shaft of the carrier rotates to the photoelectric zero position of the camera 1

Declination of photoelectric zero position of camera 1 relative to zero position of shaft of camera 1: orientation alpha_d1Pitch beta_d1Rolling gamma_d1The formula is as follows:

obtaining a translation vector T (T) of the camera 2 relative to the camera 1_x,t_y,t_z)＝(x_{7_1},y_{7_1},z_{7_1})。

6. The method for geo-locating an object in an airborne optoelectronic system based on automatic tracking as claimed in claim 5, wherein in step S5, the process of obtaining the three-dimensional position S (x, y, z) of the tracked object in the camera coordinate system of camera 1 is:

order rotation matrixThe displacement matrix is T (T)_x,t_y,t_z) Focal lengths f and (X) of camera 1 and camera 2_l,Y_l)，(X_r,Y_r) The three-dimensional position S (x, y, z) of the tracked object in the optoelectronic coordinate system of the camera 1, wherein (x, y, z) represents the following:

x＝zX_l/f

y＝zY_l/f

z＝f(ft_x-X_rt_z)/(X_r(r₇X_l+r₈Y_l+fr₉)-f(r₁X_l+r₂Y_l+fr₃)。

7. the method for geo-locating the target of the airborne optoelectronic system based on automatic tracking as claimed in claim 6, wherein in the step S6, the process of solving the longitude and latitude height of the tracked target is:

s6.1, converting a camera coordinate system of the camera 1 into a northeast coordinate system of the camera 1;

s6.2, converting the northeast coordinates of the camera 1 into geocentric coordinates;

and S6.3, converting the geocentric coordinate system into longitude and latitude heights (B, L, H), namely the longitude and latitude heights of the tracked target.

8. The method for geo-locating a target based on an airborne optoelectronic system with automatic tracking as claimed in claim 7, wherein in step S6.1, the transformation process of the coordinate system is:

(1) the camera 1 camera coordinate system rotates to the photoelectric zero position of the camera 1

Coordinate (x, y, z) of camera 1 camera coordinate system is rotated to coordinate (x) of photoelectric zero position of camera 1₂,y₂,z₂) The formula of (1) is as follows: wherein the camera 1 corresponds to the pitch theta of the photoelectric platform_EL1Roll over theta_RQ1：

(2) The photoelectric zero position of the camera 1 is rotated to the zero position of the shaft of the camera 1 carrier, wherein alpha_d1Is the azimuth deviation angle beta of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier_d1Is the pitching declination of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier, gamma_d1The roll deflection angle of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier is as follows:

(3) zero rotation of camera 1 carrier axis to camera 1 northeast coordinate system, where α_F1Is the corresponding carrier heading angle, beta, of camera 2_F1Is the pitch angle of the carrier, gamma_F1The transverse roll angle of the loader is as follows:

9. the method for geo-locating a target based on an airborne optoelectronic system with automatic tracking as claimed in claim 8, wherein in step S6.2, the transformation process of the coordinate system is:

obtaining the coordinates (X, Y, Z) of the tracked target in the geocentric coordinate system, wherein the longitude and the latitude of the carrier corresponding to the camera 1 are m₁,n₁，R_eThe radius of the earth R marked as O point_O；

10. The method for geo-locating a target based on an automatically tracked airborne optoelectronic system according to claim 9, wherein in step S6.3, the transformation process of the longitude and latitude height (B, L, H) is as follows:

the target can be represented as (X, Y, Z) in the geocentric coordinate system, let N: radius of curvature of unitary fourth of twelve earthly branches of ellipsoid, e: the first eccentricity of the ellipsoid, denoted as a, b for the major and minor semiaxes of the ellipsoid taken, has:

R＝[X²+Y²+Z²]^1/2，

calculating (B, L, H) by using a gradual iteration mode, namely the longitude and latitude height of the tracked target; wherein B is set as an initial value of 101 degrees, and is gradually iterated to be the final target position.

Background

With the rapid development of electronic technology and computer technology, battlefield environment has been changed profoundly, and traditional tactical methods have been difficult to adapt to the sea, land, air, sky, electromagnetism five-in-one three-dimensional war, and under the situation that stealth and anti-stealth games are more violent, how to determine the position of enemy covertly and accurately is very important. The principle of positioning the target by emitting high-power detection signals through active equipment such as radar and laser is simple, the positioning accuracy is high, but the position of the target is extremely easy to expose, so that the target is found and even hit by an enemy. In contrast, passive positioning can passively receive electromagnetic waves of a target radiation source under the condition that the passive positioning does not emit the electromagnetic waves, so that the position and the motion state of a target are determined, and the passive positioning has an important effect on improving the survival capability and the operational capability of a weapon system in a battlefield environment.

According to a traditional target passive positioning algorithm, a carrier carries out passive distance measurement according to the relative height between a photoelectric platform and a target and an aiming line inclination angle so as to replace laser distance measurement in active positioning, and then target positioning is carried out by utilizing a target positioning algorithm based on distance measurement.

Disclosure of Invention

Objects of the invention

The purpose of the invention is: the method is based on a passive positioning technology used by an airborne photoelectric system, does not depend on relative altitude errors of an airborne machine, captures and tracks the target by identification, and solves the geodetic coordinates of the target by combining the position (longitude, latitude and altitude) and the attitude (course angle, roll angle and pitch angle) of the airborne machine and the azimuth angle and pitch angle of a photoelectric platform provided by an airborne GPS (global positioning system), thereby realizing the passive geographic positioning function of the target.

(II) technical scheme

In order to solve the technical problem, the invention provides an airborne optoelectronic system target geographical positioning method based on automatic tracking, which comprises the following steps:

s1: in the target automatic tracking mode, the pixel coordinate position of the tracked target is obtained, and the pixel coordinate positions of the tracked target in the camera 1 and the camera 2 are respectively marked as (X)_l,Y_l)、(X_r,Y_r)；

S2: collecting a geodetic coordinate position P1 of the camera 1, aircraft attitude information corresponding to the camera 1, a deflection angle of a photoelectric zero position of the camera 1 relative to an aircraft shaft zero position of the camera 1, angle information of a camera coordinate system of the camera 1 relative to the photoelectric zero position of the camera 1, and an azimuth alpha of a northeast coordinate system of the camera 1 relative to a geocentric coordinate system₁And a pitch angle beta₁；

Collecting a geodetic coordinate position P2 of the camera 2, carrier attitude information corresponding to the camera 2, a deflection angle of a photoelectric zero position of the camera 2 relative to a carrier shaft zero position of the camera 2, angle information of a camera coordinate system of the camera 2 relative to the photoelectric zero position of the camera 2, and an azimuth angle alpha of a northeast coordinate system of the camera 2 relative to a geocentric coordinate system₂And a pitch angle beta₂；

S3: calculating to obtain a rotation matrix R between a camera coordinate system of the camera 1 and a camera coordinate system of the camera 2;

s4: calculating to obtain a translation vector T between the camera 1 and the camera 2;

s5: using the rotation matrix R, the translation vector T and the pixel coordinate position (X) of the tracked object in the camera 1 and the camera 2_l,Y_l)，(X_r,Y_r) Obtaining a three-dimensional position S (x, y, z) of a tracked target under a camera coordinate system of a camera 1;

s6 uses the three-dimensional position S (x, y, z) of the tracked target in the camera 1 camera coordinate system, the geodetic coordinate position P1 of the camera 1, the carrier attitude information corresponding to the camera 1, the offset angle of the photoelectric zero position of the camera 1 relative to the shaft zero position of the camera 1 carrier, the angle information of the camera 1 camera coordinate system relative to the photoelectric zero position of the camera 1, and the azimuth alpha of the geocentric coordinate system relative to the northeast coordinate system of the camera 1₁And a pitch angle beta₁And solving the longitude and latitude height of the tracked target.

(III) advantageous effects

The airborne photoelectric passive positioning is a passive positioning technology with wide application, and the geodetic coordinates of a target are resolved by identifying, capturing and tracking the target and combining the position (longitude, latitude and altitude) and the attitude (course angle, roll angle and pitch angle) of the airborne GPS (global positioning system) and the azimuth angle and pitch angle of the photoelectric platform, so that the passive positioning function of the target is realized.

According to a traditional target passive positioning algorithm, passive distance measurement is carried out according to the relative height between a photoelectric platform and a target and an aiming line inclination angle so as to replace laser distance measurement in active positioning, the passive distance measurement is easily influenced by the relative height error between a carrier and the target, and especially when the aiming line inclination angle is large, the influence of the passive distance measurement on the height error by the carrier is seriously amplified, so that the positioning precision is poor, and the requirement of accurate striking on a long-distance target on the positioning precision cannot be met. Compared with the traditional positioning technology, the invention provides the airborne photoelectric system target geographical positioning method based on automatic tracking by utilizing the principle of photogrammetry forward intersection and the function of continuously obtaining the pixel position of the tracked target by automatic tracking, and has the following beneficial effects:

(1) active or passive distance measurement is not needed for a target to be positioned, and an elevation model of a ground area where the target is located is not needed to be known;

(2) the method is not influenced by relative height errors of the carrier, and fully utilizes the continuous motion pixel position of the target provided by the automatic tracking function;

(3) effective target motion tracks can be established by utilizing positioning results, can be fed back to automatic tracking, improves the automatic tracking anti-interference capability, and provides effective data for situation awareness of an airborne photoelectric system.

Drawings

Fig. 1 is a main flow diagram of the present invention.

Fig. 2 is a flow chart for solving the rotation matrix R between the camera 1 and the camera 2 in the present invention.

Fig. 3 is a flow chart for solving the translation vector T between the camera 1 and the camera 2 in the present invention.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The patent provides an airborne photoelectric system target geographic positioning method based on automatic tracking, which is suitable for positioning a ground low-speed moving or static target by a moving carrier. When the pixel coordinates of the tracked target corresponding to the time t and the time t + n and the information (the position of the carrier, the attitude information of the carrier, the offset angle of the photoelectric zero position relative to the shaft of the carrier and the offset angle of the camera coordinate system relative to the photoelectric zero position) contained in the camera are used for positioning calculation, the positioning precision can be ensured only if n is more than 10. For convenience of description, the t + n frame is defined as camera 2, and the t frame is defined as camera 1.

First, ensuring that the optoelectronic system enters into an object automatic tracking mode, the corresponding pixel coordinate positions of the tracked object in the camera 1 and the camera 2 in the continuous frames are obtained.

Secondly, collecting a geodetic coordinate position P1 of the camera 1, aircraft attitude information corresponding to the camera 1, a deviation angle of a photoelectric zero position of the camera 1 relative to an aircraft shaft of the camera 1, a deviation angle of a camera coordinate system of the camera 1 relative to the photoelectric zero position of the camera 1, and an azimuth angle and a pitch angle of a northeast coordinate system of the camera 1 relative to a geocentric coordinate system;

collecting a geodetic coordinate position P2 of the camera 2, carrier attitude information corresponding to the camera 2, a deviation angle of a photoelectric zero position of the camera 2 relative to a carrier shaft of the camera 2, a deviation angle of a camera coordinate system of the camera 2 relative to the photoelectric zero position of the camera 2, and an azimuth and a pitch angle of a northeast coordinate system of the camera 2 relative to a geocentric coordinate system;

thirdly, calculating and obtaining a rotation matrix between the camera coordinate system of the camera 1 and the camera coordinate system of the camera 2 by utilizing the information acquired in the previous step.

Thirdly, calculating and obtaining a displacement vector between the camera coordinate system of the camera 1 and the camera coordinate system of the camera 2 by utilizing the information acquired in the previous step.

And thirdly, obtaining the three-dimensional position S of the tracked target in the camera coordinate system of the camera 1 by using the rotation matrix and the displacement vector.

And finally, solving the longitude and latitude height of the tracked target by utilizing the obtained three-dimensional position S of the tracked target under the camera 1 camera coordinate system, the aircraft position P1 and the aircraft attitude information corresponding to the camera 1, the offset angle of the camera 1 photoelectric zero relative to the aircraft shaft of the camera 1 and the offset angle of the camera 1 camera coordinate system relative to the camera 1 photoelectric zero, so as to achieve the purpose of passive positioning.

Referring to fig. 1, the method of the present invention comprises the following steps:

s1: in the target automatic tracking mode, the pixel coordinate position of the tracked target is obtained, and the pixel coordinate positions of the tracked target in the camera 1 and the camera 2 are respectively (X)_l,Y_l)，(X_r,Y_r)。

S2: geodetic coordinate position P1 (including longitude m) of the capturing camera 1₁Weft n₁High l₁) The attitude information (including the heading angle alpha) of the carrier corresponding to the camera 1_F1Angle of pitch beta_F1And roll angle gamma_F1) The declination angle (azimuth alpha) of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the camera 1 carrier_d1In pitchβ_d1Rolling on gamma_d1) Angular information of camera 1 camera coordinate system relative to camera 1 photoelectric null (including pitch θ)_EL1And roll theta_RQ1) The orientation alpha of the coordinate system of the northeast of the camera 1 relative to the coordinate system of the geocentric₁And a pitch angle beta₁；

Geodetic coordinate position P2 (including longitude m) of the capturing camera 2₂Weft n₂High l₂) The attitude information (including the heading angle alpha) of the carrier corresponding to the camera 2_F2Angle of pitch beta_F2And roll angle gamma_F2) The declination angle (azimuth alpha) of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the camera 2 carrier_d2Pitch beta_d2Rolling on gamma_d2) Angular information of camera 2 camera coordinate system relative to camera 2 photoelectric null (including pitch θ)_EL2And roll theta_RQ2) Azimuth angle alpha of the coordinate system of the northeast of the camera 2 relative to the coordinate system of the geocentric₂And a pitch angle beta₂。

S3: and calculating to obtain a rotation matrix between the camera 1 camera coordinate system and the camera 2 camera coordinate system:

with particular reference to FIG. 2, the process is as follows:

s3.1 Camera 2 Camera coordinate System rotation to Camera 2 northeast sky coordinate System

(1) Rotating the camera 2 camera coordinate system to the camera 2 photoelectric null position, wherein the angular information pitch θ of the camera 2 camera coordinate system with respect to the photoelectric null position_EL2Roll over theta_RQ2：

(2) Photoelectric zero rotation of camera 2 to camera 2 carrier axis zero, where α_d2Is the azimuth deviation angle beta of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the carrier_d2Is the pitching declination of the photoelectric zero position of the camera 2 relative to the zero position of the shaft of the carrier, gamma_d2Roll deflection angle of photoelectric zero position of camera 2 relative to zero position of shaft of the carrier:

(3) zero rotation of camera 2 carrier axis to camera 2 northeast sky coordinate system, where α_F2Is the corresponding carrier heading angle, beta, of camera 2_F2Is the pitch angle of the carrier, gamma_F2The transverse roll angle of the loader is as follows:

s3.2 the coordinate system of the camera 2 northeast rotates to the coordinate system of the camera 1 northeast

(1) The camera 2 is rotated from the northeast sky coordinate system to the geocentric coordinate system, where α₂，β₂Respectively representing the orientation and pitch angle of the north-east coordinate system of the camera 2 relative to the geocentric coordinate system.

(2) Rotation matrix of geocentric coordinate system to the northeast of the camera 1, where α₁，β₁Representing the orientation and pitch angle of the camera 1 in relation to the earth-centered coordinate system on the north-east day, respectively.

S3.3 rotation of camera 1 northeast coordinate system to camera 1 photoelectric zero position

(1) Camera 1 northeast coordinate system rotates to the shaft of the carrier

α_F1Is the corresponding carrier heading angle, beta, of the camera 1_F1For the carrier pitch angle, gamma, of camera 1_F1For the corresponding roll angle of the camera 1, the formula is as follows:

(2) the shaft of the carrier rotates to the photoelectric zero position of the camera 1

Declination of photoelectric zero position of camera 1 relative to zero position of shaft of camera 1 carrier (azimuth alpha)_d1Pitch beta_d1Rolling on gamma_d1) The formula is as follows:

s3.4 Camera 1 photoelectric null rotation to Camera 1 Camera coordinate System, equation where Pitch θ_EL1Roll over theta_RQ1：

Finally, the camera 2 coordinate system to camera 1 coordinate system rotation matrixCan be expressed as:

R＝R₁*R₂*R₃*R₄*R₅*R₆*R₇*R₈

s4: calculating to obtain a translation vector between the camera 1 and the camera 2

Namely, obtaining a translation vector T (T) from the camera 2 camera coordinate system to the camera 1 camera coordinate system_x,t_y,t_z)。

With particular reference to FIG. 3, the process is as follows:

s4.1 obtaining coordinates (x) of the camera 2 in the geocentric coordinate system_{4_2},y_{4_2},z_{4_2}) The longitude and latitude of the carrier corresponding to the camera 2 are m₂,n₂，R_eApproximate radius of the earth.

S4.2 Camera 2 position (x) in geocentric coordinate System_{4_2},y_{4_2},z_{4_2}) Conversion to the northeast coordinates (x) of the camera 1_{5_1},y_{5_1},z_{5_1})

The longitude and latitude of the carrier corresponding to the camera 1 are m₁,n₁。R_eApproximate the radius of the earth.

a^T＝(x_{4_2},y_{4_2},z_{4_2})

(x_{5_1},y_{5_1},z_{5_1})＝＝T(·a^T-O_{Earth core})

S4.3 converting the northeast coordinate system of the camera 1 into the photoelectric zero position of the camera 1

(1) Camera 1 northeast coordinate system rotates to the shaft of the carrier

The formula is as follows, wherein_F1Is the corresponding carrier heading angle, beta, of the camera 1_F1For the carrier pitch angle, gamma, of camera 1_F1The corresponding roll angle of the carrier of the camera 1.

(2) The shaft of the carrier rotates to the photoelectric zero position of the camera 1

Declination of photoelectric zero position of camera 1 relative to zero position of shaft of camera 1 carrier (azimuth alpha)_d1Pitch beta_d1Rolling on gamma_d1) The formula is as follows:

at this stage, a translation vector T (T) of the camera 2 relative to the camera 1 is obtained_x,t_y,t_z)＝(x_{7_1},y_{7_1},z_{7_1})。

S5: using the rotation matrix R, the translation vector T and the pixel coordinate position (X) of the tracked object in the camera 1 and the camera 2_l,Y_l)，(X_r,Y_r) And obtaining the three-dimensional position S (x, y, z) of the tracked target in the camera coordinate system of the camera 1.

Order rotation matrixThe displacement matrix is T (T)_x,t_y,t_z) Focal lengths f and (X) of camera 1 and camera 2_l,Y_l)，(X_r,Y_r) The three-dimensional position S (x, y, z) of the tracked object in the optoelectronic coordinate system of the camera 1, wherein (x, y, z) represents the following:

x＝zX_l/f

y＝zY_l/f

z＝f(ft_x-X_rt_z)/(X_r(r₇X_l+r₈Y_l+fr₉)-f(r₁X_l+r₂Y_l+fr₃)

s6 uses the three-dimensional position S (x, y, z) of the tracked target in the camera coordinate system of the camera 1, the geodetic coordinate position P1 (including m-th coordinate position) of the camera 1₁Weft n₁High l₁) The attitude information (including the heading angle alpha) of the carrier corresponding to the camera 1_F1Angle of pitch beta_F1And roll angle gamma_F1) The photoelectric zero position of the camera 1 is deviated from the zero position of the shaft of the camera 1 carrier (azimuth alpha)_d1Pitch beta_d1Rolling on gamma_d1) Angular information of camera 1 camera coordinate system relative to camera 1 photoelectric null (including pitch θ)_EL1And roll theta_RQ1) The orientation alpha of the geocentric coordinate system relative to the northeast coordinate system of the camera 1₁And a pitch angle beta₁And solving the longitude and latitude height of the tracked target.

S6.1 conversion of Camera 1 Camera coordinate System to the northeast coordinate System of Camera 1

(1) The camera 1 camera coordinate system rotates to the photoelectric zero position of the camera 1

Coordinate (x, y, z) of camera 1 camera coordinate system is rotated to coordinate (x) of photoelectric zero position of camera 1₂,y₂,z₂) The formula of (1) is as follows: wherein the camera 1 corresponds to the pitch theta of the photoelectric platform_EL1Roll over theta_RQ1：

(2) The photoelectric zero position of the camera 1 is rotated to the zero position of the shaft of the camera 1 carrier, wherein alpha_d1Is the azimuth deviation angle beta of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier_d1Is the pitching declination of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier, gamma_d1The roll deflection angle of the photoelectric zero position of the camera 1 relative to the zero position of the shaft of the carrier is as follows:

(3) zero rotation of camera 1 carrier axis to camera 1 northeast coordinate system, where α_F1Is the corresponding carrier heading angle, beta, of camera 2_F1Is the pitch angle of the carrier, gamma_F1The transverse roll angle of the loader is as follows:

s6.2 the northeast coordinates of the camera 1 are converted to geocentric coordinates

Namely obtaining the quilt in the geocentric coordinate systemTracking target coordinates (X, Y, Z), wherein the longitude and the latitude of the carrier corresponding to the camera 1 are m₁,n₁。R_eRadius of the earth R approximated by O points_O

S6.3 transformation from geocentric coordinate system to longitude and latitude height (B, L, H)

The target can be represented as (X, Y, Z) in the geocentric coordinate system, let N: radius of curvature of unitary fourth of twelve earthly branches of ellipsoid, e: the first eccentricity of the ellipsoid, denoted as a, b for the major and minor semiaxes of the ellipsoid taken, has:

R＝[X²+Y²+Z²]^1/2，

W＝(1-e²sin²B)^1/2，

and (B, L, H) is calculated by using a gradual iteration mode, namely the longitude and latitude height of the tracked target. Wherein B is set as an initial value of 101 degrees, and is gradually iterated to be the final target position.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.