一种新的无人机运动目标测速技术

为了满足无人机对运动目标的测速需求,提出一种基于机载光电侦察平台的目标测速算法。建立包括飞机速度、飞机姿态角速率、摄像机指向角速率等15个变量的测速数学模型,并分析测速误差的形成,推导了误差计算公式。仿真结果表明,在无人机目标测速过程中,角速率测量误差对目标测速精度影响较大,尤其是飞机的俯仰角速率误差、横滚角速率误差、摄像机的高低角速率误差对测速精度的影响更为明显,这为提高目标测速精度指明了方向。     

基于航空光电侦察平台的目标测速

航空光电侦察平台具有稳定跟踪功能,能够隔离载机姿态运动和其他干扰力矩所造成的摄像机光轴在惯性空间内的抖动,以保证获取清晰的图像。光电侦察平台能够输出摄像机的方位角、高低角,并能通过激光测距机测量目标和载机的距离,这给目标测速的实现提供了可能。基于航空光电侦察平台,结合载机自身的导航数据,提出一种新的目标测速算法。介绍测速系统结构和坐标系定义,推导动目标测速算法,并建立测速误差模型。仿真结果表明,该算法能够有效测量目标速度,具有较强的实用性。     

UAV Velocity Measurement for Ground Moving Target

To satisfy the demand of measuring the velocity of ground moving target through unmanned aerial vehicle(UAV)electro-optical platform,two velocity measurement methods are proposed.Firstly,a velocity measurement method based on target localization is derived,using the position difference between two points with the advantages of easy deployment and realization.Then a mathematical model for measuring target velocity is built and described by 15 variables,i.e.UAV velocity,UAV attitude angular rate,camera direction angular rate and so on.Moreover,the causes of velocity measurement error are analyzed and a formula is derived for calculating the measurement error.Finally,the simulation results show that angular rate error has a strong influence on the velocity measurement accuracy,especially the UAV pitch angular rate error,roll angular rate error and the camera angular altitude rate error,thus indicating the direction for improving velocity measurement precision.