论文部分内容阅读
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.
According to the limitations of the existing UAV positioning methods for the dynamic target and the reference of the optical theodolite angle intersection positioning method, an improved two-plane intersection positioning system based on the airborne optical platform is proposed. The structure and work of the intersection positioning system are introduced Principle, the auxiliary coordinate system is constructed, and the homogeneous coordinate transformation of the visual axis vector is established, and the location model of the two-plane intersection is established. The influence of the relative target location on the positioning accuracy in the intersection location is studied, and the ideal measurement location is obtained. The optimal location is 69.984 °.When the target distance is 20km from baseline, the root mean square error of location is 38.043 4m.The influence of Kalman filter on location results is analyzed, and a suitable Filter model, the filtered root mean square error is reduced to 13.584 2m.