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CN-121981959-A - Airborne photoelectric translation compensation method and system

CN121981959ACN 121981959 ACN121981959 ACN 121981959ACN-121981959-A

Abstract

The invention provides an airborne photoelectric translational compensation method and system, which are characterized by acquiring pose information of a photoelectric load and calculating a target distance of an optical axis aiming line based on the pose information, acquiring flight speed information of a photoelectric load platform and calculating a translational compensation initial value of the optical axis aiming line based on the speed information, acquiring image data of the photoelectric load, extracting the flow size of image pixels by adopting an optical flow method and calculating image translational deviation according to the spatial resolution of a sensor image, and fusing the translational compensation initial value and the image translational deviation to obtain final translational compensation quantity and finish translational compensation of the photoelectric platform accordingly. The technical scheme of the invention can overcome the defects of the prior art and effectively improve the translational compensation precision and reliability in the airborne photoelectric detection equipment.

Inventors

  • XU PEI
  • ZHANG QIJIE
  • TU BIAO
  • Dan Binfeng
  • ZHOU JIANZHONG

Assignees

  • 华中光电技术研究所(中国船舶集团有限公司第七一七研究所)

Dates

Publication Date
20260505
Application Date
20251229

Claims (10)

  1. 1. A method of on-board optoelectric translational compensation, the method comprising: S101, acquiring pose information of a photoelectric load, and calculating a target distance of an optical axis aiming line based on the pose information; s102, acquiring flight speed information of a photoelectric load platform, and calculating a translational compensation initial value of an optical axis aiming line based on the speed information; S103, acquiring image data of photoelectric load, extracting the flow size of image pixels by adopting an optical flow method, and calculating image translation deviation according to the spatial resolution of a sensor image; And S104, fusing the translation compensation initial value with the image translation deviation to obtain a final translation compensation quantity, and accordingly completing translation compensation of the photoelectric platform.
  2. 2. The method of claim 1, wherein the pose information comprises real-time geographic position, heading angle, pitch angle and roll angle of the carrier in a WGS-84 coordinate system, and the calculating the target distance of the aiming line of the optical axis comprises calculating the space distance between the position of the carrier and the intersection point of the optical axis and the sea level.
  3. 3. The method of on-board optoelectric translational compensation of claim 1, wherein said calculating an initial value of translational compensation comprises: Converting the flying speed under the geographical coordinate system of the carrier to the machine body coordinate system, and correcting to the carrier coordinate system of the photoelectric equipment through the installation error angle; projecting the speed to the visual axis direction of the photoelectric coordinate system to obtain a flying speed component in the visual axis direction; dividing the speed component in the visual axis direction by the target distance to obtain angular speed compensation quantities in the azimuth and pitching directions as translational compensation initial values.
  4. 4. The method of on-board electro-optical translational compensation of claim 1, wherein said extracting the flow magnitude of the image pixels comprises: Carrying out gray level conversion on the current frame image; Acquiring image feature points by using a Shi-Tomasi corner feature extraction method; Matching the characteristic points of the current frame with the characteristic points of the previous frame by adopting a RANSAC method; And calculating the image translation amount based on the matching result, and screening the effective translation amount through mean filtering.
  5. 5. The method of on-board optoelectric translational compensation of claim 4, wherein said screening for effective translation amounts comprises: Calculating the average value of the translation quantities of all the matched feature points; and (3) taking the average value as a threshold value, halving the translation quantity exceeding the threshold value, otherwise, keeping the original value.
  6. 6. The method of on-board optoelectric translational compensation of claim 1, wherein said calculating an image translational misalignment comprises: and converting the pixel translation amount into an image translation compensation amount in the form of angular velocity according to the horizontal field of view, the pixel number and the imaging frame rate of the photoelectric sensor.
  7. 7. The method of on-board photoelectric translational compensation according to claim 1, wherein said fusing translational compensation initial values with image translational deviations comprises: adding the initial translational compensation value in the azimuth direction and the image translational compensation quantity to obtain a final horizontal translational compensation quantity; and adding the translational compensation initial value in the pitching direction and the image translational compensation quantity to obtain a final vertical translational compensation quantity.
  8. 8. An on-board optoelectric translational compensation system based on a method of on-board optoelectric translational compensation according to any one of claims 1 to 7, characterized in that the system comprises: The pose acquisition module is used for acquiring pose information of the photoelectric load and resolving a target distance; the speed acquisition module is used for acquiring platform speed information and resolving a translation compensation initial value; The image processing module is used for acquiring image data and calculating image translation deviation; and the fusion compensation module is used for fusing the initial value and the deviation and outputting a translational compensation instruction to the photoelectric platform.
  9. 9. The on-board optoelectric translation compensation system of claim 8, wherein the image processing module comprises: the feature extraction unit is used for extracting image corner features; The optical flow matching unit is used for realizing the matching of the characteristic points between frames; And the translation calculating unit is used for calculating and filtering to obtain the image translation amount.
  10. 10. An on-board photodetection device, characterized in that the device comprises an on-board photodetection system according to claim 8 or 9.

Description

Airborne photoelectric translation compensation method and system Technical Field The invention belongs to the technical field of airborne photoelectric detection, and particularly relates to a method and a system for airborne photoelectric translational compensation. Background The loading of the fixed wing equal-height maneuvering platform is usually rapid, and when the tasks such as low altitude reconnaissance are executed, the normal speed is relatively high, and at the moment, the rapid becomes an influence factor of the stability of the photoelectric loading optical axis, and overcoming the influence of the rapid on the optical axis becomes an important research subject. In the conventional attitude-based calculation method, under the condition of high-layer missing or inaccurate data, the calculation accuracy error is amplified, the stability of an optical axis is poor, and the image drift is serious. Therefore, how to provide a method and a system for airborne photoelectric translational compensation can overcome the defects of the prior art, and effectively improve the accuracy and reliability of translational compensation in airborne photoelectric detection equipment, and the method and the system have become a technical problem to be solved urgently. Disclosure of Invention The embodiment of the invention provides a method and a system for compensating the translational motion of an airborne photoelectric detector, which can overcome the defects of the prior art and effectively improve the accuracy and the reliability of the translational motion compensation in the airborne photoelectric detector. In one embodiment of the present invention, a method for airborne photoelectric translational compensation is provided, including: S101, acquiring pose information of a photoelectric load, and calculating a target distance of an optical axis aiming line based on the pose information; s102, acquiring flight speed information of a photoelectric load platform, and calculating a translational compensation initial value of an optical axis aiming line based on the speed information; S103, acquiring image data of photoelectric load, extracting the flow size of image pixels by adopting an optical flow method, and calculating image translation deviation according to the spatial resolution of a sensor image; And S104, fusing the translation compensation initial value with the image translation deviation to obtain a final translation compensation quantity, and accordingly completing translation compensation of the photoelectric platform. Further, the pose information comprises real-time geographic position, course angle, pitch angle and roll angle of the carrier in a WGS-84 coordinate system, and the calculating of the target distance of the optical axis aiming line comprises calculating the space distance between the position of the carrier and the intersection point of the optical axis pointing to the sea level. Further, the calculating the translation compensation initial value includes: Converting the flying speed under the geographical coordinate system of the carrier to the machine body coordinate system, and correcting to the carrier coordinate system of the photoelectric equipment through the installation error angle; projecting the speed to the visual axis direction of the photoelectric coordinate system to obtain a flying speed component in the visual axis direction; dividing the speed component in the visual axis direction by the target distance to obtain angular speed compensation quantities in the azimuth and pitching directions as translational compensation initial values. Further, the extracting the flow size of the image pixels includes: Carrying out gray level conversion on the current frame image; Acquiring image feature points by using a Shi-Tomasi corner feature extraction method; Matching the characteristic points of the current frame with the characteristic points of the previous frame by adopting a RANSAC method; And calculating the image translation amount based on the matching result, and screening the effective translation amount through mean filtering. Further, the screening effective translation amount comprises: Calculating the average value of the translation quantities of all the matched feature points; and (3) taking the average value as a threshold value, halving the translation quantity exceeding the threshold value, otherwise, keeping the original value. Further, the calculating the translational image deviation includes: and converting the pixel translation amount into an image translation compensation amount in the form of angular velocity according to the horizontal field of view, the pixel number and the imaging frame rate of the photoelectric sensor. Further, the fusing the translational compensation initial value and the image translational deviation includes: adding the initial translational compensation value in the azimuth direction and the image translational compensati