CN-121994275-A - Inertial navigation error correction method and device based on image target detection of photoelectric equipment

CN121994275ACN 121994275 ACN121994275 ACN 121994275ACN-121994275-A

Abstract

The application provides an inertial navigation error correction method and device based on image target detection of photoelectric equipment, belonging to the technical field of photoelectricity; the method comprises the steps of carrying out target detection on an photoelectric image to obtain a target deviation angle, obtaining a horizontal coordinate system deviation angle based on the target deviation angle and the image rotation angle, obtaining an inertial navigation correction angle of the photoelectric device based on the horizontal coordinate system deviation angle and the tracking turntable pointing direction, and carrying out inertial navigation error correction on the photoelectric device based on the inertial navigation correction angle. The inertial navigation error correction method and device based on the image target detection of the photoelectric equipment can effectively reduce inertial navigation errors and improve pointing accuracy of the photoelectric equipment.

Inventors

ZHAO YAN
SUN HONGFEI

Assignees

北京遥感设备研究所

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. An inertial navigation error correction method based on image target detection of photoelectric equipment is characterized by comprising the following steps: Acquiring a photoelectric image of an object to be detected based on a pre-correction attitude angle of the photoelectric device; performing target detection on the photoelectric image to obtain a target deviation angle, wherein the target deviation angle is a deviation angle between a detection target in the photoelectric image and the center of the photoelectric image; Obtaining a horizontal coordinate system deviation angle based on the target deviation angle and the image rotation angle, wherein the image rotation angle is an included angle between the photoelectric image and a horizontal plane, and the horizontal coordinate system deviation angle is a deviation angle of the detection target in a horizontal coordinate system; Acquiring an inertial navigation correction angle of the photoelectric device based on the horizontal coordinate system deviation angle and tracking turntable pointing direction; And carrying out inertial navigation error correction on the photoelectric equipment based on the inertial navigation correction angle.
2. The inertial navigation error correction method based on image target detection of an optoelectronic device according to claim 1, wherein the acquiring the optoelectronic image of the target to be detected based on the pre-correction attitude angle of the optoelectronic device comprises: determining a tracking turntable azimuth angle and a tracking turntable pitch angle to be pointed by an optical axis of the photoelectric equipment; And controlling the tracking turntable to point the optical axis to the direction of the target to be detected based on the attitude angle before correction of the photoelectric equipment, the azimuth angle of the tracking turntable and the pitch angle of the tracking turntable, and generating a photoelectric image of the target to be detected.
3. The inertial navigation error correction method based on image target detection of optoelectronic devices according to claim 1, wherein the performing target detection on the optoelectronic images to obtain target deviation angles comprises: Performing target detection on the photoelectric image; and determining a deviation angle between the detection target and the center of the photoelectric image, wherein the deviation angle is used as the target deviation angle, and comprises a transverse deviation angle and a longitudinal deviation angle.
4. The inertial navigation error correction method based on the image target detection of the photoelectric device according to claim 3, wherein the horizontal coordinate system deviation angle comprises an azimuth deviation angle and a pitching deviation angle; The method for obtaining the horizontal coordinate system deviation angle based on the target deviation angle and the image rotation angle, wherein the image rotation angle is an included angle between the photoelectric image and a horizontal plane, comprises the following steps: Determining an included angle between the photoelectric image and a horizontal plane, and determining the included angle as an image rotation angle; determining the azimuth deviation angle and the elevation deviation angle based on the lateral deviation angle, the longitudinal deviation angle and the image rotation angle through a first formula; wherein the first formula comprises: ΔH s ＝ΔA s cos(θ)-ΔE s sin(θ); ΔP s ＝ΔA s sin(θ)+ΔE s cos(θ); Wherein Δh s is the azimuth deviation angle, Δp s is the pitch deviation angle, Δa s is the lateral deviation angle, Δe s is the longitudinal deviation angle, and θ is the image rotation angle.
5. The inertial navigation error correction method based on the image target detection of the photoelectric device according to claim 2, wherein the horizontal coordinate system deviation angle comprises an azimuth deviation angle and a pitching deviation angle; the obtaining the inertial navigation correction angle of the optoelectronic device based on the horizontal coordinate system deviation angle and tracking turntable pointing comprises the following steps: Calculating the inertial navigation correction angle based on the horizontal coordinate system deviation angle, the tracking turntable azimuth angle and the tracking turntable pitch angle through a second formula, wherein the inertial navigation correction angle comprises an inertial navigation heading correction angle, an inertial navigation pitch correction angle and an inertial navigation roll correction angle; Wherein the second formula comprises: ΔP=-ΔP s cos(A j ); ΔR=ΔP s sin(A j ); Wherein A j is the tracking turntable azimuth angle, E j is the tracking turntable pitch angle, ΔH is the inertial navigation heading correction angle, ΔP is the inertial navigation pitch correction angle, and ΔR is the inertial navigation roll correction angle.
6. The inertial navigation error correction method based on the image target detection of the photoelectric device according to claim 1, wherein the inertial navigation correction angle comprises an inertial navigation heading correction angle, an inertial navigation pitch correction angle and an inertial navigation roll correction angle, wherein the inertial navigation error correction of the photoelectric device based on the inertial navigation correction angle comprises: calculating a corrected attitude angle of the optoelectronic device based on the inertial navigation heading correction angle, the inertial navigation pitch correction angle, the inertial navigation roll correction angle and the pre-correction attitude angle, wherein the corrected attitude angle comprises a corrected heading angle, a corrected pitch angle and an inertial navigation roll correction angle; And carrying out posture correction on the photoelectric equipment based on the corrected posture angle.
7. The inertial navigation error correction method based on the image target detection of the optoelectronic device according to claim 1, wherein the attitude angle before correction includes a heading angle before correction, a pitch angle before correction, and a roll angle before correction; The calculating the corrected attitude angle of the optoelectronic device based on the inertial navigation heading correction angle, the inertial navigation pitch correction angle, the inertial navigation roll correction angle, and the pre-correction attitude angle includes: Calculating a corrected attitude angle of the photoelectric device based on the inertial navigation heading correction angle, the inertial navigation pitch correction angle, the inertial navigation roll correction angle and the corrected attitude angle through a third formula; wherein the third formula comprises: H’=H+ΔH; P’=P+ΔP; R’=R+ΔR; Wherein H ' is the corrected heading angle, P ' is the corrected pitch angle, R ' is the inertial navigation roll correction angle, H is the attitude angle before correction, P is the pitch angle before correction, and R is the roll angle before correction.
8. An inertial navigation error correction device based on image target detection of photoelectric equipment is characterized by comprising: the photoelectric image acquisition module is used for acquiring a photoelectric image of the target to be detected based on the attitude angle before correction of the photoelectric equipment; The target detection module is used for carrying out target detection on the photoelectric image to obtain a target deviation angle, wherein the target deviation angle is a deviation angle between a detection target in the photoelectric image and the center of the photoelectric image; The horizontal coordinate system deviation angle acquisition module is used for acquiring a horizontal coordinate system deviation angle based on the target deviation angle and the image rotation angle, wherein the image rotation angle is an included angle between the photoelectric image and a horizontal plane, and the horizontal coordinate system deviation angle is a deviation angle of the detection target in a horizontal coordinate system; The inertial navigation correction angle acquisition module is used for acquiring the inertial navigation correction angle of the photoelectric equipment based on the horizontal coordinate system deviation angle and the tracking turntable pointing direction; And the inertial navigation error correction module is used for carrying out inertial navigation error correction on the photoelectric equipment based on the inertial navigation correction angle.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.

Description

Inertial navigation error correction method and device based on image target detection of photoelectric equipment Technical Field The application belongs to the technical field of photoelectricity, and particularly relates to an inertial navigation error correction method and device based on image target detection of photoelectricity equipment. Background The photoelectric device can detect the target, output the target position information according to the position information of the target which is pointed by the photoelectric device, and is widely applied to the fields of military, security and the like. The higher the pointing accuracy of the optoelectronic device, the more accurate the output target position information. One of the main error sources affecting the pointing accuracy of the optoelectronic device is inertial navigation error. The inertial navigation error is accumulated more and more over time, so that how to correct the inertial navigation error is needed to be considered, the pointing precision of the photoelectric equipment is improved, and the photoelectric equipment can output target position information meeting the precision requirement in the whole working process. Disclosure of Invention The application aims to provide an inertial navigation error correction method and device based on image target detection of photoelectric equipment, so as to effectively reduce inertial navigation error and improve pointing accuracy of the photoelectric equipment. In a first aspect of the embodiment of the present application, an inertial navigation error correction method based on image target detection of a photoelectric device is provided, including: Acquiring a photoelectric image of an object to be detected based on a pre-correction attitude angle of the photoelectric device; Performing target detection on the photoelectric image to obtain a target deviation angle, wherein the target deviation angle is a deviation angle between a detection target in the photoelectric image and the center of the photoelectric image; Obtaining a horizontal coordinate system deviation angle based on a target deviation angle and an image rotation angle, wherein the image rotation angle is an included angle between a photoelectric image and a horizontal plane, and the horizontal coordinate system deviation angle is a deviation angle of a detection target in the horizontal coordinate system; acquiring an inertial navigation correction angle of the photoelectric device based on the horizontal coordinate system deviation angle and the tracking turntable pointing direction; And carrying out inertial navigation error correction on the photoelectric equipment based on the inertial navigation correction angle. In a second aspect of the embodiment of the present application, there is provided an inertial navigation error correction device based on image target detection of a photoelectric device, including: the photoelectric image acquisition module is used for acquiring a photoelectric image of the target to be detected based on the attitude angle before correction of the photoelectric equipment; the target detection module is used for carrying out target detection on the photoelectric image to obtain a target deviation angle, wherein the target deviation angle is a deviation angle between a detection target in the photoelectric image and the center of the photoelectric image; The horizontal coordinate system deviation angle acquisition module is used for acquiring a horizontal coordinate system deviation angle based on a target deviation angle and an image rotation angle, wherein the image rotation angle is an included angle between a photoelectric image and a horizontal plane, and the horizontal coordinate system deviation angle is a deviation angle of a detection target in a horizontal coordinate system; the inertial navigation correction angle acquisition module is used for acquiring the inertial navigation correction angle of the photoelectric equipment based on the horizontal coordinate system deviation angle and the tracking turntable pointing direction; And the inertial navigation error correction module is used for carrying out inertial navigation error correction on the photoelectric equipment based on the inertial navigation correction angle. In a third aspect of the embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the steps of the inertial navigation error correction method based on image target detection of an optoelectronic device are implemented when the processor executes the computer program. In a fourth aspect of the embodiments of the present application, there is provided a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps of the inertial navigation error correction method based on image target dete