Research On Air-to-air Measurement Technology Based On Two-UAV Synergy Rendezvous

The airborne optoelectronic platform,as the payload of UAVs,plays an important role in aviation reconnaissance and range measurement.The photoelectric platform integrates a variety of high-precision measurement equipment,which can achieve the acquisition of geographic information of the reconnaissance target.The accuracy of positioning is the key to whether the weapon can achieve accurate strikes and the accuracy of battlefield information acquisition.The airborne measurement environment is complex.Affected by factors such as changes in the position and attitude of the aircraft,airframe vibration,and atmospheric disturbances,the airborne photovoltaic platform is more difficult to target.Therefore,it is an important research topic in the field of aeronautical reconnaissance and measurement to propose a suitable airborne target location method,study the factors that affect the positioning accuracy,and reduce the positioning error.This paper discusses the theoretical basis and development status of airborne electro-optical measurement technology,and systematically studies the various aspects of airborne target positioning technology.The research of this article focuses on how to improve the target positioning accuracy based on the airborne optoelectronic platform,and this paper proposes and establishes the measurement model of the two-UAV cooperative rendezvous.According to the model,the target positioning analysis was carried out and the error factors affecting the positioning accuracy were determined,which provide theoretical guidance for engineering applications.Combining the motion characteristics of the air target,an adaptive Kalman filter was designed for the post-processing of data,and the positioning accuracy was further improved.Finally,combining with the characteristics of the algorithm and the photoelectric platform,the hardware platform for verifying the algorithm is designed and the experimental verification is completed.The main research content of this article can be summarized as follows:According to the needs of national defense enterprises for high-precision target positioning,commonly used airborne stand-alone positioning methods have limited positioning accuracy and are limited by laser rangefinders.This paper combines the development trend of the light and small size of the photovoltaic platform,introduces the idea of angle intersection measurement,and proposes a two-UAV cooperative intersection positioning algorithm.First,according to the characteristics of the mobile base of the carrier,an auxiliary coordinate system of the positioning model is established.According to the homogeneous coordinate transformation method,the visual axis vectors of the two planes are rotationally transformed into a unified coordinate system,and the solution to the target position is completed according to the principle of spatial intersection.This method is free from the limitations of the laser rangefinder,and can effectively realize the lightness of the platform.Simulation experiments show that the positioning accuracy is significantly improved compared to the stand-alone REA positioning algorithm.Combined with the actual situation in the application of engineering,dual-machine measurement when the optoelectronic platform visual axis intersect at the target point.When the solution is affected by the error of each measurement unit,the direction of the visual axis obtained by the solution is deviated from the actual direction of the visual axis,which will lead to the traditional positioning algorithm model is not accurate enough.Aiming at this problem,an improved two-machine cooperative intersection localization algorithm is proposed.The least squares principle is used to estimate the target location.The positioning model is more accurate than the traditional rendezvous method,and the experiment shows that this method also has higher positioning accuracy.In order to verify the scientificity and feasibility of the algorithm,an error analysis model is established based on the improved intersection positioning algorithm,and various factors affecting the positioning accuracy of the algorithm are analyzed.The Monte Carlo simulation is used to simulate the performance of the positioning accuracy of the different positions of the two cameras and the target,and the error graphs are plotted.Tests show that the intersection angle is the main factor affecting the positioning error,and the optimal measurement intersection angle is determined according to the positioning error curve graph,which provides a theoretical guidance for the realization of high-precision positioning in engineering applications.In order to further improve the positioning accuracy,according to the motion characteristics of the positioning target and the uncertainty of the noise,an adaptive Kalman filter is designed to filter the positioning data.According to the measurement data,the establishment and initialization of the filter model are completed,and simulation experiments are carried out.The results show that the accuracy of the target after filtering is significantly improved,the filtered target trajectory is smoother,and the actual trajectory of the target is closer.Combined with engineering applications,this paper designs a hardware experimental platform based on airborne optoelectronic measurement equipment to demonstrate the application of the algorithm in embedded platforms.A positioning module based on DSP chip is designed to realize the real-time solution of positioning algorithm.The verification experiment of the algorithm is designed and completed.The experimental results show that the measurement position of the aircraft has an impact on the positioning accuracy of the improved two-UAV rendezvous positioning method,and the positioning accuracy of dual-machine rendezvous is higher than that of single-point positioning.Combined with engineering applications,this paper designs a hardware experimental platform based on airborne optoelectronic measurement equipment to demonstrate the application of the algorithm in embedded platforms.A positioning module based on DSP chip is designed to realize the real-time solution of positioning algorithm.The verification experiment of the algorithm is designed and completed.The experimental results show that the measurement position of the aircraft has an impact on the positioning accuracy of the improved dual-machine rendezvous positioning method.The positioning accuracy of this method is higher than that of single-point positioning.In summary,this article has studied the knowledge of geographical coordinates measurement and error analysis by studying the orientation of airborne targets.Based on the existing research results,this paper proposes a two-machine cooperative intersection location method based on airborne photovoltaic platform and establishes an error analysis model,which can effectively improve the airborne target positioning accuracy,which are of great significance to the development of airborne optoelectronics.