空中位姿测量中光电合作靶标作用机理研究

发布时间：2018-04-27 21:51

本文选题：位姿测量 + 合作靶标　；参考：《天津大学》2016年硕士论文

【摘要】：测量两飞行器间的相对位置和姿态可以采用的技术有INS技术、GPS技术、微波雷达技术、激光雷达技术以及光电位姿测量技术等,其中光电位姿测量技术以其高测量精度和测量速度,在近距测量阶段有着重要的应用。光电位姿测量系统一般由摄像机、信号处理子系统以及目标组成,目标可分为合作目标与非合作目标两种,其中合作目标相对于非合作目标具有提取难度低和提取精度高的优点,是目前光电位姿测量系统的主要形式。获得包含目标的高信噪比图像是进行位姿解算的前提,但是对于空中位姿测量系统而言,有以下影响成像质量的因素必须要考虑。一是以阳光为主的杂光干扰,二是复杂天气条件下大气对光辐射的衰减。目前对空间位姿测量系统抗干扰方法的研究较多,一般为通过黑体辐射定律和普朗克公式分析阳光效应,选择红外发光器件和滤光片来抑制杂光干扰。但是对于大气层内的空中位姿测量系统,首先由于大气的影响,太阳光强的分布规律已经与普朗克公式的结果有一定的差距,阳光光强并不严格随着波长的增加而减弱。其次天空背景成为成像的背景,天空背景亮度的空间分布比较复杂,与太阳位置、观察视线的方向以及大气清洁度均有很大关系,在不同的测量条件下,目标背景的对比度可能相差巨大。再者大气对光辐射的衰减作用导致大气透过率的降低,且大气透过率与波长、传输距离和大气情况均有关系。故对于空中位姿测量系统,必须对以上因素进行分析。本文分析了影响大气透过率和天空背景亮度分布的因素,并使用大气辐射传输计算软件MODTRAN计算了多种条件下的大气透过率和天空背景亮度。在此基础上,确定选择波长为740nm的大功率LED作为光电合作靶标的发光标志器件,结合窄带滤光片和抗杂光干扰算法,使靶标具有很好的抗杂光干扰能力和环境适应能力。
[Abstract]:The technologies used to measure the relative position and attitude between the two aircraft include INS technology, microwave radar technology, laser radar technology and photoelectric position and attitude measurement technology, etc. Among them, photoelectric position and attitude measurement technology has an important application in short distance measurement because of its high measuring accuracy and measuring speed. The photoelectric position and attitude measurement system is generally composed of a camera, a signal processing subsystem and a target. The target can be divided into two kinds: cooperative target and non-cooperative target. Compared with the non-cooperative target, the cooperative target has the advantages of low extraction difficulty and high precision, and is the main form of photoelectric position and attitude measurement system. Obtaining high signal-to-noise ratio (SNR) images including targets is a prerequisite for pose resolution, but for aerial pose measurement systems, the following factors must be considered to affect the imaging quality. One is the interference of sunlight and the other is the attenuation of atmospheric radiation under complex weather conditions. At present, there are many researches on anti-interference methods of space position and attitude measurement system. Generally, the blackbody radiation law and Planck formula are used to analyze the sunlight effect, and infrared light emitting devices and filters are chosen to suppress the stray light interference. However, for the aerial position and attitude measurement system in the atmosphere, first of all, due to the influence of the atmosphere, the distribution law of the solar intensity has a certain gap with the result of Planck's formula, and the intensity of the sun does not weaken strictly with the increase of the wavelength. Secondly, the background of the sky becomes the background of imaging. The spatial distribution of the brightness of the sky background is quite complex, which is related to the position of the sun, the direction of the observation line of sight and the cleanliness of the atmosphere. The contrast of the target background may vary greatly. Furthermore, the attenuation of atmospheric radiation leads to the decrease of atmospheric transmittance, and the atmospheric transmittance is related to wavelength, transmission distance and atmospheric conditions. Therefore, the above factors must be analyzed for the aerial pose measurement system. In this paper, the factors affecting atmospheric transmittance and sky background brightness distribution are analyzed, and the atmospheric transmittance and sky background brightness under various conditions are calculated by using the atmospheric radiation transfer calculation software MODTRAN. On this basis, the high power LED with wavelength of 740nm is selected as the light-emitting marking device of optoelectronic cooperative target, combined with narrowband filter and anti-clutter interference algorithm, the target has good anti-clutter ability and environmental adaptability.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP391.41

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