激光测距机距离交汇定位解法研究.pdf

2015年10月1日现代电子技术Oct.2015第38巻第19期Modern Fleclronics Techniqueol.38No.19激光测距机距离交汇定位解法硏究刘爱东,杜亚杰,孙海文(海车航空工程学院,山东烟台264001摘要:针对引导舰戴机准确安全地着舰需要清楚舰菽机真实的空间位置的需求,提出距离交汇的定位方法。已知三点的坐标位置,求待测点的位置,可通过激光测距机測出三个已知点到待测点的距离,采用激光测距机进行距离交江的定位方法,研究距离交汇定位的两种不同迭代解法,并分祈两种解法,提出采用混合解法解决实际问题,给出距离交汇定位方法的话用范围,最后结合实例说明距离交江定位法。关键词:激光測距;距离交江;定位方法;代法中图分类号:TN249-34;P207文献标识码:文章编号:1004-373X(2015)1940024-04Research on positioning solutions of distance intersection applied with laser range-finderLIU Aidong, DU Yajie, SUN HaiwenNaval Acronautical Enginccring Institute, Yantai 264001. China)Abstract: Since the accurate and safe landing of the guidance carrier-based aircraft needs know the actual spatial positionof the aircraft, a positioning method of distance intersection is proposed. The coordinate positions of three points are known tofind the coordinate of the measured point, and it can be solved by using laser range-finder to measure the distances between theunknown point and the three known points, which is called the positioning method of distance intersection applied with laserrange-finder. The two different iterative methed of distance intersection positioning are studied, and the Iwe solutions are analyzed. The combined solution is proposed to solve the practical problems. The application range of distance intersection positioninmethod is provided. The validity of the proposed method was verified by combining with a practical exampleKeywords: laser range-finding; distance intersection; positioning method; iterative method用范围进行简单研究。载机在着舰过程中,需要清楚舰载机的貞实空间激光测距机距离交汇定位模型位置,着舰引导设备才能准懶地引导舰载机安全着舰。以理想着舰点O为坐标原点,x轴平行于着舰跑道目前,对海上运动目标进行动态定位,常用的方法是中心线指向舰尾为正,y轴垂直于甲板向上为正,建CPS定位法。对陆上的日标进行定位,可以采用空间测立坐标系如图1所示。边交汇的解法,这是一个比较传统的陆上定位方法。本文将这和陆上定位方法应用到海上动态定位,可以在舰着下道载机上设置激光合作日标,在甲板上的3个(至少3个)已现载机卢.y,知点设置激光测距机,并采用电视摄像机和红外摄像机对日标进行跟踪,通过测量已知点到舰载机的距离,从而求得待舰载机的三维坐标,本文将这种方法叫作激光测距机距离交汇定位法。但是,激光测距机距离交汇2:下2:32定位的解算是比较繁杂的。文献3-6介绍了空间测边交汇的解法,为激光测距机距离交汇定位的应用铺就了图1激光测距机距离交汇定位原理图道路。本文就激光测距机距离交汇定位的解法和其适设甲板上3个已知点为A(x1,y1,x1),B(x2,y2,x2),C(x,y3,z3),收稿日期:2015-04-02各安装1个激光测距机,t时刻舰载机P的空间坐标为