基于临空无人机位姿运动估计的无缝扫描成像控制  

Seamless scanning imaging control based on UAV pose motion estimation

作　　者：王雪[1] 李乐[1] 刘志明[1] 刘重阳 王彪[1] WANG Xue;LI Yue;LIU Zhiming;LIU Chongyang;WANG Biao(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《激光杂志》2022年第5期13-16,共4页Laser Journal

基　　金：国家重点研发计划项目(No.2018YEB0504600、2018YFB0504603);国家自然科学基金(No.52105537)。

摘　　要：我国致力于建设基于空间卫星、飞艇和飞机的高分辨率对地观测系统,远距离高分辨大视场成像技术在深空、临空探测领域具有重要意义,为实现高分辨宽视场无缝成像,本文提出一种基于临空无人机位姿运动估计的无缝扫描成像控制算法。首先,根据临空探测器成像系统的成像方式及工作原理,建立图像与地面场景映射模型,对序列图像对应的地面区域中心地理信息进行解算,并建立补偿机构的解算模型。然后,针对成像方式的特点,利用多步卡尔曼滤波算法对载机的位姿进行估计,将估计数据带入补偿机构解算模型,使指令计算数值逐次逼近实际值。最后,再采用多步卡尔曼滤波算法对模型进行仿真,结果显示对临空无人机的姿态单步估计误差不大于0.1°,位置误差不大于5 m。实际飞行试验结果表明,本文方法的帧间重叠度控制误差不大于8%,能够有效实现高分辨宽视场无缝成像,该方法为进一步探索深空领域的应用提供基础。Long range high-resolution large field of view imaging technology is of great significance in the field of deep space,airborne and aerial exploration.In order to realize high-resolution wide field of view seamless imaging,a seamless scanning imaging control algorithm based on UAV pose motion estimation is proposed in this paper.Firstly,according to the imaging mode and working principle of UAV imaging system,the mapping model between image and ground scene is established,the geographic information of ground area center corresponding to sequence image is solved,and the solution model of compensation mechanism is established.Then,according to the characteristics of imaging mode,this paper expounds the necessity of predicting the position and attitude of the carrier,estimates the position and attitude of the carrier by using multi-step Kalman filtering,brings the estimated data into the solution model of the compensation mechanism,and makes the command calculation value approach the actual value step by step.Finally,the multi-step Kalman filtering is used to simulate the model.The results show that the single-step attitude estimation error of UAV is no more than 0.1°,and the position error is no more than 5 m.The actual flight test results show that the inter frame overlap control error of this method is no more than 8%,and can effectively realize high-resolution and wide field of view seamless imaging.This method provides a basis for further exploring the application of near space and deep space.

关 键 词：位姿运动估计 成像区域规划 无缝扫描 视轴矢量控制 

分 类 号：TN209[电子电信—物理电子学]