Research On Single-station Measurement And Estimation Method Of Target Axial Attitude Based On The Moving Platform

The axial attitude(yaw angle,axial pitch angle in imaging)of a target in space motion is an important parameter to reflect the flight status of the target in the air.In the emerging field of beam energy transfer and in some optical communication fields,it is necessary to find the position of undetectable communication points based on the axial attitude of the line connecting the tracking point and the functional point(communication,energy transfer position).Depending on the number of measurement devices,the measurement methods can be divided into single-station and multi-station measurements,where single-station measurements are flexible,not limited by geographical conditions,and avoid stereo matching of images.Among the many measurement devices,optical measurement is a non-contact full-field measurement method,which has the advantages of fast and stable measurement and lower measurement cost compared to other measurement methods.However,when applying optical measurement equipment to a moving platform,the movement of the platform will cause an attitude change in the target imaging,posing difficulties for optical measurement.Therefore,the study of single-station optical measurement of the axial attitude of a target under a moving platform has important practical applications.This dissertation focuses on motion platform and axial attitude single station measurement and estimation,and carries out the research of single station measurement and estimation of target axial attitude based on trajectory prediction under motion platform,aiming at the single station optical tracking system can measure and estimate the axial attitude of space flight target in real time and with high accuracy under motion platform,the main research work includes the following points.1、In-depth study of the attitude estimation algorithm based on the track prediction,the feasibility of the single-station optical measurement of the axial attitude of the target was verified through simulation,and the foundation for the subsequent optimization and improvement of the algorithm was laid.2 、 Based on the track prediction-based attitude estimation algorithm,the shortcomings of the track prediction-based attitude estimation algorithm were pointed out and optimized by analyzing the 3D characteristics of the actual target profile,and the method of finding the axial attitude of the line between the track point and the function point based on the track point observation information was successfully derived.The method is validated by constructing a 3D model of the target and simulating the attitude estimation algorithm before and after its optimisation.3、To address the effect of platform motion on the axial attitude of the target in detector imaging,a method is proposed to calculate the axial attitude change angle of the target in detector imaging by inputting the platform motion parameters(azimuth H,longitudinal rocking angle P,cross roll angle R)and the instrument position(azimuth A,pitch angle E).The attitude change angle is compensated by bringing it into the attitude optimisation algorithm,enabling the axial attitude of the target to be measured in a single station on the moving platform.