测绘通报 ›› 2025, Vol. 0 ›› Issue (12): 27-33,40.doi: 10.13474/j.cnki.11-2246.2025.1205

• 学术研究 • 上一篇    

带有方位约束的运动平台对目标定位方法

曲辛朗1,2,3, 冯捷敏1,2,3, 叶益民1,2,3, 苏志龙1,2,3, 丁丽1,2,3,4, 张东升1,2,3,4   

  1. 1. 上海市应用数学和力学研究所, 上海 200444;
    2. 上海大学力学与工程科学学院, 上海 200444;
    3. 上海市能源工程力学重点实验室, 上海 200444;
    4. 上海飞机结构力学及控制研究所, 上海 200092
  • 收稿日期:2025-03-31 发布日期:2025-12-31
  • 通讯作者: 张东升。E-mail:donzhang@staff.shu.edu.cn
  • 作者简介:曲辛朗(1999—),男,硕士,研究方向为摄影测量。E-mail:shu_q_dr@shu.edu.cn
  • 基金资助:
    国家自然科学基金(12072184);火箭军工程大学智箭实验室开放基金(2024-ZJSYS-KF02-08)

Target positioning in moving platform with azimuth constraint

QU Xinlang1,2,3, FENG Jiemin1,2,3, YE Yimin1,2,3, SU Zhilong1,2,3, DING Li1,2,3,4, ZHANG Dongsheng1,2,3,4   

  1. 1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai 200444, China;
    2. School of Mechanics and Engineering Science, Shanghai University, Shanghai 200444, China;
    3. Shanghai Key Laboratory of Mechanics in Energy Engineering, Shanghai 200444, China;
    4. Shanghai Institute of Aircraft Mechanics and Control, Shanghai 200092, China
  • Received:2025-03-31 Published:2025-12-31

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摘要： 基于运动平台的目标定位是当前研究的热点。然而,由于传感器偏航角误差及算法性能的制约,基于坐标转换的目标定位方法在精度上仍存在明显不足。 为此,本文提出了一种融合方位角修正原理与坐标转换的非线性偏航角优化方法。首先,针对目标在图像中非主点位置导致的方位角与偏航角不一致问题,构建了方位角修正模型;然后,将修正后的方位约束与坐标转换方法相结合,建立非线性方程,通过 LM算法对偏航角进行迭代求解,从而有效减小偏航角误差;最后,通过蒙特卡洛模拟和户外试验说明算法的有效性。结果表明,本文方法可以明显消除偏航角误差,实现目标的精确定位。

关键词: 运动平台, 目标定位, 坐标转换, 方位角修正, 偏航角优化

Abstract: Target localization based on moving platforms is a current research focus.However,due to limitations in sensor yaw angle errors and algorithm performance,target localization methods based on coordinate transformation still exhibit significant precision deficiencies.To address this,this paper proposes a nonlinear yaw optimization method that integrates the azimuth correction principle with coordinate transformation.Firstly,an azimuth correction model is constructed to address the inconsistency between the azimuth and yaw caused by the target being located off the principal point in the image.Next,the corrected azimuth constraint is combined with the coordinate transformation method to establish a nonlinear equation,and the Levenberg-Marquardt (LM)algorithm is used to iteratively optimize the yaw angle,effectively reducing yaw errors.Finally,Monte Carlo simulations and outdoor experiments are conducted to demonstrate the effectiveness of the algorithm.The results show that the proposed method can significantly eliminate yaw errors and achieve accurate target localization.

Key words: moving platform, target localization, coordinate transformation, azimuth correction, yaw optimize

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