CN110779547A - Automatic electric target calibration method for airborne digital head-up display - Google Patents

Automatic electric target calibration method for airborne digital head-up display Download PDF

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CN110779547A
CN110779547A CN201910970538.8A CN201910970538A CN110779547A CN 110779547 A CN110779547 A CN 110779547A CN 201910970538 A CN201910970538 A CN 201910970538A CN 110779547 A CN110779547 A CN 110779547A
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display
head
attitude
calibration
digital
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CN110779547B (en
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黄文浩
杨冉
冯朝坤
李平祥
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Luoyang Institute of Electro Optical Equipment AVIC
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Luoyang Institute of Electro Optical Equipment AVIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention provides an automatic electric target calibration method of an airborne digital head-up display. Secondly, a three-axis gyroscope is installed in the digital head display, and the attitude of the digital head display on a reference platform and the attitude of the digital head display in a state to be calibrated on the airplane are respectively marked. And then, calculating the offset of the attitude to be corrected and the calibration attitude by using the data of the three-axis gyroscope, and storing the offset. And finally, reading the attitude offset value through the head-up display picture generation software, generating a picture according to the conversion relation with the display pixels of the digital image source, and correcting the direction, the pitch and the roll so that the head-up display displays the calibrated picture. The invention can realize automatic target calibration on a head-up display machine and solve the problems that the traditional vertical target method target calibration and inertia target calibration are complex in operation and cannot realize rapid target calibration.

Description

Automatic electric target calibration method for airborne digital head-up display
Technical Field
The invention belongs to the field of head-up display, relates to a digital head-up display target correcting method capable of realizing automatic electric target correction on a machine, and can be widely applied to airborne head-up display equipment.
Background
The method for correcting targets on an airplane comprises two methods, namely target correction by a vertical target method and inertial target correction.
The vertical target method is to firstly flatten the airplane to enable the airplane to be horizontal (the pitching and rolling angles are 0), then place a reference target plate in front of the airplane, mount a head-up display target correcting mirror on a head-up display mounting bracket, and visually observe the position relationship between a calibration symbol and the cross of the target plate through the target correcting mirror to adjust the posture of the bracket, so as to achieve the aim of correcting the head-up display target.
And the inertial target calibration is to measure the attitude of the airplane through the inertial target calibration device, mount the target calibration device on the head display mounting bracket, measure the attitude of the head display mounting bracket as a target calibration parameter by adopting the inertial target calibration device, record the target calibration parameter and load the measured target calibration parameter on the head display so as to achieve the aim of calibrating the head display. Compared with the vertical target method, the inertial target correction does not need to level the top of the airplane and use a reference target plate, but needs to be dismantled from the airplane.
Both methods require the onboard removal of the head-up display, which is not conducive to rapid calibration, and repeated installation of the head-up display can introduce new installation errors.
Disclosure of Invention
The invention aims to provide a digital head-up display target calibration method for realizing automatic electric target calibration on a machine, and aims to solve the problems that the target calibration by a vertical target method and the inertial target calibration are complex in operation and cannot realize rapid target calibration.
The basic principle of the invention is as follows:
first, relevant information given by the design party, including the installation location of the digital head-up display on the aircraft, the calibration attitude of the digital head-up display relative to the aircraft, is determined (α) 2、β 2、θ 2) The head-up display view horizontal line, the relation between the boresight symbol and the view horizontal line and the corresponding relation between the head-up display view field angle and the digital image source display pixel; after the relation is determined, the attitude of the digital display is fixed and unique relative to the attitude position relation of the airplane. Secondly, a three-axis gyroscope is installed in the digital head display, and the attitude of the digital head display on a reference platform and the attitude of the digital head display in a state to be calibrated on the airplane are respectively marked. And then, calculating the offset of the attitude to be corrected and the calibration attitude by using the data of the three-axis gyroscope, and storing the offset. Finally, reading the attitude offset value through the head-up display picture generation software and comparing the attitude offset value with the digital image sourceAnd generating a picture by the conversion relation of the display pixels, and correcting the azimuth, the pitch and the roll so that the flat display displays the calibrated picture.
The technical scheme of the invention is as follows:
the automatic electric target calibration method of the airborne digital head-up display is characterized in that: the method comprises the following steps:
step 1, determining the installation position of the digital head display on the airplane and the calibration posture of the digital head display relative to the airplane given by a design party (α) 2、β 2、θ 2) [ corresponding orientation, Pitch, roll]The relationship between the horizontal line of sight of the head-up display, the target correction symbol and the horizontal line of sight, and the corresponding relationship between the field angle of the head-up display and the display pixels of the digital image source;
step 2, installing a three-axis gyroscope in the head-up display, installing the head-up display on a reference platform, adjusting the character position of the display picture of the head-up display according to the relation between the boresight symbol and the sight horizontal line determined in the step 1, and acquiring three-axis rotation angle information, namely a reference posture (α), of the head-up display relative to the reference platform by using the three-axis gyroscope after the relation between the boresight symbol and the sight horizontal line is accurately adjusted (α) 0、β 0、θ 0) And stored in the internal memory of the head-up display;
and step 3: installing the head-up display at the designed installation position on the machine, and correcting targets:
step 3.1, acquiring attitude (α ') of the airplane at the moment of boresight by utilizing an onboard inertial device' 1、β’ 1、θ’ 1)；
Step 3.2, utilizing a three-axis gyroscope to acquire three-axis rotation angle information of the average plane relative to the airplane during target calibration, namely the attitude to be calibrated (α) 1、β 1、θ 1) And performing an aircraft attitude comparison calculation (α) 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1) Obtaining the relation between the posture to be corrected and the airplane posture (△α) 1、△β 1、△θ 1)＝(α 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1)；
Step (ii) of3.3-alignment attitude of the aircraft relative to the aircraft according to the mean given by the design (α) 2、β 2、θ 2) Obtaining a calibration pose (α) 2、β 2、θ 2) And a reference attitude (α) 0、β 0、θ 0) (△α, △β, △ θ) ═ (α) 2、β 2、θ 2)-(α 0、β 0、θ 0)；
Step 3.4 calculation of attitude offset (△α - △α) 1、△β-△β 1、△θ-△θ 1) And the internal memory is displayed in parallel;
and 4, step 4: after the flat display is electrified every time, the flat display picture generation software reads the attitude offset value, generates a picture according to the corresponding relation with the digital image source pixel, and corrects the direction, the pitch and the roll by utilizing the attitude offset value so that the flat display displays the calibrated picture.
Advantageous effects
The digital head display target calibration method provided by the invention can realize automatic target calibration on a head display machine, and solves the problems that the traditional head display target calibration method and the traditional inertial target calibration method are complex in operation and cannot realize rapid target calibration.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of the attitude of an aircraft during boresight according to the present invention;
FIG. 2 is a diagram illustrating a relationship between viewing angles and display pixels according to the present invention;
fig. 3 is a flow chart of the automatic boresight operation of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The airborne digital head-up display automatic electric target calibration method in the embodiment comprises the following steps:
step 1, determining the installation position of the digital head display on the airplane and the calibration posture of the digital head display relative to the airplane given by a design party (α) 2、β 2、θ 2) The head-up view horizontal line, the relationship between the boresight symbol and the view horizontal line and the corresponding relationship between the head-up view field angle and the display pixel of the digital image source, wherein (α) 2、β 2、θ 2) The direction, the pitch and the roll are respectively corresponding.
Step 2: the three-axis gyroscope is installed in the head display, the assembly position of the three-axis gyroscope in the head display takes the installation datum point of the head display as a reference datum point, and the installation relation of the three-axis gyroscope and the installation datum point of the head display is a fixed position relation.
Installing the head-up display on a reference platform, adjusting the character position of the display frame of the head-up display according to the relation between the boresight symbol and the sight horizontal line determined in the step 1, and acquiring three-axis rotation angle information, namely a reference posture (α) of the head-up display relative to the reference platform by using a three-axis gyroscope after the relation between the boresight symbol and the sight horizontal line is accurately adjusted (α) 0、β 0、θ 0) And stored in the internal memory of the head-up display.
And step 3: installing the head-up display at the designed installation position on the machine, and correcting targets:
step 3.1, acquiring attitude (α ') of the airplane at the moment of boresight by utilizing an onboard inertial device' 1、β’ 1、θ’ 1)；
Step 3.2, utilizing a three-axis gyroscope to acquire three-axis rotation angle information of the average plane relative to the airplane during target calibration, namely the attitude to be calibrated (α) 1、β 1、θ 1) And performing an aircraft attitude comparison calculation (α) 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1) Obtaining the relation between the posture to be corrected and the airplane posture (△α) 1、△β 1、△θ 1)＝(α 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1)。
Step 3.3-calibration attitude of the aircraft relative to the aircraft according to the average given by the design side (α) 2、β 2、θ 2) Obtaining a calibration pose (α) 2、β 2、θ 2) And a reference attitude (α) 0、β 0、θ 0) (△α, △β, △ θ) ═ (α) 2、β 2、θ 2)-(α 0、β 0、θ 0) (ii) a The calibration attitude is in a fixed angular relationship to the reference attitude.
Step 3.4 calculation of attitude offset (△α - △α) 1、△β-△β 1、△θ-△θ 1) And the internal memory is displayed in parallel;
and 4, step 4: the character picture displayed by the flat display has the display position precision, and the optical display view field and the digital image source display pixel have a fixed corresponding conversion relation. Therefore, after the flat display is electrified every time, the flat display picture generation software reads the attitude offset value, generates a picture according to the corresponding relation with the digital image source pixel, and corrects the direction, the pitch and the roll by utilizing the attitude offset value so that the flat display displays the calibrated picture.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (2)

1. An automatic electric target calibration method of airborne digital head up display is characterized in that: the method comprises the following steps:
step 1, determining the installation position of the digital head display on the airplane and the calibration posture of the digital head display relative to the airplane given by a design party (α) 2、β 2、θ 2) The head-up display view horizontal line, the relation between the boresight symbol and the view horizontal line and the corresponding relation between the head-up display view field angle and the digital image source display pixel;
step 2: mounted in head-up displaysA three-axis gyroscope, which is used for installing the head display on a reference platform, adjusting the character position of the display frame of the head display according to the relation between the boresight symbol and the sight horizontal line determined in the step 1, and acquiring the three-axis rotation angle information of the head display relative to the reference platform, namely the reference attitude (α) by using the three-axis gyroscope after the relation between the boresight symbol and the sight horizontal line is accurately adjusted 0、β 0、θ 0) And stored in the internal memory of the head-up display;
and step 3: installing the head-up display at the designed installation position on the machine, and correcting targets:
step 3.1, acquiring attitude (α ') of the airplane at the moment of boresight by utilizing an onboard inertial device' 1、β’ 1、θ’ 1)；
Step 3.2, utilizing a three-axis gyroscope to acquire three-axis rotation angle information of the average plane relative to the airplane during target calibration, namely the attitude to be calibrated (α) 1、β 1、θ 1) And performing an aircraft attitude comparison calculation (α) 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1) Obtaining the relation between the posture to be corrected and the airplane posture (△α) 1、△β 1、△θ 1)＝(α 1、β 1、θ 1)-(α’ 1、β’ 1、θ’ 1)；
Step 3.3-calibration attitude of the aircraft relative to the aircraft according to the average given by the design side (α) 2、β 2、θ 2) Obtaining a calibration pose (α) 2、β 2、θ 2) And a reference attitude (α) 0、β 0、θ 0) (△α, △β, △ θ) ═ (α) 2、β 2、θ 2)-(α 0、β 0、θ 0)；
Step 3.4 calculation of attitude offset (△α - △α) 1、△β-△β 1、△θ-△θ 1) And the internal memory is displayed in parallel;
and 4, step 4: after the flat display is electrified every time, the flat display picture generation software reads the attitude offset value, generates a picture according to the corresponding relation with the digital image source pixel, and corrects the direction, the pitch and the roll by utilizing the attitude offset value so that the flat display displays the calibrated picture.
2. The automatic electric boresight method for the airborne digital head up display according to claim 1, wherein: the mounting position of the three-axis gyroscope in the head display takes the mounting datum point on the head display as a reference datum point, and the relationship between the mounting position of the three-axis gyroscope and the mounting datum point of the head display is a fixed position relationship.
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Cited By (6)

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CN111060141A (en) * 2020-02-25 2020-04-24 航天金鹏科技装备（北京）有限公司 Aircraft axial calibration device and method based on inertial navigation and optical measurement
CN111157021A (en) * 2020-02-25 2020-05-15 航天金鹏科技装备（北京）有限公司 Aircraft reconnaissance camera optical axis calibration device and method based on inertial navigation and optical measurement
CN112158356A (en) * 2020-08-28 2021-01-01 成都飞机工业（集团）有限责任公司 Aircraft attitude adjusting method applied to ground thermal boresight of airborne aircraft gun
CN112511819A (en) * 2020-11-29 2021-03-16 中国航空工业集团公司洛阳电光设备研究所 Forward-looking infrared combined target correcting method
CN113865834A (en) * 2021-11-23 2021-12-31 中国航空工业集团公司洛阳电光设备研究所 Quick adjusting device of aircraft photoelectric equipment
CN114911273A (en) * 2022-06-24 2022-08-16 中国商用飞机有限责任公司 Target correction system and target correction method for head-up display equipment on airplane

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111060141A (en) * 2020-02-25 2020-04-24 航天金鹏科技装备（北京）有限公司 Aircraft axial calibration device and method based on inertial navigation and optical measurement
CN111157021A (en) * 2020-02-25 2020-05-15 航天金鹏科技装备（北京）有限公司 Aircraft reconnaissance camera optical axis calibration device and method based on inertial navigation and optical measurement
CN112158356A (en) * 2020-08-28 2021-01-01 成都飞机工业（集团）有限责任公司 Aircraft attitude adjusting method applied to ground thermal boresight of airborne aircraft gun
CN112511819A (en) * 2020-11-29 2021-03-16 中国航空工业集团公司洛阳电光设备研究所 Forward-looking infrared combined target correcting method
CN112511819B (en) * 2020-11-29 2022-09-02 中国航空工业集团公司洛阳电光设备研究所 Forward-looking infrared combined target correcting method
CN113865834A (en) * 2021-11-23 2021-12-31 中国航空工业集团公司洛阳电光设备研究所 Quick adjusting device of aircraft photoelectric equipment
CN113865834B (en) * 2021-11-23 2023-11-14 中国航空工业集团公司洛阳电光设备研究所 Quick calibrating device for aircraft photoelectric equipment
CN114911273A (en) * 2022-06-24 2022-08-16 中国商用飞机有限责任公司 Target correction system and target correction method for head-up display equipment on airplane

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