Global Optimization Method for Ground Target Localization of Electro-Optical Platform under Limited Observation Conditions

Chen Chen; Banglei Guan; Yang Shang; Zhang Li; Qifeng Yu

doi:10.3788/AOS221696

Acta Optica Sinica, Volume. 43, Issue 12, 1212003(2023)

Global Optimization Method for Ground Target Localization of Electro-Optical Platform under Limited Observation Conditions

Chen Chen^1,2, Banglei Guan^1,2、*, Yang Shang^1,2、**, Zhang Li^1,2, and Qifeng Yu^1,2

Author Affiliations

¹College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, Hunan, China

²Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha 410073, Hunan, China

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Abstract Get PDF(in Chinese)

Figures & Tables(13)

Fig. 1. Ground target localization with UAV

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Fig. 2. Earth coordinate system and geodetic coordinate system

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Fig. 3. Ground target localization based on laser ranging

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Fig. 4. Distribution map of four track points and target locations

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Fig. 5. Target error under minimum observation conditions. (a) Different laser distance errors; (b) different localization errors of UAV

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Fig. 6. Schematic diagram of UAV flight path

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Fig. 7. Target error under redundant data. (a) Certain localization error, different distance errors; (b) certain distance error, different localization errors

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Fig. 8. Influence of angle and number of points. (a) Different angles; (b) different number of points

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Fig. 9. Distribution map of track points in flight test

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Table 1. Algorithm flow

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Table 1. Algorithm flow

Algorithm	Global optimal localization algorithm based on laser ranging
Application：	High altitude，long distance，large inclination，small intersection angle，and other restricted observation conditions
Input：	$N$ locations of the UAV and distances $d_{i}$
Output：	Target location $x$
1：	Use Eq.（1） to get UAV location $s_{i}$ in the earth coordinate system
2：	Establish weighted model Eq.（6）
3：	Derivation of Eq.（9），use Eq.（10） to weighted centralization $x$ and $s_{i}$
4：	Use Eq.（15） to find the eigenvector of the square matrix $M$
5：	Inverse transform $x_{i} = {[x_{i} y_{i} z_{i}]}^{T}, i = 1, \dots, 7$ in the eigenvector to find 7 target locations
6：	Select the real location of ground target according to the actual situation $x$

Table 2. Running time of different methods
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Table 2. Running time of different methods
Method Time /s
Proposed method 9.7212
Distance intersection+LM 400.5146
LS+GN 15.9291

Table 3. Test parameters
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Table 3. Test parameters
Group 1 2 3 4 5 6
Angle /（°） 91.2082 101.4900 70.5888 88.2109 76.6969 74.8772
Number of points 316 290 154 223 349 307

Table 4. Localization accuracy and running time of different methods

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Table 4. Localization accuracy and running time of different methods

Method	Accuracy	Group
Method	Accuracy	1	2	3	4	5	6
Proposed method	Total /m	21.8932	29.5559	22.2309	18.1407	7.2741	13.5806
	X /m	0.6426	7.7087	2.8339	2.8780	2.4144	4.0306
	Y/m	1.2890	3.5265	4.6843	2.8450	0.5305	4.6432
	Z/m	21.8476	28.3141	21.5464	17.6835	6.8412	12.1090
	Time /s	0.0090	0.0018	0.0012	0.0079	0.0099	0.0085
Distance intersection+LM	Total /m	21.8930	29.5581	22.2499	18.1466	7.2782	13.5825
	X /m	0.6428	7.7073	2.8388	2.8834	2.4171	4.0298
	Y/m	1.2898	3.5275	4.7141	2.8293	0.5209	4.6430
	Z/m	21.8455	28.3167	21.5587	17.6913	6.8453	12.1115
	Time /s	0.0412	0.0251	0.0237	0.0419	0.0756	0.0342
LS+GN	Total /m	22.0909	29.2806	22.2639	18.1466	—	13.7961
	X /m	0.5752	7.8272	2.8505	2.8426	—	3.9172
	Y/m	1.2010	3.4342	4.7393	2.8837	—	4.5206
	Z/m	22.0507	28.0053	21.5661	17.6890	—	12.4319
	Time /s	0.0124	0.0036	0.0025	0.0174	0.0141	0.0103

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Chen Chen, Banglei Guan, Yang Shang, Zhang Li, Qifeng Yu. Global Optimization Method for Ground Target Localization of Electro-Optical Platform under Limited Observation Conditions[J]. Acta Optica Sinica, 2023, 43(12): 1212003

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