针对目标跟踪处理系统中的视线角速率提取问题, 提出一种利用单成像探测器所得序列图像求导视线角速率的方法。利用序列图像中的运动目标图像坐标解算得到体视线角, 通过图像匹配得到弹体姿态角, 进而求解得到视线角速率。实验结果表明: 结合图像跟踪算法可实时得到体视线角, 使用图像匹配可以较好地解算得到弹体姿态角, 解算结果误差小于±5%; 在体视线角和弹体姿态角均包含噪声的前提下, 使用卡尔曼滤波可以较好地还原视线角速率。该方法适用于微小型飞行器制导探测, 可以省去陀螺仪等惯性元件, 实现探测装置的轻量化、小型化, 具有实际的应用价值。

To get line-of-sight angular rate in a target tracking system, a method of measuring LOS angular rate based on image sequences, obtained by a single imaging detector, was introduced in this paper. With the sequence images, body LOS angles were obtained by the moving target image coordinates, missile attitude angles were got by images matching, and the LOS angular rate was calculated with these two variables. Experimental results show the idea is practical. Combining with the image tracking algorithm, the body LOS angle can be obtained in real time. Missile attitude angles are obtained well by the images matching, with the attitude transform error less than ±5%. And the LOS angular rate can be better restored using Kalman filter, with body LOS angle and missile attitude angle containing noise. The method has a practical value, for being applicable to micro-aircraft′s guidance and detection, eliminating gyro inertial elements, and reducing the weight of detecting devices.