collecting missile 6dof using an optical tracking system
TRANSCRIPT
U.S. Army Test and Evaluation Command
Mr. Michael Tousek
US Army Redstone Test Center
12 May 2016
Collecting Missile 6DOF Using
an Optical Tracking System
2
MMTS optical tracking system delivered to Redstone Test Center in 2012:
Background
Mobile Multi-Sensor TSPI System
3
Background
MMTS was spec’d for but quickly showed potential.TSPI 6DOF
TSPI = XYZ target position
6DOF = XYZ target position + pitch, yaw, and roll
4
Tracking
Mount 2
LauncherImpact Missile
Tracking
Mount 1
Triangulating the Target Position
Angle to
Target
5
Feature Identification for 6DOF
Individual target features (tip and tail) being tracked
during post-processing
6
Creating a Direction Vector
Pitch and yaw are components of the
3D vector between the tip and tail points
7
6DOF Post-Processing Session
8
MMTS Tracking Video
9
Tracking
Mount 2
LauncherImpact
50
0 m
1000 m
Rocket
Tracking
Mount 1
3 km
Layout for 2.75” Rocket
rocket height at apogee = 30 m AGL
rocket max velocity = Mach 2
Pitch
10
Pitch
11
Noisy towards the ends
Central “sweet spot”
Yaw
12
2.75” Rocket Video
13
• Data has greater noise and error at ends because:
– Triangulation geometry is worse
– Image quality is worse
14
• Yaw has more noise and error than pitch because:
– yaw motion occurs in-plane with optical pointing lines
15
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Nearly Ideal Intersection Angle
16
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Poor Intersection Angle
17
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Notional 6DOF “Sweet Spot”
18
Questions
Comments
Recommendations
19
MMTS Tracking Pedestal
Phantom Visible
High-speed
LWIR/MWIR
Zoomable Standard-Def Visible
Low-pass Filtered Pitch
20
21
MMTS Control Van With Pedestal
22
Tracking
Mount 2
LauncherImpact
10
00
m
1500 m
Missile
Tracking
Mount 1
1 – 10 km
Typical Layout