CN107063304B - Photoelectric tracking measurement equipment pointing error verification method - Google Patents
Photoelectric tracking measurement equipment pointing error verification method Download PDFInfo
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Abstract
The invention provides a verification method for pointing errors of photoelectric tracking measurement equipment, and relates to the field of photoelectric tracking measurement. In the target tracking measurement process, the pointing deviation is the most main error influencing the measurement accuracy. With the increasing demand of high-precision measurement, the calculation algorithms for pointing deviation are increasing, and the calculation is developed towards quasi-real-time calculation and even real-time calculation. How to verify the precision of the pointing error in the target tracking process is a difficult problem of the current work of verifying the pointing error without coupling with the tracking error and the target track error. The invention designs the theoretical track to lead the theoretical track to point to a fixed star at the appointed time, and takes the position of the fixed star at the appointed time in the field center of the detector in the tracking process and the deviation of the measured track point and the theoretical track as the verification method of the pointing error.
Description
Technical Field
The invention belongs to the field of photoelectric tracking measurement, and particularly relates to a pointing error verification method of photoelectric tracking measurement equipment.
Background
In the field of photoelectric tracking measurement, three modes of astronomical positioning, shafting positioning or mixed positioning of two methods are usually adopted to accurately position a target. In the process of shafting positioning or hybrid positioning, the positioning accuracy is affected by parameters such as shafting deformation and atmospheric refraction to generate errors, which are called pointing deviation. The existence of the pointing deviation causes the overall performance of the photoelectric tracking measuring equipment to be reduced, and meanwhile, the measuring precision is reduced. In order to correct pointing errors, shooting stars before or after a task is generally adopted in the test, and a correction coefficient is calculated. However, since the axis system changes with the change of the surrounding environment, the calculated correction coefficient reduces the accuracy with the change of time, and is even ineffective. Thus, the way of calculating pointing deviations in near real time or in real time is becoming more and more interesting. How to evaluate the precision of quasi-real-time or real-time pointing deviation, and at the same time, the precision is not coupled with the target real track error, which becomes a problem to be solved urgently at present.
The measurement position of the target is generally considered to be (A)M，EM) When the photoelectric tracking measuring equipment points to the target, the axis position of the target is (A)S，ES) The pointing deviation at this time is (Δ a, Δ E). The measurement positions of the target are:
AM＝AS+ΔA (1)
EM＝ES+ΔE (2)
generally, the tracking error of the photoelectric tracking measuring device is considered to be small under certain conditions, if the theoretical position of the target is (A)T，ET) And then:
AT≈AM(3)
ET≈EM(4)
at a certain moment, the error between the measured position and the theoretical position is called the pointing error of the moment, and the mean square error of the difference between the theoretical position and the measured position of a plurality of or all-day domains is called the pointing error of the system, namely:
APT＝Stdev(∑(AT-AM)) (5)
EPT＝Stdev(∑(ET-EM)) (6)
the invention adopts a virtual track mode, namely the track is assumed as the theoretical track of the target, and no measurement error exists. The main errors of the photoelectric tracking measurement equipment in tracking the real track are as follows: pointing error and tracking control error. Because the tracking control error is relatively constant, the tracking control error does not change greatly along with the change of the surrounding environment, and the magnitude of the error is far smaller than the pointing deviation under certain conditions. The invention is designed by utilizing the principle, and has the characteristic that the measurement error is not coupled with the real track of the target.
Disclosure of Invention
In order to solve the problems of real-time or quasi-real-time pointing deviation calibration and the like, a fixed star traversing method based on a virtual track is provided. The method can evaluate the alignment real-time or real-time pointing deviation at the key time point, the key position and the whole virtual track process.
The technical scheme adopted by the invention is as follows: a method for verifying pointing error of photoelectric tracking measurement equipment comprises the following steps:
determining the speed and acceleration range of a virtual target track, and the tracking time and angle range of the track;
selecting time T0 and time T1 as the time when the fixed star passes through the visual field, and calculating the angle of the theoretical track in the close time interval according to the tracking time and the angle range in the step (1);
step (3) selecting stars corresponding to T0 and T1 moments from a star library according to the theoretical track in the step (2), and determining the theoretical positions of tracks at T0 and T1 moments;
step (4), determining a theoretical track according to the tracking time and the angle range in the step (1) and the theoretical position in the step (3);
step (5), loading a theoretical track by the photoelectric tracking measurement equipment, calculating pointing deviation of the equipment in a quasi-real time or real time manner, guiding the equipment to point to the position of a virtual target of the theoretical track, and recording pointing positions, pointing deviations and actual positions of stars at T0 and T1 at all moments;
and (6) specifically analyzing the data:
61. assuming that the theoretical positions of the stars are (A) at the time of T0 and T10T，E0T)，(A1T，E1T) … …, the measuring position of the star is (A)0M，E0M)，(A1M，E1M) … …, the corresponding pointing deviations at times T0 and T1 are: (A)0T-A0M，E0T-E0M)，(A1T-A1M，E1T-E1M)……
62. At the time of T0 and T1, the miss distance of the stars in the view field of the detector, namely the time of T0 and T1, is quasi-real-time or real-time pointing error;
63. if in the field of view of the detector of the tracking measurement equipment, the star passes through the center of the field of view at a certain moment, namely the miss distance in the field of view of the detector is simultaneously in a zero state, but not at the time of T0 and T1, the pointing deviation is slow to change, but the time system of the whole equipment has errors;
64. when the designed virtual track crosses multiple stars, the pointing error of the system can be calculated through the pointing errors at multiple time points.
At least two moments T0 and T1 in the virtual track pass through the center of the field of view constantly, and the time difference between the two moments is not less than the time for keeping the precision of the shafting of the photoelectric tracking measurement equipment.
Compared with the prior art, the invention has the advantages that:
(1) the invention adopts a virtual theoretical track mode, namely when the fixed star passes through the position, the real position of the fixed star is the position of the target. Thus pointing error and measurement track are not coupled.
(2) The method is easy to realize, is similar to the use process of actual photoelectric tracking measurement equipment, and does not need to add other related functions. And the correction coefficient of the shafting is calculated without the need of continuous shooting of an operator.
Drawings
FIG. 1 is a schematic diagram of an electro-optical tracking measurement device moving according to a virtual track and guidance data of quasi-real-time or real-time pointing deviations (where stars are embedded in the virtual track);
FIG. 2 is a schematic view of pointing error data processing (dotted line is a virtual track, solid line is a specific measurement track of the photoelectric measurement device, and solid circle is a measurement position of a fixed moment star);
FIG. 3 is a schematic diagram of a one-time pointing error verification test according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1-2, a method for verifying pointing error of an optoelectronic tracking measurement device includes the following steps:
determining the approximate range of the speed and the acceleration of a virtual target track, and the tracking time and the angle range of the track;
selecting moments such as time T0\ T1 and the like as moments when the fixed star passes through the field of view, and calculating the angle approximately passed by the theoretical track in the similar time interval according to the step (1);
step (3) selecting fixed stars corresponding to T0\ T1 and the like from a fixed star library according to the rough information of the theoretical track in the step (2), and determining the theoretical positions of the tracks at T0\ T1 and the like;
step (4), accurately determining a theoretical track according to the details of the information in the step (1) and the step (3);
step (5), loading a theoretical track by the photoelectric measurement equipment, calculating pointing deviation of the equipment in a quasi-real time or real time manner, guiding the equipment to point to the position of a virtual target of the theoretical track, and recording pointing positions, pointing deviation and actual positions of fixed stars at T0\ T1 and the like at all moments (including the moments of T0\ T1 and the like);
and (6) specifically analyzing the data:
61. let T0\ T1 and other moments assume that the theoretical position of the stars is (A)0T，E0T)，(A1T，E1T) … …, the measuring position of the star is (A)0M，E0M)，(A1M，E1M) … …, the corresponding pointing deviation at the time of T0\ T1, etc. is: (A)0T-A0M，E0T-E0M)，(A1T-A1M，E1T-E1M)……
62. At the time of T0\ T1 and the like, the miss distance of the fixed star in the view field of the detector, namely the time of T0\ T1 and the like, is quasi-real-time or real-time pointing error;
63. if the stars pass through the center of the field of view at a certain moment in the field of view of the detector of the tracking and measuring equipment (namely, the miss distance in the field of view of the detector is in a state of zero at the same time), but not at the moments of T0, T1 and the like, the pointing deviation changes slowly, but the whole system time system has errors;
64. when the designed virtual track crosses multiple stars, the pointing error of the system can be calculated through the pointing errors at multiple time points.
FIG. 3 is a pointing error verification test of the present invention, which proceeds from night 8: 30 start to 9: 00 is finished. Stars are 8: 38 and 8: 58 are located at the theoretical track position. The test results are:
| time of day | Enter the asterisk | Theoretical orientation | Theoretical pitch | Error of orientation | Error in pitch |
| 20：38 | 1350298 | 236.79795° | 52.67716° | -1.6359″ | 1.9423″ |
| 20：58 | 1351759 | 238.77414° | 49.77510° | 0.00004″ | -1.1060″ |
Claims (2)
1. A method for verifying pointing error of photoelectric tracking measurement equipment is characterized by comprising the following steps:
determining the speed and acceleration range of a virtual target track, and the tracking time and angle range of the track;
selecting time T0 and time T1 as the time when the fixed star passes through the visual field, and calculating the angle of the theoretical track in the close time interval according to the tracking time and the angle range in the step (1);
step (3) selecting stars corresponding to T0 and T1 moments from a star library according to the theoretical track in the step (2), and determining the theoretical positions of the tracks at the T0 and T1 moments;
step (4), determining a theoretical track according to the tracking time and the angle range in the step (1) and the theoretical position in the step (3);
step (5), loading a theoretical track by the photoelectric tracking measurement equipment, calculating pointing deviation of the equipment in a quasi-real time or real time manner, guiding the equipment to point to the position of a virtual target of the theoretical track, and recording pointing positions, pointing deviations and actual positions of stars at T0 and T1 at all moments;
and (6) specifically analyzing the data:
6.1. assuming that the theoretical positions of the stars are (A) at the time of T0 and T10T，E0T)，(A1T，E1T) The measurement position of the stars is (A)0M，E0M)，(A1M，E1M) Then the corresponding pointing deviations at times T0, T1 are: (A)0T-A0M，E0T-E0M)，(A1T-A1M，E1T-E1M)；
6.2. At the time of T0 and T1, the miss distance of the stars in the view field of the detector, namely the time of T0 and T1, is quasi-real-time or real-time pointing error;
6.3. if in the field of view of the detector of the tracking measurement equipment, the star passes through the center of the field of view at a certain moment, namely the miss distance in the field of view of the detector is simultaneously in a zero state, but not at the time of T0 and T1, the pointing deviation is slow to change, but the time system of the whole equipment has errors;
6.4. when the designed virtual target track passes through a plurality of fixed stars, the pointing error of the system is calculated through the pointing errors at a plurality of time point positions.
2. The method as claimed in claim 1, wherein at least two times T0 and T1 of the virtual target track have a constant star crossing the center of the field of view, and the time difference between the two times is not less than the time for maintaining the accuracy of the axis system of the photoelectric tracking measuring device.
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| CN107481284A (en) * | 2017-08-25 | 2017-12-15 | 京东方科技集团股份有限公司 | Method, apparatus, terminal and the system of target tracking path accuracy measurement |
| CN110187369B (en) * | 2019-06-28 | 2023-07-18 | 中国科学院光电技术研究所 | Perpendicular deviation measurement and verification method based on GNSS satellite position observation |
| CN111024121B (en) * | 2019-12-13 | 2023-03-31 | 中国科学院光电技术研究所 | System and method for autonomous precision identification of photoelectric equipment |
| CN111595361A (en) * | 2020-06-05 | 2020-08-28 | 中国人民解放军63660部队 | Method for measuring dynamic precision of photoelectric equipment by superposing sinusoidal disturbances |
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