CN113884091B - Method for transmitting attitude angle of photoelectric stabilized platform and storage medium - Google Patents
Method for transmitting attitude angle of photoelectric stabilized platform and storage medium Download PDFInfo
- Publication number
- CN113884091B CN113884091B CN202110974342.3A CN202110974342A CN113884091B CN 113884091 B CN113884091 B CN 113884091B CN 202110974342 A CN202110974342 A CN 202110974342A CN 113884091 B CN113884091 B CN 113884091B
- Authority
- CN
- China
- Prior art keywords
- axis
- coordinate system
- error
- inertial navigation
- azimuth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000005693 optoelectronics Effects 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 24
- 239000011159 matrix material Substances 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009365 direct transmission Effects 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000084490 Esenbeckia delta Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses a method for transmitting attitude angles of an optoelectronic stabilized platform and a storage medium, wherein the method for transmitting attitude angles comprises the following steps of establishing a coordinate system of an inertial navigation device, the optoelectronic stabilized platform and the optoelectronic device; and converting rectangular coordinates of the target under the coordinate system of the inertial navigation equipment into coordinates under the visual axis coordinate system of the photoelectric stabilized platform, and realizing error correction between the photoelectric stabilized platform and the inertial navigation equipment. According to the invention, errors of all links of attitude angle transmission are comprehensively considered, errors in the process of attitude angle transmission are compensated, and high-precision transmission of the attitude angle of the photoelectric stabilized platform is realized; the attitude angle deviation of the photoelectric stabilized platform caused by the transmission errors of all levels is effectively avoided, and the video axis residual error of the vehicle-mounted photoelectric system can be less than 0.2mil through the calibration of the errors of all levels, so that the lossless transmission of the attitude angle is basically realized compared with the traditional direct transmission method.
Description
Technical Field
The invention relates to the technical field of photoelectric system target calibration, in particular to a method for transmitting attitude angles of a photoelectric stabilized platform and a storage medium.
Background
The photoelectric stabilized platform carries the photoelectric equipment to finish target measurement, the attitude angle of the photoelectric stabilized platform is a reference of the visual axis of the photoelectric equipment, and the more accurate the attitude angle is, the more accurate the target measurement result is. The attitude angle is generally calculated by the inertial navigation equipment, because the size and the weight of the inertial navigation equipment are large, the inertial navigation equipment is directly arranged on the photoelectric equipment to influence the servo performance of the system, the inertial navigation equipment is generally arranged on a fixed base of the photoelectric stabilized platform, and in practical application, the attitude angle of the inertial navigation equipment is required to be equivalently transmitted to a visual axis of the photoelectric stabilized platform, and because of the influence of the installation error of the inertial navigation equipment, the machining assembly error of a mechanical shafting of the photoelectric stabilized platform and the installation error between the visual axis and the mechanical shafting of the photoelectric stabilized platform, the attitude angle of the photoelectric stabilized platform cannot be accurately transmitted, so that the measurement accuracy of a target is poor.
Disclosure of Invention
In order to overcome the problems, the invention provides a high-precision transmission method for the attitude angle of a photoelectric stabilized platform. The method compensates the transmission error, and solves the problem of large deviation of attitude angle precision caused by the transmission error.
In one aspect of the invention, a method for transmitting an attitude angle of a photoelectric stabilized platform is provided, which comprises the following steps:
s1, establishing a coordinate system of an inertial navigation device, a photoelectric stabilized platform and a photoelectric device;
s2, converting rectangular coordinates of the target under the coordinate system of the inertial navigation device into coordinates under the visual axis coordinate system of the photoelectric stabilized platform, and realizing error correction between the photoelectric stabilized platform and the inertial navigation device.
Further, the coordinate system comprises a visual axis coordinate system(L series): representing the attitude of the visual axis, X L The axis is along the visual axis direction of the optoelectronic device; pitch coordinate system (E system): along with the movement of the pitching axis system, Y E The axis being parallel to the pitch axis direction, E 0 The system is a coordinate system at a pitch zero position, and the E system are represented by using a pitch encoder measurement value beta 0 Rotation angle between the trains; an azimuth coordinate system (A system) moving along with the azimuth axis system, Z A The axis is parallel to the azimuth axis direction, A 0 Is a coordinate system at the azimuth zero position, and the azimuth encoder measurement value alpha is used for representing the A system and the A system 0 Rotation angle between the trains; base coordinate system (B series), Y B Z B Parallel to the plane of the mounting base, X B The shaft is perpendicular to the mounting base surface; inertial navigation coordinate system (0 system), X 0 Axis, Y 0 Axis and Z 0 The axes are respectively along the sensitive axis direction of the inertial navigation device, and the motion of the inertial navigation device relative to the geographic coordinate system can be represented by the attitude angle of the inertial navigation device; inertial coordinate system (n system), X n Y n The Z axis is vertically upward, which is the local horizontal plane.
Further, in step S2, the rectangular coordinate of the target in the inertial coordinate system is defined as X n ＝[x n ,y n ,z n ] T ，
Wherein X is L ＝[1,0,0] T Is the rectangular coordinate of the target in the visual axis coordinate system L,the visual axis verticality error conversion matrix from the L system to the E system; />Is E to E 0 A pitch-back error conversion matrix; />For E 0 Pitch verticality tethered to line aAn error conversion matrix; />Is A to A 0 A system azimuth rotation error conversion matrix; />Is A 0 Tying to the azimuth verticality error conversion matrix of the B-line; />An installation alignment error conversion matrix from B series to 0 series; />The inertial navigation measurement error conversion matrix is from 0 series to n series.
Furthermore, according to the conversion relation between the spherical coordinates and the rectangular coordinates, the basic parameter model for obtaining the visual axis pointing error is
Wherein alpha is i And beta i For the actual pointing information of the target δα i And delta beta i As the visual axis pointing error information, Δα is the azimuth encoder error, Δβ is the pitch encoder error, α i And beta i For the actual pointing information of the target Δα xa And Δβ xa As the verticality error of the visual axis, delta alpha yr And Δγ yr As pitch axis rotation error, Δα ya And Δγ ya As pitch axis perpendicularity error, Δγ zr And Δβ zr As azimuth axis rotation error, deltay za And Δβ za As azimuth axis perpendicularity error, Δψ a For the azimuth alignment error, delta phi, when inertial navigation equipment is installed a And delta theta a Installation errors of rolling and pitching directions of inertial navigation equipment, delta phi m 、Δθ m And delta phi m And respectively measuring errors of the gestures of the inertial navigation device.
In a second aspect the invention provides a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method according to any of the preceding claims when run.
According to the invention, errors of all links of attitude angle transmission are comprehensively considered, an accurate mathematical transmission model comprising installation errors of photoelectric equipment and a photoelectric stabilized platform, perpendicularity errors of a pitching axis and an azimuth axis of the photoelectric stabilized platform, rotation errors of the pitching axis, rotation errors of the azimuth axis and installation errors of inertial navigation equipment and the photoelectric stabilized platform is established, errors in the attitude angle transmission process are compensated, and high-precision transmission of the attitude angle of the photoelectric stabilized platform is realized.
The invention effectively avoids the attitude angle deviation of the photoelectric stabilized platform caused by the transmission errors of all levels, and can realize that the residual error of the visual axis of the vehicle-mounted photoelectric system is less than 0.2mil by calibrating the errors of all levels, and compared with the traditional direct transmission method, the invention basically realizes the lossless transmission of the attitude angle.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a coordinate system of an attitude angle transfer model in an attitude angle transfer method of an optoelectronic stabilized platform according to an embodiment of the present invention;
reference numerals illustrate:
1-photoelectrical stabilized platform, 2-inertial navigation equipment and 3-photoelectrical equipment.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
The embodiment provides a method for transmitting an attitude angle of a photoelectric stabilized platform, which comprises the following steps:
s1, establishing a plurality of coordinate systems related to the inertial navigation device, the photoelectric stabilized platform and the photoelectric device so as to equivalently transmit the attitude angle of the inertial navigation device to the visual axis of the photoelectric stabilized platform.
Specifically, as shown in fig. 1, the inertial navigation device 2 is mounted on a fixed base of the optoelectronic stabilization platform 1, and the optoelectronic device 3 is located in the middle of the optoelectronic stabilization platform 1. The established coordinate system includes the information of,
visual axis coordinate system (L system): l is the pose of the visual axisState, X L The axis is along the visual axis direction of the optoelectronic device;
pitch coordinate system (E system): e is moved along with the pitching axis E The axis being parallel to the pitch axis direction, E 0 The system is a coordinate system at a pitch zero position, and the E system are represented by using a pitch encoder measurement value beta 0 Rotation angle between the trains;
azimuth coordinate system (A system), A system moves along azimuth axis, Z A The axis is parallel to the azimuth axis direction, A 0 Is a coordinate system at the azimuth zero position, and the azimuth encoder measurement value alpha is used for representing the A system and the A system 0 Rotation angle between the trains;
base coordinate system (B series), Y B Z B Parallel to the plane of the mounting base, X B The shaft is perpendicular to the mounting base surface;
inertial navigation coordinate system (0 system), X 0 Axis, Y 0 Axis and Z 0 The axes are respectively along the sensitive axis direction of the inertial navigation device, and the motion of the inertial navigation device relative to the geographic coordinate system can be represented by the attitude angle of the inertial navigation device;
inertial coordinate system (n system), X n Y n Is a local level, generally X n The axis points to the east, Y n The axis is directed north and the Z axis is directed vertically upwards.
S2, converting rectangular coordinates of the target under the coordinate system of the inertial navigation device into coordinates under the visual axis coordinate system of the photoelectric stabilized platform, and realizing error correction between the photoelectric stabilized platform and the inertial navigation device.
Specifically, assume that rectangular coordinates of the target in an inertial coordinate system are X n ＝[x n ,y n ,z n ] T ，
Wherein X is L ＝[1,0,0] T Is the rectangular coordinate of the target in the visual axis coordinate system L,the visual axis verticality error conversion matrix from the L system to the E system; />Is E to E 0 A pitch-back error conversion matrix; />For E 0 Tying a pitch verticality error conversion matrix to the A-tying; />Is A to A 0 A system azimuth rotation error conversion matrix; />Is A 0 Tying to the azimuth verticality error conversion matrix of the B-line; />An installation alignment error conversion matrix from B series to 0 series; />The inertial navigation measurement error conversion matrix is from 0 series to n series.
It should be noted that, in the calculation process, a plurality of matrixes are multiplied and have trigonometric functions, and the calculation is complex, so the following model simplification principle is adopted:
rule1: considering that each error factor delta is a small quantity, namely cos (delta) is about 1, sin (delta) is about delta;
rule2: ignoring higher order error terms, i.e. delta i Δ j ＝0。
Meanwhile, according to the conversion relation between spherical coordinates and rectangular coordinates:
wherein alpha is i And beta i For the actual pointing information of the target δα i And delta beta i For the visual axis pointing error information, the basic parameter model for obtaining the visual axis pointing error is as follows:
wherein Δα is azimuth encoder error, Δβ is pitch encoder error, α i And beta i For the actual pointing information of the target Δα xa And Δβ xa As the verticality error of the visual axis, delta alpha yr And Δγ yr As pitch axis rotation error, Δα ya And Δγ ya As pitch axis perpendicularity error, Δγ zr And Δβ zr As azimuth axis rotation error, deltay za And Δβ za As azimuth axis perpendicularity error, Δψ a For the azimuth alignment error, delta phi, when inertial navigation equipment is installed a And delta theta a Installation errors of rolling and pitching directions of inertial navigation equipment, delta phi m 、Δθ m And delta phi m And respectively measuring errors of the gestures of the inertial navigation device.
Through the coordinate transmission and the error compensation, the visual axis residual error of the vehicle-mounted photoelectric system is less than 0.2mil, and compared with the traditional direct transmission method, the lossless transmission of the attitude angle is basically realized.
Another embodiment of the invention is a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the method according to any of the above claims when run.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (2)
1. The attitude angle transmission method of the photoelectric stabilized platform is characterized by comprising the following steps of:
s1, establishing a coordinate system of an inertial navigation device, a photoelectric stabilized platform and a photoelectric device;
s2, converting rectangular coordinates of the target under the coordinate system of the inertial navigation device into coordinates under the visual axis coordinate system of the photoelectric stabilized platform, and realizing error correction between the photoelectric stabilized platform and the inertial navigation device;
the coordinate system may comprise a set of coordinates,
visual axis coordinate system, L: representing the attitude of the visual axis, X L The axis is along the visual axis direction of the optoelectronic device;
pitch coordinate system, E: along with the movement of the pitching axis system, Y E The axis being parallel to the pitch axis direction, E 0 The system is a coordinate system at a pitch zero position, and the E system are represented by using a pitch encoder measurement value beta 0 Rotation angle between the trains;
azimuth coordinate system, a: along with the axis movement of azimuth, Z A The axis is parallel to the azimuth axis direction, A 0 Is a coordinate system at the azimuth zero position, and the azimuth encoder measurement value alpha is used for representing the A system and the A system 0 Rotation angle between the trains;
base coordinate system, B: y is Y B Z B Parallel to the plane of the mounting base, X B The shaft is perpendicular to the mounting base surface;
inertial navigation coordinate system, 0: x is X 0 Axis, Y 0 Axis and Z 0 The axes are respectively along the sensitive axis direction of the inertial navigation device, and the motion of the inertial navigation device relative to the geographic coordinate system is represented by the attitude angle of the inertial navigation device;
inertial coordinate system, n: x is X n Y n The Z axis is vertically upwards as the local horizontal plane;
the step S2 specifically comprises the following steps:
let rectangular coordinate of object under inertial coordinate system be X n ＝[x n ,y n ,z n ] T ，
Wherein X is L ＝[1,0,0] T Is the rectangular coordinate of the target in the visual axis coordinate system L,the visual axis verticality error conversion matrix from the L system to the E system; />Is E to E 0 A pitch-back error conversion matrix; />For E 0 Tying a pitch verticality error conversion matrix to the A-tying; />Is A to A 0 A system azimuth rotation error conversion matrix; />Is A 0 Tying to the azimuth verticality error conversion matrix of the B-line; />An installation alignment error conversion matrix from B series to 0 series; />0 series to n series inertial navigation measurement error conversion matrix;
according to the conversion relation between spherical coordinates and rectangular coordinates, obtaining a parameter model of visual axis pointing error as
Wherein alpha is i And beta i For the actual pointing information of the target δα i And delta beta i For visual axis pointing error information, Δα is azimuth encoder error, Δβ is pitch encoder error, Δα xa And Δβ xa As the verticality error of the visual axis, delta alpha yr And Δγ yr As pitch axis rotation error, Δα ya And Δγ ya As pitch axis perpendicularity error, Δγ zr And Δβ zr As azimuth axis rotation error, deltay za And Δβ za As azimuth axis perpendicularity error, Δψ a For the azimuth alignment error, delta phi, when inertial navigation equipment is installed a And delta theta a Installation errors of rolling and pitching directions of inertial navigation equipment, delta phi m 、Δθ m And delta phi m And respectively measuring errors of the gestures of the inertial navigation device.
2. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of claim 1 when run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110974342.3A CN113884091B (en) | 2021-08-24 | 2021-08-24 | Method for transmitting attitude angle of photoelectric stabilized platform and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110974342.3A CN113884091B (en) | 2021-08-24 | 2021-08-24 | Method for transmitting attitude angle of photoelectric stabilized platform and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113884091A CN113884091A (en) | 2022-01-04 |
| CN113884091B true CN113884091B (en) | 2024-01-09 |
Family
ID=79011355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110974342.3A Active CN113884091B (en) | 2021-08-24 | 2021-08-24 | Method for transmitting attitude angle of photoelectric stabilized platform and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113884091B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595668A (en) * | 2016-12-12 | 2017-04-26 | 中国航空工业集团公司洛阳电光设备研究所 | Passive location algorithm for electro-optical pod |
| CN108036801A (en) * | 2017-12-30 | 2018-05-15 | 湖北航天技术研究院总体设计所 | Optical axis stable inertia reference data device |
| CN108195400A (en) * | 2017-12-22 | 2018-06-22 | 清华大学 | The moving alignment method of strapdown micro electro mechanical inertia navigation system |
| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| CN109974749A (en) * | 2019-04-09 | 2019-07-05 | 哈尔滨工业大学 | A kind of assessment method of the comprehensive error in pointing of three-axle table |
| AU2020101268A4 (en) * | 2020-07-06 | 2020-08-13 | Harbin Engineering University | The initial alignment method for sway base |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7221316B2 (en) * | 2005-10-10 | 2007-05-22 | The Boeing Company | Control segment-based lever-arm correction via curve fitting for high accuracy navigation |
-
2021
- 2021-08-24 CN CN202110974342.3A patent/CN113884091B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595668A (en) * | 2016-12-12 | 2017-04-26 | 中国航空工业集团公司洛阳电光设备研究所 | Passive location algorithm for electro-optical pod |
| CN108195400A (en) * | 2017-12-22 | 2018-06-22 | 清华大学 | The moving alignment method of strapdown micro electro mechanical inertia navigation system |
| CN108036801A (en) * | 2017-12-30 | 2018-05-15 | 湖北航天技术研究院总体设计所 | Optical axis stable inertia reference data device |
| CN109445470A (en) * | 2018-11-28 | 2019-03-08 | 中国科学院光电技术研究所 | Carrier attitude angle information feedforward-based visual axis stabilization method for photoelectric system |
| CN109974749A (en) * | 2019-04-09 | 2019-07-05 | 哈尔滨工业大学 | A kind of assessment method of the comprehensive error in pointing of three-axle table |
| AU2020101268A4 (en) * | 2020-07-06 | 2020-08-13 | Harbin Engineering University | The initial alignment method for sway base |
Non-Patent Citations (4)
| Title |
|---|
| 传递对准技术在视轴稳定控制中的应用研究;叶锋等;光学与光电技术(第05期);90-94 * |
| 空间跟瞄遥感器视轴指向可靠度分析;马军等;仪器仪表学报(第03期);124-134 * |
| 舰载导弹中的平台惯导***在动基座上的初始对准;马澍田等;中国惯性技术学报(第01期);16-20 * |
| 视轴偏心三轴跟踪机架指向精度分析;徐征峰等;光电工程(第04期);16-20 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113884091A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106338990B (en) | Industrial robot DH parameter calibration and Zero positioning method based on laser tracker | |
| CN104154928B (en) | Installation error calibrating method applicable to built-in star sensor of inertial platform | |
| CN110940354B (en) | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system | |
| CN112415493A (en) | Three-dimensional scanning laser radar coordinate error correction method | |
| CN108132029B (en) | Accurate measurement method and device for assembly of satellite antenna unfolding system | |
| CN110926468A (en) | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment | |
| CN111238529B (en) | Attitude measuring instrument precision calibration device and method based on starlight measurement | |
| CN107976169B (en) | Ship-borne inertial navigation attitude angle time sequence detection method based on fixed star observation | |
| CN103737433B (en) | Large-size components combined type accuracy measurement method | |
| CN102589522A (en) | Optical autocollimation-type dynamic precise horizontal measuring method | |
| CN105823417A (en) | Method of improving laser tracker station moving precision based on photogrammetry | |
| CN113267794B (en) | Antenna phase center correction method and device with base line length constraint | |
| CN104990533A (en) | Ultra-high precision attitude measuring method and device of satellite ground physical simulation system | |
| CN110873578A (en) | Hexahedron prism and IMU installation error calibration method based on turntable transmission | |
| CN108225371B (en) | Inertial navigation/camera installation error calibration method | |
| CN115876197A (en) | Mooring lifting photoelectric imaging target positioning method | |
| CN109708667B (en) | Double-dynamic target tracking and guiding method based on laser gyro | |
| CN113884091B (en) | Method for transmitting attitude angle of photoelectric stabilized platform and storage medium | |
| CN108917789B (en) | Inclinometer orthogonality evaluation method based on relative included angle of pitch axis and roll axis | |
| CN109945824B (en) | Method and system for measuring and transmitting course reference of carrier | |
| CN110986782A (en) | Calibration method suitable for manipulator | |
| CN115183981A (en) | Wind tunnel coordinate shafting calibration method and calibration device based on coding marks | |
| CN114184168A (en) | Real-time tilt compensation method for optical measurement equipment | |
| CN113375626B (en) | Space vector relative parallelism measuring method based on inertial device | |
| CN114353831A (en) | Shipborne USB angle measurement error correction model and implementation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |