CN108061477A - Opposite installation error bearing calibration between a kind of target seeker and used system system - Google Patents
Opposite installation error bearing calibration between a kind of target seeker and used system system Download PDFInfo
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- CN108061477A CN108061477A CN201610979416.1A CN201610979416A CN108061477A CN 108061477 A CN108061477 A CN 108061477A CN 201610979416 A CN201610979416 A CN 201610979416A CN 108061477 A CN108061477 A CN 108061477A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
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- F41G3/32—Devices for testing or checking
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Abstract
The present invention proposes a kind of bearing calibration of opposite installation error between target seeker and used system system, by determine initial antenna setting angle, flight test gathered data, optical sieving obtain the location information of target in image, determine target using carrier barycenter as under the northeast day coordinate system of origin coordinate value, determine coordinate value under destination carrier attitude frame of reference, determine antenna installation error corrected value and initial antenna setting angle is corrected.Dynamic accurately measures, comprehensively utilizes the data such as attitude of carrier information, location information, radar system parameters and target seeker image the present invention at the test condition, improves installation error correction accuracy and test data validity.
Description
Technical field
The present invention relates to opposite installation error bearing calibrations between a kind of target seeker and used system system, belong to precision Guidance Technique
Field.
Background technology
In modern war, in order to implement long-range instant precision strike to target, it is necessary to resolve weapon system platform and mesh
The problem of marking accurately detecting means, can reach target area immediately, and can accurately detect target using detection means, therefore
It is required that weapon system uses efficient guidance technology.Precise guidance is completed by guidance system, and guide device is needed in the development stage
The flying test under the true environment of outfield etc. to be relied on to verify its guidance performance；Nowadays in complicated battlefield surroundings, target type
Various, its local environment complexity, acquisition and the cognition of target and environmental characteristics gradually embody its importance, also need to carry out outer
Field band flies experiment and obtains target and environmental characteristics data.
Band flies experiment and target seeker is installed on hanging point out of my cabin by pinboard generally by the way of plug-in gondola or hanger
On, ground or aerial target are detected, the control that guidance system is directed toward needs the seat by carrier platform attitude frame of reference
Mark conversion, attitude of carrier angle are provided by used group equipment, and guidance system is installed on carrier platform different parts, nothing with used system system
Method ensures that it is installed on same benchmark, and installation process can make the presence of opposite installation error between guidance system and integrated navigation system,
Ignore installation error and often cause the larger visual field deviation of target seeker, seriously affect the performances such as target acquisition, match cognization.
The bearing calibration of relative error between existing target seeker and integrated navigation system, some is using the installation on carrying platform
Hole position position corrects, since precision factors this method such as not enough in hole position can be superimposed error of mounting hole position itself, it is impossible to realize pair
With respect to effective correction of installation error；Some uses ground experiment, places that angle is anti-or laying light in front of carrying platform in open air
Target is learned, is corrected by measuring the information realizations such as carrier positions and characteristic point position, this method is not considered during flight test
The posture of platform and influence of the air environment to correction accuracy, belong to static measurement, and forward sight is unable to after being installed in addition to target seeker
Situation do not consider, have limitation.
The content of the invention
It is an object of the invention to overcome the shortage of prior art, provide a kind of dynamic can accurately survey at the test condition
Opposite installation between amount correction, the external hanging type target seeker for improving installation error correction accuracy and test data validity and used system system
The bearing calibration of error.
The technical solution of the present invention：With respect to the bearing calibration of installation error, bag between a kind of target seeker and used system system
Include following steps：
Testing equipment is mounted on carrier, obtains initial antenna setting angle (installation position angle Angle_ by the first step
Azi, installation pitch angle Angle_pit)；
The testing equipment includes guidance system (target seeker), mounting suspension, acquisition system, used system system and power supply
Deng, testing equipment is installed on according to installation drawing on carrier, target seeker by mounting suspension be mounted on carrier on, initial antenna peace
It is the angle being mounted on target seeker according to installation drawing on mounting suspension to fill angle；
Second step makes a flight test, target seeker and used system system gathered data；
According to experiment specific requirement before flight test, the carrier line of flight and target area are planned.
The data of the acquisition include the data acquisition that target seeker carries out target area, are used to the experimental period united of system
Between inertial guidance data, inertial guidance data include attitude of carrier angle (course ψ, pitching θ, roll φ), carrier positions (longitude λ, latitude
Angle γ is directed toward in height h), target seeker running parameter and actual antennas bearing sense angle δ and pitching, inertial guidance data all with test period
It is related.
Target seeker is preferably not below twice the data acquisition that target area carries out, and is once missed for determining, correcting installation
Difference, for remaining test data for verifying installation error, the correction for making installation error is more accurate.
3rd step, the image obtained to the data of second step target seeker acquisition carries out optical sieving, to the target in image
It is compared to obtain location information (the longitude λ of target in imaget, latitudeHeight ht), and extract image imaging moment correspondence
Inertial guidance data and actual antennas be directed toward angle；
According to radar seeker, imaging need to be carried out to the test data of acquisition and obtains imaging results, such as uses light
Target seeker is learned, the test data of acquisition is exactly image, and the image of optical sieving, selection target and clear background is carried out to image,
It is compared by reconnoitring target area or carrying out image with softwares such as existing Google Maps, obtains the position letter of target in image
Cease (longitude λt, latitudeHeight ht)；
4th step, the carrier and target position information that second and third step is obtained, obtains target using carrier barycenter as origin
Northeast day coordinate system under coordinate value (xn、yn、zn)；
5th step, the attitude of carrier angle that second and third step is obtained and target position information, obtain destination carrier posture coordinate
Coordinate value (x under systemb、yb、zb)；
Coordinate is converted to techniques well known in 4th step and the 5th step.
6th step, determine antenna installation error corrected value (Δ 'aδ,Δ′aγ), Δ 'aδFor antenna installation position angle error school
Positive value, Δ 'aγPitch angle error correction value is installed for antenna；
A6.1, antenna installation error preset value (Δ is determinedaδ,Δaγ), ΔaδFor antenna installation position angle error preset value,
ΔaγPitching angle error preset value, wherein Δ are installed for antennaaδ∈AΔD, Δaγ∈AΔD, ΔDFor mounting suspension mismachining tolerance,
A≥2；
The antenna installation error that A6.2, the initial antenna setting angle obtained according to the first step and step A6.1 are determined is preset
It is worth (Δaδ,Δaγ), obtain antenna setting angle degree (installation position angle Angle_azi+ Δsaδ, installation pitch angle Angle_pit+
Δaγ)；
A6.3, determine that antenna setting angle degree establishes antenna mounting coordinate system according to step A6.2, obtain what the 3rd step determined
Coordinate value (x of the target under antenna mounting coordinate systema、ya、za)；
A6.4, the coordinate value (x using the target that step A6.3 is determined under antenna mounting coordinate systema、ya、za), according to public affairs
Formula group (1) obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A6.5, the theoretical antenna bearingt obtained using step A6.4 and second step are directed toward angle δ ' and pitching be directed toward angle γ ' and
Angle γ is directed toward in actual antennas bearing sense angle δ and pitching, and obtaining antenna using formula group (2) is directed toward deviation (Δ δ, Δ γ),
A6.6, the antenna for obtaining step A6.5 are directed toward deviation compared with default antenna direction deviation threshold, if
Antenna is directed toward deviation and is less than or equal to antenna direction deviation threshold, it is determined that antenna installation error preset value (Δ at this timeaδ, Δaγ)
For antenna installation error corrected value (Δ 'aδ,Δ′aγ), the 7th step is gone to, if antenna is directed toward deviation and is more than antenna direction deviation threshold
Value, then return to step A6.1 resets antenna installation error preset value (Δaδ,Δaγ), repeat step A6.2~A6.6；
The antenna is directed toward deviation threshold and need to be determined according to flight test height H, grazing angle β and antenna beamwidth,
Corresponding antenna beam is different in ground coverage with grazing angle for different flight test height, and antenna is directed toward the presence of deviation
The visual field deviation that target seeker is larger can be caused, is generally no greater than 0.5 °, those skilled in the art carry out according to specific test requirements document
Setting.
7th step, the antenna installation error corrected value obtained using the 6th step (Δ 'aδ,Δ′aγ) to the initial day of the first step
Line setting angle (installation position angle Angle_azi, installation pitch angle Angle_pit) is corrected；
The setting angle true value that correction obtains seeker antenna is azimuthPitching
Angle
Further, further include
8th step, the antenna installation error corrected value obtained to the 6th step (Δ 'aδ,Δ′aγ) verified, by following
Step realization,
A8.1, another group of data obtained using flight test in second step, repeat the 3rd step to the 5th step；
A8.2, by antenna installation error corrected value (Δ 'aδ,Δ′aγ) it is determined as antenna installation error preset value (Δaδ,
Δaγ)；
The antenna installation error that A8.3, the initial antenna setting angle obtained according to the first step and step A8.2 are determined is preset
It is worth (Δaδ,Δaγ), obtain antenna setting angle degree (installation position angle Angle_azi+ Δsaδ, installation pitch angle Angle_pit+
Δaγ)；
A8.4, determine that antenna setting angle degree establishes antenna mounting coordinate system according to step A8.3, obtain what the 3rd step determined
Coordinate value (x of the target under antenna mounting coordinate systema、ya、za)；
A8.5, the coordinate value (x using the target that step A8.4 is determined under antenna mounting coordinate systema、ya、za), according to public affairs
Formula group (1) obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A8.6, the theoretical antenna bearingt obtained using step A8.5 and second step are directed toward angle δ ' and pitching be directed toward angle γ ' and
Angle γ is directed toward in actual antennas bearing sense angle δ and pitching, and obtaining antenna using formula group (2) is directed toward deviation (Δ δ, Δ γ),
A8.7, the antenna for obtaining step A8.6 are directed toward deviation compared with default antenna direction deviation threshold, if
Antenna is directed toward deviation and is less than or equal to antenna direction deviation threshold, then judges the antenna installation error corrected value that the 6th step determines
(Δ′aδ, Δ 'aγ) it is qualified, using the qualified antenna installation error corrected value of verification (Δ 'aδ,Δ′aγ) to initial antenna established angle
Degree is corrected, and otherwise return to step A6.1 resets antenna installation error preset value (Δaδ,Δaγ), repeat the 6th step and
8th step.
If there are multigroup test datas, more wheel verifications, the day so obtained can be carried out to antenna installation error corrected value
Line installation error corrected value is more accurate.
The advantageous effect of the present invention compared with prior art：
(1) dynamic accurately measures, comprehensively utilizes attitude of carrier information, location information, radar the present invention at the test condition
The data such as systematic parameter and target seeker image improve installation error correction accuracy and test data validity；
(2) present invention is carried out opposite between dynamic target seeker and used system system using the actual experimental data under trystate
The correction of installation error need not arrange dedicated error correction experimental enviroment, suitable for a variety of experimental conditions, expand correction
The scope of application of method；
(3) present invention verification make use of multigroup measured data, improve the authenticity and accuracy of correction result.
Description of the drawings
Fig. 1 ECEF coordinate systems and northeast day coordinate system schematic diagram；
Fig. 2 carrier coordinate system reference views, wherein attitude of carrier coordinate system XbYbZb, the antenna being installed on carrier peace
Fill coordinate system XaYaZa；
Fig. 3 carriers and object space geometrical relationship schematic diagram；
Fig. 4 typical case's bands fly experiment flight course planning；
The front and rear cross track distance of Fig. 5 installation errors correction；
Fig. 6 flow charts of the present invention.
In wherein Fig. 3, α：Grazing angle, β：Front bevel angle, γ：Antenna elevation angle, δ：Antenna azimuth, L：Target longitudinal direction away from
From H：Flying height, Ld：Projector distance (distance), LX：Missile-target distance (oblique distance), Angle_azi：Installation position angle, LC：Target
With projection of flight path's distance, Angle_pit：Pitch angle, L are installedct：Target point indulges plane projection distance in optical axis.
Specific embodiment
With reference to specific example and attached drawing, the present invention is described in detail.
The airborne band in certain outfield flies in experiment, and aircraft is according to the airline operation of planning, the typical winged experiment flight course planning of band
Form is as shown in figure 4, specific aligning step is as shown in Figure 6：
1st, total Test equipment is included into radar guidance system, mounting suspension, acquisition system, used system system and power supply etc.,
Carrier platform is installed on according to experiment installation drawing, the good vector platform line of flight and target area is planned, sets initial antenna
Setting angle (25 ° of antenna bearingt established angle, -55 ° of antenna pitching established angle).
2nd, flight test
Target seeker according to fixed antenna be directed toward carry out Test Data Collecting, space geometry relation schematic diagram as shown in figure 3,
The line of flight is projected has definite preset cross track distance Lc between beam center.Target seeker carries out data acquisition examination to experiment scene
It tests, at least twice, once for calculating installation error, remaining test data is accustomed to the use of a group equipment note for convergence and correction error
Attitude of carrier angle and carrier positions during record experiment, and record radar seeker running parameter and actual antennas direction angle.
3rd, imaging is carried out to test data and obtains imaging results, carry out optical sieving, select target in imaging results
And the image of clear background, image comparison is carried out by reconnoitring test site, obtains the position letter of well-marked target in image
It ceases (103.4609 ° of longitude, 30.5028 ° of latitude, height 545m), and extracts the corresponding inertial guidance data of image imaging moment：Carrier
Attitude angle (- 10.5 ° of course, 4.43 ° of pitching roll 1.06 °), carrier positions (103.4756 ° of longitude, 30.4667 ° of latitude, height
Spend 5665.09m) and actual antennas direction angle (3.0157 ° of azimuth, -0.1044 ° of pitch angle).
4th, according to the carrier and target location measured in step 2,3, it is transformed into ground heart by WGS84 coordinate systems and is sat admittedly
Mark system, then calculate target using carrier barycenter as under the northeast day coordinate system of origin coordinate value (4002.9, -5121.5, -
1413.3)；Specific coordinate is as shown in Figure 1.
WGS84 coordinate systems are to the conversion of ECEF coordinate system three-dimensional coordinate：
Wherein, semimajor axis of ellipsoid a=6378137m, semi-minor axis b=6356752m, eccentricity
Target is using carrier aircraft barycenter as the direction cosines transition matrix under the northeast day coordinate system of origin：
5th, according to the attitude of carrier angle measured in step 2, coordinate value of the target under attitude of carrier coordinate system is calculated
(4002.9, -5121.5, -1413.3)；Attitude of carrier coordinate system XbYbZb is as shown in Figure 2.
Transition matrix of the target under carrier aircraft attitude coordinate system：
It is rotated around yaw angle
C_ ψ=[cos ψ, 0 ,-sin ψ；0,1,0；sinψ,0,cosψ]；
It is rotated around pitch angle
C_ θ=[cos θ, sin θ, 0；-sinθ,cosθ,0；0,0,1]；
It is rotated around roll angle
C_ φ=[1,0,0；0,cosφ,sinφ；0,-sinφ,cosφ]；
6th, according to the initial antenna setting angle set in step 1, in the mounting suspension mismachining tolerance scope of at least twice
It is interior, preset an installation error preset value (Δaδ,Δaγ) (antenna installation position angle error preset value ΔaδPacify for 1.5 °, antenna
Fill pitching angle error preset value ΔaγFor 0.2 °), corresponding antenna setting angle degree is installed for initial antenna setting angle and antenna
The sum of error (26.5 ° of antenna installation position angle, -54.8 ° of pitch angle), and calculate coordinate of the target under antenna mounting coordinate system
It is worth (6637.0,13.59, -447.16)；The antenna mounting coordinate system XaYaZa being installed on carrier, as shown in Figure 2.
Transition matrix of the target under antenna mounting coordinate system：
It is rotated around installation position angle
C_Angle_azi=[cos (Angle_azi), 0 ,-sin (Angle_azi)；0,1,0；sin(Angle_azi),
0,cos(Angle_azi)]；
Around installation pitch angle rotation
C_Angle_pit=[cos (Angle_pit), sin (Angle_pit), 0；-sin(Angle_pit),cos
(Angle_pit),0；0,0,1]；
7th, according to the coordinate value calculated in step 6, obtain theoretical antenna bearingt and be directed toward angle (3.8544 °) and pitching direction angle
(0.3173 °), and calculate theoretical antenna and be directed toward and be directed toward deviation with actual antennas (it is -0.84 ° that antenna bearingt, which is directed toward deviation, pitching
Error is 0.21 °), it is unsatisfactory for antenna and is directed toward deviation predetermined value (0.15 °).
8th, installation error (Δ is preset again in step 6aδ,Δaγ) (antenna installation position angle error preset value ΔaδFor
1.3 °, antenna installation pitching angle error preset value ΔaγFor 0.4 °), antenna be directed toward deviation (antenna bearingt be directed toward deviation for-
0.09 °, pitch error is 0.11 °) it converges to less than predetermined value (0.15 °) to get to the setting angle true value of seeker antenna
(26.3 ° of antenna installation position angle, -54.6 ° of pitch angle).
If the 9, there is multigroup test data, step 3 is repeated to step 7, using multigroup test data to antenna installation error
It is verified, meets experiment demand.
Before installation error correction, flight track projection and beam center cross track distance mean error are about 600 meters of (such as Fig. 5 a
It is shown), it is impossible to coverage goal region can produce bigger effect the correlation test for being directed toward angle sensitivity；Installation error corrects
Afterwards, cross track distance mean error within 60 meters (as shown in Figure 5 b), this time test in by flight weather con dition influenced yaw away from
It is no more than 100 meters from maximum, much smaller than beam coverage, the influence to experiment can be ignored.
Unspecified part of the present invention is known to the skilled person technology.
Claims (6)
1. opposite installation error bearing calibration between a kind of target seeker and used system system, which is characterized in that comprise the following steps：
Testing equipment is mounted on carrier by the first step, obtains initial antenna setting angle (installation position angle Angle_azi, peace
Fill pitch angle Angle_pit)；
Second step makes a flight test, target seeker and used system system gathered data；
The data of the acquisition include the data acquisition that target seeker carries out target area, be used to the experiment united of system during
Inertial guidance data, inertial guidance data includes attitude of carrier angle, carrier positions and actual antennas bearing sense angle δ and angle γ is directed toward in pitching；
3rd step, the image obtained to the data of second step target seeker acquisition carry out optical sieving, the target in image are carried out
Comparison obtains the location information of target in image, and extracts the corresponding inertial guidance data of image imaging moment；
4th step, the carrier and target position information that second and third step is obtained, obtains target in the east using carrier barycenter as origin
Coordinate value (x under northern day coordinate systemn、yn、zn)；
5th step, the attitude of carrier angle that second and third step is obtained and target position information, obtain under destination carrier attitude frame of reference
Coordinate value (xb、yb、zb)；
6th step, determine antenna installation error corrected value (Δ 'aδ,Δ′aγ), Δ 'aδFor antenna installation position angle error corrected value,
Δ′aγPitch angle error correction value is installed for antenna；
A6.1, antenna installation error preset value (Δ is determinedaδ,Δaγ), ΔaδFor antenna installation position angle error preset value, Δaγ
Pitching angle error preset value is installed for antenna；
The antenna installation error preset value that A6.2, the initial antenna setting angle obtained according to the first step and step A6.1 are determined
(Δaδ,Δaγ), obtain antenna setting angle degree (installation position angle Angle_azi+ Δsaδ, installation pitch angle Angle_pit+
Δaγ)；
A6.3, determine that antenna setting angle degree establishes antenna mounting coordinate system according to step A6.2, obtain the target that the 3rd step determines
Coordinate value (x under antenna mounting coordinate systema、ya、za)；
A6.4, the coordinate value (x using the target that step A6.3 is determined under antenna mounting coordinate systema、ya、za), according to formula group
(1) obtain theoretical antenna bearingt and be directed toward angle δ ' and pitching direction angle γ ',
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A6.5, the theoretical antenna bearingt obtained using step A6.4 and second step are directed toward angle δ ' and angle γ ' and reality are directed toward in pitching
Antenna bearingt is directed toward angle δ and angle γ is directed toward in pitching, and obtaining antenna using formula group (2) is directed toward deviation (Δ δ, Δ γ),
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It is directed toward deviation and is less than or equal to antenna direction deviation threshold, it is determined that antenna installation error preset value (Δ at this timeaδ,Δaγ) it is day
Line installation error corrected value (Δ 'aδ,Δ′aγ)；
7th step, the antenna installation error corrected value obtained using the 6th step (Δ 'aδ,Δ′aγ) initial antenna of the first step is pacified
Dress angle is corrected.
2. opposite installation error bearing calibration, feature exist between a kind of target seeker according to claim 1 and used system system
In：The method further includes
8th step, the antenna installation error corrected value obtained to the 6th step (Δ 'aδ,Δ′aγ) verified, pass through following steps
It realizes,
A8.1, another group of data obtained using flight test in second step, repeat the 3rd step to the 5th step；
A8.2, by antenna installation error corrected value (Δ 'aδ,Δ′aγ) it is determined as antenna installation error preset value (Δaδ,Δaγ)；
The antenna installation error preset value that A8.3, the initial antenna setting angle obtained according to the first step and step A8.2 are determined
(Δaδ,Δaγ), obtain antenna setting angle degree (installation position angle Angle_azi+ Δsaδ, installation pitch angle Angle_pit+
Δaγ)；
A8.4, determine that antenna setting angle degree establishes antenna mounting coordinate system according to step A8.3, obtain the target that the 3rd step determines
Coordinate value (x under antenna mounting coordinate systema、ya、za)；
A8.5, the coordinate value (x using the target that step A8.4 is determined under antenna mounting coordinate systema、ya、za), according to formula group
(1) obtain theoretical antenna bearingt and be directed toward angle δ ' and pitching direction angle γ ',
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<mo>)</mo>
</mrow>
</mrow>
</mtd>
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<mtr>
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<mi>&gamma;</mi>
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A8.6, the theoretical antenna bearingt obtained using step A8.5 and second step are directed toward angle δ ' and angle γ ' and reality are directed toward in pitching
Antenna bearingt is directed toward angle δ and angle γ is directed toward in pitching, and obtaining antenna using formula group (2) is directed toward deviation (Δ δ, Δ γ),
<mrow>
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<mi>&Delta;</mi>
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A8.7, the antenna for obtaining step A8.6 are directed toward deviation compared with default antenna direction deviation threshold, if antenna
Be directed toward deviation be less than or equal to antenna be directed toward deviation threshold, then judge the 6th step determine antenna installation error corrected value (Δ 'aδ,
Δ′aγ) it is qualified, using the qualified antenna installation error corrected value of verification (Δ 'aδ,Δ′aγ) initial antenna setting angle is carried out
Correction, otherwise return to step A6.1 resets antenna installation error preset value (Δaδ,Δaγ), repeat the 6th step and the 8th step.
3. opposite installation error bearing calibration, feature exist between a kind of target seeker according to claim 1 and used system system
In：Image is compared by reconnoitring target area or being carried out with existing map software in 3rd step, obtains target in image
Location information.
4. opposite installation error bearing calibration, feature exist between a kind of target seeker according to claim 1 and used system system
In：Antenna is directed toward deviation no more than 0.5 ° in 6th step.
5. opposite installation error bearing calibration, feature exist between a kind of target seeker according to claim 1 and used system system
In：Δ in the step A6.1aδ∈AΔD, Δaγ∈AΔD, ΔDFor mounting suspension mismachining tolerance, A >=2.
6. opposite installation error bearing calibration, feature exist between a kind of target seeker according to claim 1 and used system system
In：If antenna is directed toward deviation and is directed toward deviation threshold more than antenna in the step A6.6, return to step A6.1 resets day
Line installation error preset value (Δaδ,Δaγ), repeat step A6.2~A6.6.
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| CN110686571A (en) * | 2019-10-29 | 2020-01-14 | 湖南华南光电(集团)有限责任公司 | Method for calibrating assembly error of full strapdown imaging seeker and projectile body |
| CN112013716A (en) * | 2020-08-05 | 2020-12-01 | 中国人民解放军63896部队 | Method for capturing fast moving target by television seeker simulation system |
| CN112166336A (en) * | 2019-09-27 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Method and device for calibrating pitching installation angle of millimeter wave radar, vehicle control system and vehicle |
| CN113237456A (en) * | 2021-05-31 | 2021-08-10 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for measuring initial installation angle of communication-in-motion antenna |
| CN113884977A (en) * | 2021-08-17 | 2022-01-04 | 中国电子科技集团公司第二十九研究所 | Correction method for one-dimensional interferometer direction finding cone effect |
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| CN112166336A (en) * | 2019-09-27 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Method and device for calibrating pitching installation angle of millimeter wave radar, vehicle control system and vehicle |
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| CN113884977A (en) * | 2021-08-17 | 2022-01-04 | 中国电子科技集团公司第二十九研究所 | Correction method for one-dimensional interferometer direction finding cone effect |
| CN113884977B (en) * | 2021-08-17 | 2023-09-08 | 中国电子科技集团公司第二十九研究所 | Correction method for one-dimensional interferometer direction-finding conical effect |
| CN114001705A (en) * | 2021-11-02 | 2022-02-01 | 成都国卫通信技术有限公司 | Method for automatically calibrating mounting errors of satellite-communication antenna and carrier |
| CN114001705B (en) * | 2021-11-02 | 2024-03-12 | 成都国卫通信技术有限公司 | Method for automatically calibrating mounting errors of toilet antenna and carrier |
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