CN108061477B - Opposite installation error bearing calibration between a kind of target seeker and used group system - Google Patents
Opposite installation error bearing calibration between a kind of target seeker and used group system Download PDFInfo
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- CN108061477B CN108061477B CN201610979416.1A CN201610979416A CN108061477B CN 108061477 B CN108061477 B CN 108061477B CN 201610979416 A CN201610979416 A CN 201610979416A CN 108061477 B CN108061477 B CN 108061477B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- 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 group system, by determine initial antenna setting angle, flight test acquire data, optical sieving obtains the location information of target in image, determine target using carrier mass center as under the northeast of origin day coordinate system 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.Present invention data such as dynamic precise measurement, comprehensive utilization attitude of carrier information, location information, radar system parameters and target seeker image at the test condition, improve 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 group system, belong to precision Guidance Technique
Field.
Background technique
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
Its guidance performance is verified by the flying test etc. under the true environment of outfield；Nowadays in complicated battlefield surroundings, target type
Multiplicity, its local environment are complicated, and the acquisition and cognition of target and environmental characteristics gradually embody its importance, also need to carry out outer
Field band flies test and obtains target and environmental characteristics data.
Band flies test 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 and used group system are installed on carrier platform different parts, nothing
Method guarantees 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 often and will cause the biggish visual field deviation of target seeker, seriously affects 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 location position corrects, and since hole position accuracy factors this method such as not enough can be superimposed installation hole location error itself, can not achieve pair
Effective correction of opposite 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, by the measurement information realizations such as carrier positions and characteristic point position correction, this method does not consider during flight test
Influence of the posture and air environment of platform to correction accuracy, belongs to static measurement, is unable to forward sight after furthermore installing to target seeker
The case where do not consider, have limitation.
Summary 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 group system
The bearing calibration of error.
Technical solution of the invention: with respect to the bearing calibration of installation error, packet between a kind of target seeker and used group system
Include following steps:
Testing equipment is mounted on carrier by the first step, obtains initial antenna setting angle (installation position angle Angle_
Azi, installation pitch angle Angle_pit)；
The testing equipment includes guidance system (target seeker), mounting suspension, acquisition system, used group system and power supply
Deng, testing equipment is installed on carrier according to installation drawing, and target seeker is mounted on carrier by mounting suspension, initial antenna peace
Dress angle is the angle being mounted on target seeker according to installation drawing on mounting suspension；
Second step makes a flight test, target seeker and used group system acquisition data；
According to test specific requirement before flight test, the carrier line of flight and target area are planned.
The data of the acquisition include the experimental period that target seeker acquires the data that target area carries out, used group system obtains
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, primary to miss for determining, correcting installation
Difference, remaining test data keep the correction of installation error more accurate for verifying installation error.
Third 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 it is corresponding to extract image imaging moment
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
Learn target seeker, the test data of acquisition is exactly image, to image carry out optical sieving, the image of selection target and clear background,
It is compared by prospecting target area or with softwares progress images such as existing Google Maps, obtains the position letter of target in image
Cease (longitude λt, latitudeHeight ht)；
Second and third is walked obtained carrier and target position information, obtains target using carrier mass center as origin by the 4th step
Northeast day coordinate system under coordinate value
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 under system
Coordinate is converted to techniques well known in 4th step and the 5th step.
6th step determines antenna installation error corrected value (△ 'aδ,△′aγ), △ 'aδFor antenna installation position angle error school
Positive value, △ 'aγPitch angle error correction value is installed for antenna；
A6.1, antenna installation error preset value (△ is determinedaδ,△aγ), △aδFor antenna installation position angle error preset value,
△aγPitching angle error preset value is installed for antenna, wherein △aδ∈A△D, △aγ∈A△D, △DFor 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 default
It is worth (△aδ,△aγ), obtain antenna setting angle degree (installation position angle Angle_azi+ △aδ, installation pitch angle Angle_pit+
△aγ)；
A6.3, it determines that antenna setting angle degree establishes antenna mounting coordinate system according to step A6.2, obtains what third step determined
Coordinate value of the target under antenna mounting coordinate system
The coordinate value of A6.4, the target determined using step A6.3 under antenna mounting coordinate systemAccording to
Formula group (1) obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A6.5, angle δ ' and pitching direction angle γ is directed toward using the theoretical antenna bearingt that step A6.4 and second step are obtained′With
Angle γ is directed toward in actual antennas bearing sense angle δ and pitching, is obtained antenna using formula group (2) and is directed toward deviation (△ δ, △ γ),
A6.6, the antenna direction deviation that step A6.5 is obtained is compared with preset 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 (△ at this timeaδ,△aγ)
For antenna installation error corrected value (△ 'aδ,△′aγ), the 7th step is gone to, if antenna is directed toward deviation and is greater than antenna direction deviation threshold
Value, then return step A6.1 resets antenna installation error preset value (△aδ,△aγ), 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
It will cause the biggish visual field deviation of target seeker, 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 stepaδ,△′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 azimuthPitch angle
Further, further include
8th step, the antenna installation error corrected value (△ ' that the 6th step is obtainedaδ,△′aγ) verified, by following
Step realization,
A8.1, another group of data obtained using flight test in second step, repeat third step to the 5th step；
A8.2, by antenna installation error corrected value (△ 'aδ,△′aγ) it is determined as antenna installation error preset value (△aδ,
△aγ)；
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 default
It is worth (△aδ,△aγ), obtain antenna setting angle degree (installation position angle Angle_azi+ △aδ, installation pitch angle Angle_pit+
△aγ)；
A8.4, it determines that antenna setting angle degree establishes antenna mounting coordinate system according to step A8.3, obtains what third step determined
Coordinate value of the target under antenna mounting coordinate system
The coordinate value of A8.5, the target determined using step A8.4 under antenna mounting coordinate systemAccording to
Formula group (1) obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A8.6, angle δ ' and pitching direction angle γ is directed toward using the theoretical antenna bearingt that step A8.5 and second step are obtained′With
Angle γ is directed toward in actual antennas bearing sense angle δ and pitching, is obtained antenna using formula group (2) and is directed toward deviation (△ δ, △ γ),
A8.7, the antenna direction deviation that step A8.6 is obtained is compared with preset antenna direction deviation threshold, if
Antenna is directed toward deviation and is less than or equal to antenna direction deviation threshold, then determines the antenna installation error corrected value that the 6th step determines
(△′aδ,△′aγ) qualified, use the qualified antenna installation error corrected value (△ ' of verifyingaδ,△′aγ) to initial antenna established angle
Degree is corrected, and otherwise return step A6.1 resets antenna installation error preset value (△aδ,△aγ), repeat the 6th step and
8th step.
Multiple groups test data if it exists can carry out more wheel verifyings, the day obtained in this way to antenna installation error corrected value
Line installation error corrected value is more accurate.
The present invention compared with prior art the utility model has the advantages that
(1) dynamic precise measurement at the test condition of the invention, comprehensive utilization attitude of carrier information, location information, radar
The data such as system 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 group system using the actual experimental data under trystate
The correction of installation error does not need to arrange dedicated error correction experimental enviroment, is suitable for a variety of experimental conditions, expands correction
The scope of application of method；
(3) multiple groups measured data is utilized in present invention verifying, improves the authenticity and accuracy of correction result.
Detailed description of the invention
Fig. 1 ECEF coordinate system and northeast day coordinate system schematic diagram；
Fig. 2 carrier coordinate system reference view, wherein attitude of carrier coordinate system XbYbZb, the antenna being installed on carrier are pacified
Fill coordinate system XaYaZa；
Fig. 3 carrier and object space geometrical relationship schematic diagram；
Fig. 4 typical case is with winged test flight course planning；
Fig. 5 a, Fig. 5 b are the cross track distance of installation error correction front and back；
Fig. 6 flow chart of the present invention.
Wherein in Fig. 3, α: grazing angle, β: front bevel angle, γ: antenna elevation angle, δ: antenna azimuth, L: target it is longitudinal 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: installation pitch angle, Lct: target point indulges plane projection distance in optical axis.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention is described in detail.
The airborne band in certain outfield flies in test, airline operation of the aircraft according to planning, the typical winged test flight course planning of band
Form is as shown in figure 4, specific aligning step is as shown in Figure 6:
1, include radar guidance system by total Test equipment, mounting suspension, acquisition system, be used to group system and power supply etc.,
It is installed on carrier platform according to test 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).
2, flight test
Target seeker is directed toward according to fixed antenna and carries out Test Data Collecting, space geometry relation schematic diagram as shown in figure 3,
There is determining preset cross track distance Lc between line of flight projection and beam center.Target seeker carries out data acquisition examination to test scene
It tests, at least twice, primary 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 test, and record radar seeker running parameter and actual antennas direction angle.
3, 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 prospecting 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, rolls 1.06 ° at 4.43 ° of pitching), 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).
4, according to the carrier and target position measured in step 2,3, it is transformed into ground heart by WGS84 coordinate system and is sat admittedly
Mark system, then calculate target using carrier mass center 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.
Conversion of the WGS84 coordinate system to ECEF coordinate system three-dimensional coordinate:
Wherein, semimajor axis of ellipsoid a=6378137m, semi-minor axis b=6356752m, eccentricity
Target is using carrier aircraft mass center as the direction cosines transition matrix under the coordinate system of the northeast of origin day:
5, 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
It is rotated around pitch angle
It is rotated around roll angle
6, according to the initial antenna setting angle set in step 1, in the mounting suspension mismachining tolerance range of at least twice
It is interior, preset an installation error preset value (△aδ,△aγ) (antenna installation position angle error preset value △aδPacify for 1.5 °, antenna
Fill pitching angle error preset value △aγIt is 0.2 °), corresponding antenna setting angle degree is that initial antenna setting angle and antenna are installed
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
Around installation pitch angle rotation
7, it according to the coordinate value calculated in step 6, obtains theoretical antenna bearingt and is 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 °).
8, installation error (△ is preset again in step 6aδ,△aγ) (antenna installation position angle error preset value △aδFor
1.3 °, antenna installation pitching angle error preset value △aγBe 0.4 °), antenna be directed toward deviation (antenna bearingt be directed toward deviation be-
0.09 °, pitch error is 0.11 °) converge to the setting angle true value that seeker antenna is arrived less than predetermined value (0.15 °)
(26.3 ° of antenna installation position angle, -54.6 ° of pitch angle).
If 9, there is multiple groups test data, repeats step 3 and arrive step 7, using multiple groups test data to antenna installation error
It is verified, meets test 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 unable to coverage goal region, can be produced bigger effect to the sensitive correlation test in angle is directed toward；Installation error correction
Afterwards, cross track distance mean error (as shown in Figure 5 b) within 60 meters, this time test in by flight weather con dition influenced yaw away from
It is no more than 100 meters from maximum, is much smaller than beam coverage, the influence to test 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 group system, which comprises the following steps:
Testing equipment is mounted on carrier by the first step, obtain initial antenna setting angle i.e. installation position angle Angle_azi,
Pitch angle Angle_pit is installed；
Second step makes a flight test, target seeker and used group system acquisition data；
During the data of the acquisition include the test that target seeker acquires the data that target area carries out, used group system obtains
Inertial guidance data, inertial guidance data include that angle γ is directed toward in attitude of carrier angle, carrier positions and actual antennas bearing sense angle δ and pitching；
Third step, the image obtained to the data of second step target seeker acquisition carry out optical sieving, carry out to the target in image
Comparison obtains the location information of target in image, and extracts the corresponding inertial guidance data of image imaging moment；
Second and third is walked obtained carrier and target position information, obtains target using carrier mass center as the east of origin by the 4th step
Coordinate value under northern day coordinate system
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
6th step determines antenna installation error corrected value △ 'aδ,△′aγ, △ 'aδFor antenna installation position angle error corrected value,
△′aγPitch angle error correction value is installed for antenna, specific to determine that steps are as follows:
A6.1, antenna installation error preset value △ is determinedaδ,△aγ, △aδFor antenna installation position angle error preset value, △aγFor
Antenna installs pitching angle error preset value；
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
△aδ,△aγ, obtain antenna setting angle degree i.e. installation position angle Angle_azi+ △aδ, installation pitch angle Angle_pit+ △aγ；
A6.3, it determines that antenna setting angle degree establishes antenna mounting coordinate system according to step A6.2, obtains the target that third step determines
Coordinate value under antenna mounting coordinate system
The coordinate value of A6.4, the target determined using step A6.3 under antenna mounting coordinate systemAccording to formula group
(1) it obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A6.5, angle δ ' and pitching direction angle γ ' and reality are directed toward using the theoretical antenna bearingt that step A6.4 and second step are obtained
Antenna bearingt is directed toward angle δ and angle γ is directed toward in pitching, obtains antenna using formula group (2) and is directed toward deviation △ δ, △ γ,
A6.6, the antenna direction deviation that step A6.5 is obtained is compared with preset antenna direction deviation threshold, if antenna
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 △ at this timeaδ,△aγFor antenna
Installation error corrected value △ 'aδ,△′aγ；
7th step, the antenna installation error corrected value △ ' obtained using the 6th stepaδ,△′aγInitial antenna installation to the first step
Angle is corrected.
2. opposite installation error bearing calibration between a kind of target seeker according to claim 1 and used group system, feature exist
In: the method further includes
8th step, the antenna installation error corrected value △ ' that the 6th step is obtainedaδ,△′aγIt is verified, passes through following steps reality
It is existing,
A8.1, another group of data obtained using flight test in second step, repeat third step to the 5th step；
A8.2, by antenna installation error corrected value △ 'aδ,△′aγIt is determined as antenna installation error preset value △aδ,△aγ；
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
△aδ,△aγ, obtain antenna setting angle degree i.e. installation position angle Angle_azi+ △aδ, installation pitch angle Angle_pit+ △aγ；
A8.4, it determines that antenna setting angle degree establishes antenna mounting coordinate system according to step A8.3, obtains the target that third step determines
Coordinate value under antenna mounting coordinate system
The coordinate value of A8.5, the target determined using step A8.4 under antenna mounting coordinate systemAccording to formula group
(1) it obtains theoretical antenna bearingt and is directed toward angle δ ' and pitching direction angle γ ',
A8.6, angle δ ' and pitching direction angle γ ' and reality are directed toward using the theoretical antenna bearingt that step A8.5 and second step are obtained
Antenna bearingt is directed toward angle δ and angle γ is directed toward in pitching, obtains antenna using formula group (2) and is directed toward deviation △ δ, △ γ,
A8.7, the antenna direction deviation that step A8.6 is obtained is compared with preset antenna direction deviation threshold, if antenna
It is directed toward deviation and is less than or equal to antenna direction deviation threshold, then determine the antenna installation error corrected value △ ' that the 6th step determinesaδ,
△′aγQualification uses the qualified antenna installation error corrected value △ ' of verifyingaδ,△′aγSchool is carried out to initial antenna setting angle
Just, otherwise return step A6.1 resets antenna installation error preset value △aδ,△aγ, repeat the 6th step and the 8th step.
3. opposite installation error bearing calibration between a kind of target seeker according to claim 1 and used group system, feature exist
In: image is compared by reconnoitring target area or carrying out with existing map software in the third step, obtains target in image
Location information.
4. opposite installation error bearing calibration between a kind of target seeker according to claim 1 and used group system, feature exist
In: antenna is directed toward deviation no more than 0.5 ° in the 6th step.
5. opposite installation error bearing calibration between a kind of target seeker according to claim 1 and used group system, feature exist
In: △ in the step A6.1aδ∈A△D, △aγ∈A△D, △DFor mounting suspension mismachining tolerance, A >=2.
6. opposite installation error bearing calibration between a kind of target seeker according to claim 1 and used group system, feature exist
In: if antenna is directed toward deviation greater than antenna direction deviation threshold in the step A6.6, return step A6.1 resets day
Line installation error preset value △aδ,△aγ, repeat step A6.2~A6.6.
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| WO2021056405A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Method and apparatus for calibrating pitching mounting angle of millimeter-wave radar, and vehicle control system and vehicle |
| CN110686571B (en) * | 2019-10-29 | 2021-07-23 | 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 |
| CN113237456B (en) * | 2021-05-31 | 2022-10-28 | 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 |
| 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 |
| 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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