CN103043226A - Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference - Google Patents
Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference Download PDFInfo
- Publication number
- CN103043226A CN103043226A CN2012105320789A CN201210532078A CN103043226A CN 103043226 A CN103043226 A CN 103043226A CN 2012105320789 A CN2012105320789 A CN 2012105320789A CN 201210532078 A CN201210532078 A CN 201210532078A CN 103043226 A CN103043226 A CN 103043226A
- Authority
- CN
- China
- Prior art keywords
- point
- installation error
- aircraft
- laser
- platform
- 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.)
- Pending
Links
Images
Abstract
The invention discloses a method for measuring an installation error with an optical axis of an unmanned aerial vehicle serving as a reference. According to the method, after the installation of an onboard device is finished, the optical axis of a photoelectric platform of an aircraft directly serves as the measurement reference in the air to conduct inherent error measurement, and then calibration and positioning are conducted. The method comprises the steps of selecting a target point A for the site; measuring an aircraft course error; measuring an axial horizontal plane installation error of the photoelectric platform of the aircraft and a horizontal plane installation error of a vertical gyro; and measuring a horizontal plane installation error of a transverse platform of the aircraft and the horizontal plane installation error of the vertical gyro. The method has the advantages that the method is simple and direct, the positioning precision is not reduced, and the efficiency is much higher than that of existing procedures.
Description
Technical field
The present invention relates to a kind of method of measurement, relate in particular to a kind of unmanned plane optical axis benchmark installation error method of measurement, belong to the unmanned plane target positioning field.
Background technology
The reconnaissance version unmanned plane is a most important technical index of the type unmanned plane to the accuracy of positioning of target.Each equipment error of aircraft, platform comprises each alignment sensor measured error, each installation of sensors error effect target location accuracy of aircraft, platform.
The intrinsic installation error of aircraft, platform wherein, its character are that each to measure the mistiming difference constant, and numerical value is fixed.For this intrinsic installation error, before the location, must be in advance installation error after the error of measurement and positioning equipment mounting bracket, fixing aid are installed in the aircraft manufacturing process.Then record data; When the location, input above-mentioned intrinsic error value, after revising, for target positioning.
Said process relates to the links such as aircraft manufacturing, equipment installation, and formality is loaded down with trivial details, time-consuming.Therefore, need to provide a kind of new technical scheme to solve the problems referred to above.
Summary of the invention
The purpose of this invention is to provide a kind of unmanned plane optical axis benchmark installation error method of measurement, the method is for after airborne equipment installs, directly carry out intrinsic error with the optical axis of aircraft self photoelectric platform as gauge reference target aloft and measure, then proofread and correct, locate.
The technical solution used in the present invention is:
Unmanned plane optical axis benchmark installation error method of measurement, it may further comprise the steps:
A, place are selected, and select the obvious object point A of a feature;
B, vector error measure, operate aircraft self photoelectric platform makes optical axis locking A point, O point longitude and latitude data when the recording light shaft lock is decided the A point, the longitude and latitude data of ordering according to O point, A, calculate the OA straight line azimuth angle alpha ' ', compass azimuth Ψ and photoelectric platform azimuth angle alpha when laser beaten in record calculate vector axis installation error Δ=α ' '-Ψ-α;
C, photoelectric platform horizontal surface installation error and vertical gyro horizontal surface installation error on aircraft is axial are measured, vector points to the A point, the platform azimuth reading is in 0 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' y=arcos(d/s), aircraft pitch angle θ and platform angular altitude β y when laser beaten in record, horizontal surface installation error Δ y=β ' ' y-θ that fuselage axis makes progress-β y;
D, the platform horizontal surface installation error that Aircraft Lateral makes progress and vertical gyro horizontal surface installation error are measured, aircraft wing orientation of its axis A point, the platform azimuth reading is in 90 o ± 5 o or 270 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' x=arcos(d/s), transversely horizontal surface installation error Δ x=β ' ' x-γ of aircraft roll angle numerical value γ and the photoelectric platform angular altitude numerical value β x of record when beating laser, fuselage-β x.
Described object point A air observation feature obviously, be easy to target lock-on, personnel can be near this point on ground, and are unobstructed during its longitude and latitude of Measurement accuracy, block.
Beneficial effect of the present invention: this method of measurement is different from existing intrinsic error to be measured in aircraft manufacturing, installation in advance, after the error originated from input correction, positions before the actual location again.But after airborne equipment installs, directly carrying out intrinsic error with the optical axis of aircraft self photoelectric platform as gauge reference target aloft measures, the method of then proofreading and correct, locating, the method gets final product same once the execution in-flight of realistic objective positioning flight task, this method is simple, direct, do not reduce accuracy of positioning, efficient is far above existing operation.
Description of drawings
Fig. 1 is place of the present invention scheme drawing.
Fig. 2 is vector error measure scheme drawing of the present invention.
Fig. 3 is platform horizontal surface installation error and the vertical gyro horizontal surface installation error instrumentation plan of aircraft of the present invention on axially.
Fig. 4 is platform horizontal surface installation error and the vertical gyro horizontal surface installation error instrumentation plan that Aircraft Lateral of the present invention makes progress.
The specific embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Unmanned plane optical axis benchmark installation error method of measurement of the present invention, it may further comprise the steps:
A, place select, and as shown in Figure 1, select the obvious object point A of a feature, object point A air observation feature obviously, be easy to target lock-on, personnel can be near this point on ground, and are unobstructed during its longitude and latitude of Measurement accuracy, block;
B, vector error measure, as shown in Figure 2, operate aircraft self photoelectric platform makes optical axis locking A point, O point longitude and latitude data when the recording light shaft lock is decided the A point, the longitude and latitude data of ordering according to O point, A, calculate the OA straight line azimuth angle alpha ' ', compass azimuth Ψ and the photoelectric platform azimuth angle alpha of record when beating laser calculates vector axis installation error Δ=α ' '-Ψ-α;
C, photoelectric platform horizontal surface installation error and vertical gyro horizontal surface installation error on aircraft is axial are measured, as shown in Figure 3, vector points to the A point, the platform azimuth reading is in 0 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' y=arcos(d/s), aircraft pitch angle θ and platform angular altitude β y when laser beaten in record, horizontal surface installation error Δ y=β ' ' y-θ that fuselage axis makes progress-β y;
D, the platform horizontal surface installation error that Aircraft Lateral makes progress and vertical gyro horizontal surface installation error are measured, as shown in Figure 4, aircraft wing orientation of its axis A point, the platform azimuth reading is in 90 o ± 5 o or 270 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' x=arcos(d/s), transversely horizontal surface installation error Δ x=β ' ' x-γ of aircraft roll angle numerical value γ and the photoelectric platform angular altitude numerical value β x of record when beating laser, fuselage-β x.
Above method of measurement is different from existing intrinsic error to be measured in aircraft manufacturing, installation in advance, after the error originated from input correction, positions before the actual location again.But after airborne equipment installs, directly carry out intrinsic error with the optical axis of aircraft self photoelectric platform as gauge reference target aloft and measure the method for then proofreading and correct, locating.
The method gets final product (the flight leading portion is implemented error measure of the present invention, flight back segment actual location) same once the execution in-flight of realistic objective positioning flight task, and this method is simple, direct, does not reduce accuracy of positioning, and efficient is far above existing operation.
Claims (2)
1. unmanned plane optical axis benchmark installation error method of measurement is characterized in that it may further comprise the steps:
A, place are selected, and select the obvious object point A of a feature;
B, vector error measure, operate aircraft self photoelectric platform makes optical axis locking A point, O point longitude and latitude data when the recording light shaft lock is decided the A point, the longitude and latitude data of ordering according to O point, A, calculate the OA straight line azimuth angle alpha ' ', compass azimuth Ψ and photoelectric platform azimuth angle alpha when laser beaten in record calculate vector axis installation error Δ=α ' '-Ψ-α;
C, photoelectric platform horizontal surface installation error and vertical gyro horizontal surface installation error on aircraft is axial are measured, vector points to the A point, the platform azimuth reading is in 0 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' y=arcos(d/s), aircraft pitch angle θ and platform angular altitude β y when laser beaten in record, horizontal surface installation error Δ y=β ' ' y-θ that fuselage axis makes progress-β y;
D, the platform horizontal surface installation error that Aircraft Lateral makes progress and vertical gyro horizontal surface installation error are measured, aircraft wing orientation of its axis A point, the platform azimuth reading is in 90 o ± 5 o or 270 o ± 5 o scopes, operate aircraft self photoelectric platform makes optical axis locking A point, after the locking A point is beaten laser and carry out laser ranging, and recording laser distance measurement value s, O point longitude and latitude data when laser beaten in record, according to the O point, the longitude and latitude data that A is ordered, calculate point-to-point transmission at the horizontal plane d, calculating β ' ' x=arcos(d/s), transversely horizontal surface installation error Δ x=β ' ' x-γ of aircraft roll angle numerical value γ and the photoelectric platform angular altitude numerical value β x of record when beating laser, fuselage-β x.
2. unmanned plane optical axis benchmark installation error method of measurement according to claim 1 is characterized in that: described object point A air observation feature obviously, be easy to target lock-on, personnel can be near this point on ground, and are unobstructed during its longitude and latitude of Measurement accuracy, block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105320789A CN103043226A (en) | 2012-12-12 | 2012-12-12 | Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105320789A CN103043226A (en) | 2012-12-12 | 2012-12-12 | Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103043226A true CN103043226A (en) | 2013-04-17 |
Family
ID=48056128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105320789A Pending CN103043226A (en) | 2012-12-12 | 2012-12-12 | Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103043226A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103424125A (en) * | 2013-08-08 | 2013-12-04 | 江西洪都航空工业集团有限责任公司 | Method for measuring reference installation error of optical axis of unmanned aerial vehicle |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106871927A (en) * | 2017-01-05 | 2017-06-20 | 南京航空航天大学 | A kind of UAV electro-optical pod's alignment error Calibration Method |
| CN108802713A (en) * | 2018-06-01 | 2018-11-13 | 郑州联睿电子科技有限公司 | Single base station unmanned plane positioning system and landing guidance method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040175019A1 (en) * | 2003-03-03 | 2004-09-09 | Lockheed Martin Corporation | Correlation based in frame video tracker |
| WO2006090368A1 (en) * | 2005-02-22 | 2006-08-31 | Israel Aerospace Industries Ltd. | A calibration method and system for position measurements |
| CN101226392A (en) * | 2007-11-20 | 2008-07-23 | 北京航空航天大学 | Minitype airborne high-precision low cost single-degree-of-freedom photo-electricity stabiliser |
-
2012
- 2012-12-12 CN CN2012105320789A patent/CN103043226A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040175019A1 (en) * | 2003-03-03 | 2004-09-09 | Lockheed Martin Corporation | Correlation based in frame video tracker |
| WO2006090368A1 (en) * | 2005-02-22 | 2006-08-31 | Israel Aerospace Industries Ltd. | A calibration method and system for position measurements |
| CN101226392A (en) * | 2007-11-20 | 2008-07-23 | 北京航空航天大学 | Minitype airborne high-precision low cost single-degree-of-freedom photo-electricity stabiliser |
Non-Patent Citations (1)
| Title |
|---|
| 贾义海，孙淑梅: "无人机空中光轴基准安装误差及磁偏差测量方法研究", 《光学与光电技术》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103424125A (en) * | 2013-08-08 | 2013-12-04 | 江西洪都航空工业集团有限责任公司 | Method for measuring reference installation error of optical axis of unmanned aerial vehicle |
| CN105045281A (en) * | 2015-08-13 | 2015-11-11 | 深圳一电科技有限公司 | Unmanned aerial vehicle flight control method and device |
| CN106871927A (en) * | 2017-01-05 | 2017-06-20 | 南京航空航天大学 | A kind of UAV electro-optical pod's alignment error Calibration Method |
| CN106871927B (en) * | 2017-01-05 | 2020-10-20 | 南京航空航天大学 | Unmanned aerial vehicle photoelectric pod installation error calibration method |
| CN108802713A (en) * | 2018-06-01 | 2018-11-13 | 郑州联睿电子科技有限公司 | Single base station unmanned plane positioning system and landing guidance method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Stöcker et al. | Quality assessment of combined IMU/GNSS data for direct georeferencing in the context of UAV-based mapping | |
| US9823664B2 (en) | Unmanned aircraft for positioning an instrument for inspection purposes and methods of inspecting a target surface | |
| CN103424125A (en) | Method for measuring reference installation error of optical axis of unmanned aerial vehicle | |
| CA2803810C (en) | Display apparatus, control support system, and display method | |
| CN100557540C (en) | A kind of unmanned plane course automatic correcting method based on magnetic course transmitter | |
| US20120089362A1 (en) | System for Determining the Airspeed of an Aircraft | |
| CN106403993B (en) | A kind of alignment prism installation error measurement method | |
| Olson et al. | Blade deflection measurements of a full-scale UH-60A rotor system | |
| JP2009535612A (en) | Method for ensuring dimensional invariance of a physical structure consisting of multiple segments during assembly | |
| CN106595668A (en) | Passive location algorithm for electro-optical pod | |
| CN107179775B (en) | Multi-angle earth surface spectrum automatic measurement system and method based on unmanned aerial vehicle | |
| CN106770062B (en) | Atmospheric transmittance measuring and calibrating method | |
| CN103043226A (en) | Method for measuring installation error with optical axis of unmanned aerial vehicle serving as reference | |
| CN105807087B (en) | It is determined as optimizing the method and apparatus of wind speed that the take-off weight of aircraft need to consider | |
| CN106324632A (en) | Plant protection unmanned aerial vehicle accurate positioning method under control point-free conditions | |
| CN109710961A (en) | A kind of High Altitude UAV ceiling data processing method based on GPS data | |
| Gašparović et al. | Two-step camera calibration method developed for micro UAV's | |
| CN106705991B (en) | Strapdown is used to group and aims prism installation error test equipment | |
| CN105716593A (en) | Testing device and method for testing orienting and positioning accuracy of photoelectric scouting system | |
| CN102305624A (en) | Method for calibrating compass | |
| CN109725649A (en) | One kind determining high algorithm based on barometer/IMU/GPS Multi-sensor Fusion rotor wing unmanned aerial vehicle | |
| CN104535078B (en) | A kind of measuring method of optoelectronic device based on index point to airbound target | |
| CN108571981B (en) | Target positioning integrated calibration method for reconnaissance unmanned aerial vehicle | |
| CN106767670B (en) | Photoelectric nacelle mounting shift angle assists calibration device | |
| WO2006090368A1 (en) | A calibration method and system for position measurements |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130417 |