CN107063304A - A kind of photoelectric tracking measuring equipment error in pointing verification method - Google Patents

A kind of photoelectric tracking measuring equipment error in pointing verification method Download PDF

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Publication number
CN107063304A
CN107063304A CN201710220204.XA CN201710220204A CN107063304A CN 107063304 A CN107063304 A CN 107063304A CN 201710220204 A CN201710220204 A CN 201710220204A CN 107063304 A CN107063304 A CN 107063304A
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error
moment
time
pointing
flight path
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CN107063304B (en
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张涯辉
陈科
钟代均
罗涵
罗一涵
王中科
付承毓
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Institute of Optics and Electronics of CAS
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Institute of Optics and Electronics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

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  • Manufacturing & Machinery (AREA)
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Abstract

The invention provides a kind of photoelectric tracking measuring equipment error in pointing verification method, involved field is mainly opto-electric tracking and measurement field, and high-precision error in pointing is quasi real time or real-time verification.It is to influence the main error of measurement accuracy in target following measurement process, pointing to deviation.It is also more and more to the computation of sensing deviation with the demand of increasingly increased high-acruracy survey, and develop towards the direction for quasi real time resolving even real-time resolving.How in object tracking process, the precision of error in pointing is verified, and discord tracking error, target trajectory error are coupled, and are the problems that current authentication points to deviation work.The present invention passes through design theory flight path, so that theoretical flight path in the specified time points to a fixed star, and error in pointing verification method is at the appointed time used as in the position at detector field of view center, and measurement track points and the deviation of theoretical flight path by fixed star during tracking.

Description

A kind of photoelectric tracking measuring equipment error in pointing verification method
Technical field
The invention belongs to opto-electric tracking and measurement field, and in particular to a kind of photoelectric tracking measuring equipment error in pointing authentication Method.
Background technology
In opto-electric tracking and measurement field, generally using the mixed positioning three of astrofix, shafting positioning or two methods The mode of kind is accurately positioned to target.During shafting positioning or mixed positioning, positioning precision is deformed by shafting, air The influence of the parameters such as refraction produces error, is referred to as pointing to deviation.Pointing to the presence of deviation causes photoelectric tracking measuring equipment overall Hydraulic performance decline, while measurement accuracy declines.For sensing deviation can be corrected, in test generally using before task or after task Clap star --- the mode for calculating correction coefficient is carried out.But because shafting can change with the change of surrounding environment, calculating is obtained Correction coefficient can change with time and reduce precision, it is or even invalid.So that it is inclined quasi real time or in real time to calculate sensing The mode of difference increasingly attracts attention.How the precision of quasi real time or in real time pointing to deviation is evaluated, while discord target is true again Trajectory error is coupled, as a current problem urgently to be resolved hurrily.
It is generally acknowledged that the measurement position of target is (AM, EM), when photoelectric tracking measuring equipment points to target, the axle of target It is that position is (AS, ES), sensing deviation now is (Δ A, Δ E).Then the measurement position of target is：
AM=AS+ΔA (1)
EM=ES+ΔE (2)
It is generally believed that the tracking error of photoelectric tracking measuring equipment is smaller under certain condition, if the theoretical position of target It is set to (AT, ET), then：
AT≈AM (3)
ET≈EM (4)
A certain moment, the error between measurement position and theoretical position is referred to as the error in pointing at this moment, multiple or complete The mean square error of the difference of its domain theory position and measurement position is referred to as the error in pointing of system, i.e.,：
APT=Stdev (∑ (AT-AM)) (5)
EPT=Stdev (∑ (ET-EM)) (6)
The present invention is by way of virtual Track, i.e., flight path is assumed the theoretical flight path of target, in the absence of measurement error. There is main error when photoelectric tracking measuring equipment is to the tracking of true flight path：Point to deviation and tracing control error.Due to tracking Control error comparatively constant, larger change, and error magnitude under certain condition will not be produced with surrounding environment change Also much smaller than sensing deviation.The present invention is designed using above-mentioned principle, is the true of measurement error and target the characteristics of invention Real track is not coupled.
The content of the invention
To solve to point to the problems such as deviation is demarcated in real time or quasi real time, propose that a kind of fixed star based on virtual track is passed through Method.Method can be in material time point and key position, and whole virtual Track process is to quasi real time or in real time referring to Evaluated to deviation.
The technical solution adopted by the present invention is：A kind of photoelectric tracking measuring equipment error in pointing verification method, this method bag Include following steps：
Step (1), the speed and acceleration range for determining virtual target flight path, and flight path tracking time and angle model Enclose；
Step (2), selection time T0, T1 moment, at the time of passing through visual field as fixed star, and according to the tracking of step (1) Time and angular range calculate the angle that theoretical flight path is passed by similar time interval；
Step (3), according to step (2) theory locus, T0, T1 moment corresponding fixed star are selected from fixed star storehouse, determine T0, The theoretical position of T1 moment flight paths；
Step (4), the tracking time according to step (1) and angular range and the theoretical position of step (3) determine theoretical boat Mark；
Step (5), photoelectric tracking measuring equipment loading theory flight path, and quasi real time or in real time computing device sensing it is inclined Difference, guiding equipment points to the position of theoretical flight path institute virtual target, and records the sensing position of all moment equipment, points to deviation And in the physical location of T0, T1 moment fixed star；
Step (6), data are made a concrete analysis of：
61. assuming T0, T1 moment, the theoretical position of fixed star is (A0T, E0T), (A1T, E1T) ..., the measurement position of fixed star For (A0M, E0M), (A1M, E1M) ..., then the corresponding sensing deviation at T0, T1 moment is：(A0T-A0M, E0T-E0M), (A1T- A1M, E1T-E1M)……
62. at T0, T1 moment, miss distance of the fixed star in detector field of view is T0, T1 moment for quasi real time or in real time Error in pointing；
If 63. in the detector field of view of tracking testing equipment, fixed star is detector by field of view center at certain moment There is while the state for being zero miss distance, but in visual field not at T0 the and T1 moment, then to point to change of error slow for explanation, but the whole series are set There is error in standby time system；
64., can be by the error in pointing meters of multiple time point positions when the virtual Track of design passes through many sidereal time The error in pointing of calculation system.
Wherein, at least two moment T0, T1 any stars pass through field of view center, and two moment in described virtual track Between time difference should not less than photoelectric tracking measuring equipment shafting keep precision time.
The advantage of the present invention compared with prior art is：
(1) present invention is due to by the way of virtual theoretical flight path, i.e., when fixed star passes through position, the actual position of fixed star The as position of target.Thus point to deviation and measurement flight path is not coupled.
(2) the bright easy realization of this law, and the use process of actual photoelectric tracking measuring equipment are similar, it is not necessary to increase it His correlation function.And do not need manipulator constantly to clap star, calculate the correction coefficient of shafting.
Brief description of the drawings
Fig. 1 is photoelectric tracking measuring equipment foundation virtual Track and quasi real time or in real time the guiding data of sensing deviation are entered Row motion (wherein fixed star is in embedded virtual Track) schematic diagram；
Fig. 2 is that (dotted line is virtual Track to error in pointing data processing schematic diagram, and solid line is that photoelectric measurement equipment is specific Flight path is measured, filled circles are the measurement position of fixed time fixed star)；
Fig. 3 is an error in pointing checking test schematic diagram of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment further illustrates the present invention.
As shown in Figure 1-2, a kind of photoelectric tracking measuring equipment error in pointing verification method, this method comprises the following steps：
Step (1), the speed for determining virtual target flight path and acceleration approximate range, and the tracking time of flight path and angle Spend scope；
Step (2), selection time T0 the moment such as T1, at the time of passing through visual field as fixed star, and calculated according to step (1) The angle that theoretical flight path is substantially passed by similar time interval；
Step (3), the general information according to step (2) theory locus, selected from fixed star storehouse T0 the moment such as T1 it is corresponding Fixed star, determine T0 the moment flight path such as T1 theoretical position；
Step (4), according to the information of step (1) and step (3) in detail, it is accurate to determine theoretical flight path；
Step (5), photoelectric measurement equipment loading theory flight path, and quasi real time or in real time computing device sensing deviation, Guide equipment to point to the position of theoretical flight path institute virtual target, and record the finger of all moment (including T0 the moment such as T1) equipment To position, point to deviation and T0 the moment fixed star such as T1 physical location；
Step (6), data are made a concrete analysis of：
61. assume T0 the moment such as T1, the theoretical position of fixed star is (A0T, E0T), (A1T, E1T) ..., the measurement position of fixed star It is set to (A0M, E0M), (A1M, E1M) ..., then it is corresponding T0 the sensing deviation at the moment such as T1 be：(A0T-A0M, E0T-E0M), (A1T-A1M, E1T-E1M)……
62. at the moment such as T0 T1, miss distance of the fixed star in detector field of view be the moment such as T0 T1 for quasi real time or Real-time error in pointing；
If 63. in the detector field of view of tracking testing equipment, fixed star passes through field of view center (i.e. detector at certain moment There is while the state for being zero miss distance in visual field), but not at the moment such as T0 and T1, then explanation sensing change of error is slow but whole There is error in set system time system；
64., can be by the error in pointing meters of multiple time point positions when the virtual Track of design passes through many sidereal time The error in pointing of calculation system.
Fig. 3 is an error in pointing checking test of the invention, is tested from night 8：30 start to 9：00 terminates.Fixed star is 8： 38 and 8：58 are located at theoretical flight path position.Test result is：
Time Into asterisk Theoretical orientation Theoretical pitching Azimuthal error Pitch error
20：38 1350298 236.79795° 52.67716° -1.6359″ 1.9423″
20：58 1351759 238.77414° 49.77510° 0.00004″ -1.1060″

Claims (2)

1. a kind of photoelectric tracking measuring equipment error in pointing verification method, it is characterised in that realize that step is as follows：
Step (1), the speed and acceleration range for determining virtual target flight path, and the tracking time of flight path and angular range；
Step (2), selection time T0, T1 moment, at the time of passing through visual field as fixed star, and according to the tracking time of step (1) The angle that theoretical flight path is passed by similar time interval is calculated with angular range；
Step (3), foundation step (2) theory locus, select T0, T1 moment corresponding fixed star, when determining T0, T1 from fixed star storehouse Carve the theoretical position of flight path；
Step (4), the tracking time according to step (1) and angular range and the theoretical position of step (3) determine theoretical flight path；
Step (5), photoelectric tracking measuring equipment loading theory flight path, and quasi real time or in real time computing device sensing deviation, Guide equipment to point to the position of theoretical flight path institute virtual target, and record the sensing position of all moment equipment, point to deviation with And in the physical location of T0, T1 moment fixed star；
Step (6), data are made a concrete analysis of：
61. assuming T0, T1 moment, the theoretical position of fixed star is (A0T, E0T), (A1T, E1T) ..., the measurement position of fixed star is (A0M, E0M), (A1M, E1M) ..., then the corresponding sensing deviation at T0, T1 moment is：(A0T-A0M, E0T-E0M), (A1T-A1M, E1T-E1M)……
62. at T0, T1 moment, it is quasi real time or in real time to point at T0, T1 moment that miss distance of the fixed star in detector field of view, which is, Error；
If 63. in the detector field of view of tracking testing equipment, fixed star is detector field of view by field of view center at certain moment Middle miss distance has while the state for being zero, but not at T0 the and T1 moment, then to point to change of error slow for explanation, but during complete equipment Between system there is error；
64. when the virtual Track of design passes through many sidereal time, system can be calculated by the error in pointing of multiple time point positions The error in pointing of system.
2. a kind of photoelectric tracking measuring equipment error in pointing verification method according to claim 1, it is characterised in that described Virtual track in time difference for passing through between field of view center, and two moment of at least two moment T0, T1 any stars should not be small Kept for the time of precision in photoelectric tracking measuring equipment shafting.
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CN110187369A (en) * 2019-06-28 2019-08-30 中国科学院光电技术研究所 A kind of deviation of plumb line measurement and verification method based on GNSS satellite position detection
CN111024121A (en) * 2019-12-13 2020-04-17 中国科学院光电技术研究所 System and method for autonomous accuracy identification of photoelectric equipment
CN111595361A (en) * 2020-06-05 2020-08-28 中国人民解放军63660部队 Method for measuring dynamic precision of photoelectric equipment by superposing sinusoidal disturbances

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CN111595361A (en) * 2020-06-05 2020-08-28 中国人民解放军63660部队 Method for measuring dynamic precision of photoelectric equipment by superposing sinusoidal disturbances

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