CN108981754A - A kind of method of photoelectric platform and carrier aircraft setting angle zero position - Google Patents
A kind of method of photoelectric platform and carrier aircraft setting angle zero position Download PDFInfo
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- CN108981754A CN108981754A CN201811140289.1A CN201811140289A CN108981754A CN 108981754 A CN108981754 A CN 108981754A CN 201811140289 A CN201811140289 A CN 201811140289A CN 108981754 A CN108981754 A CN 108981754A
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- photoelectric platform
- carrier aircraft
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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
Abstract
The embodiment of the invention discloses a kind of methods of photoelectric platform and carrier aircraft setting angle zero position.Autocollimatic theodolite is fixed on carrier aircraft longitudinal axis extension line by aiming at two plumb lines and linear guide adjustment autocollimation theodolite position on the carrier aircraft longitudinal axis, records the first orientation and the first pitch angle of autocollimation theodolite by this method；Autocollimation theodolite optical axis direction photoelectric platform optical axis is recorded into the second orientation and the second pitch angle of autocollimation theodolite when photoelectric platform center of reticule is overlapped with autocollimation theodolite graticle；Obtain the orientation angle of first orientation angle Yu second orientation angle, the pitching angle of the first pitch angle and the second pitch angle；The orientation angles of photoelectric platform are modified as orientation angle by debugging computer software, the pitch angle of photoelectric platform is modified as pitching angle, effectively ensure that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero-bit is parallel with carrier aircraft pitch axis.
Description
Technical field
The present invention relates to the technical fields of aeronautic measurement, and in particular to a kind of airborne photoelectric platform and carrier aircraft setting angle zero
The method of position alignment.
Background technique
What the target positioning of aerial reconnaissance was provided by the targeted azimuth of photoelectric platform, pitch angle and laser range finder
Target calculates warp of the target under earth coordinates in conjunction with carrier aircraft location information, carrier aircraft attitude angle with photoelectric platform distance
Degree, latitude and geodetic height.Target positioning essence is exactly photoelectric platform coordinate system, carrier aircraft coordinate system, carrier aircraft geographic coordinate system, the earth
Coordinate transformation relation several times between rectangular coordinate system, earth coordinates.The final result of target positioning and each coordinate value
The accuracy converted between accuracy and coordinate system is closely related.Photoelectric platform is typically mounted at the front lower place of carrier aircraft, coordinate
The spatial position of origin and carrier aircraft coordinate origin spatial position be not identical, so as to cause photoelectric platform coordinate system and carrier aircraft coordinate system
Translation can be generated and there may be rotations.Due to measured target apart from carrier aircraft farther out, coordinate translation is for target positioning effects
Very little can be ignored in engineering, still, the rotations of two coordinate systems, that is, and between photoelectric platform coordinate system and carrier aircraft coordinate system
The parallelism error of corresponding axis is very big to location precision, needs accurately to be surveyed in photoelectric platform installation process
Amount, correction.Photoelectric platform installation Zero Position Calibration is exactly the azimuth axis zero-bit for ensuring photoelectric platform using optical method for measuring, adjustment
Parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero-bit is parallel with carrier aircraft pitch axis.
Therefore, cause positioning accuracy is inaccurate to ask for rotation existing between photoelectric platform coordinate system and carrier aircraft coordinate system
Topic, it is necessary to propose that one kind can ensure that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero
The method of the position photoelectric platform parallel with carrier aircraft pitch axis and carrier aircraft setting angle zero position.
Summary of the invention
For the problem that rotation existing between photoelectric platform coordinate system and carrier aircraft coordinate system causes positioning accuracy inaccurate, have
Necessity proposes that one kind can ensure that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero-bit and load
The method of the parallel photoelectric platform of machine pitch axis and carrier aircraft setting angle zero position.A kind of light provided by the embodiment of the present invention
Level platform can ensure that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis with the method for carrier aircraft setting angle zero position,
Photoelectric platform pitch axis zero-bit is parallel with carrier aircraft pitch axis, to improve the precision of target positioning.
The photoelectric platform and the concrete scheme of the method for carrier aircraft setting angle zero position are as follows: a kind of photoelectric platform and carrying
The method of machine setting angle zero position, comprising steps of step S1: leveling carrier aircraft, so that the longitudinal axis of carrier aircraft is parallel to the earth
Horizontal plane, then the first plumb line and the second plumb line are respectively formed on two longitudinal axis index points of the carrier aircraft；Step S2:
Arrange a linear guide on the ground of the extended line of the carrier aircraft longitudinal axis, the direction of motion of the linear guide perpendicular to
The longitudinal axis of the carrier aircraft；Step S3: fixing autocollimation theodolite in the linear guide, and levels the auto-collimation longitude and latitude
Instrument；Step S4: being parallel to the earth horizontal plane for the pitch orientation of the autocollimation theodolite, and searched along azimuth direction,
Until aiming at first plumb line, and record the orientation angles A of autocollimation theodolite at this time0；Step S5: described in changing certainly
The interior focusing of theodolite is collimated, and the pitch orientation of the autocollimation theodolite is parallel to the earth horizontal plane, along azimuth direction
It is searched, until aiming at second plumb line, records the orientation angles A of autocollimation theodolite at this time1；Step S6: sentence
Break the A0With A1Whether within the preset error range, if being not at, repeatedly step S4 and step S5, until described
A0With A1Within error range；Step S7: the pitch angle E of the autocollimation theodolite is recorded1；Step S8: described in unlatching
Autocollimation theodolite reticule plate lighting light source, and the autocollimation theodolite and light are rotated along azimuth direction and pitch orientation respectively
Level platform searches for the graticle picture of the autocollimation theodolite with the visible light optical axis of the photoelectric platform, until the photoelectricity
The electric center of reticule of platform is overlapped with the crosshair inconocenter of the autocollimation theodolite graticle；The auto-collimation of record at this time
The azimuth A of theodolite2With pitch angle E2, the azimuth angle alpha and pitch angle β of photoelectric platform at this time are recorded, autocollimatic theodolite is obtained
With the orientation angle Δ A and pitching angle Δ E of photoelectric platform；Step S9: debugging computer software is by the side of the photoelectric platform
Parallactic angle is modified as Δ A by α, and the pitch angle of the photoelectric platform is modified as-Δ E by β.
Preferably, the detailed process that the first plumb line and the second plumb line are formed in the step S1 is respectively described two
It respectively fastens the lower end of position the first plumb line of binding of a index point and the second plumb line, first plumb line and the second plumb line
Plummet.
Preferably, the preset error range of the step S6 is A0With A1Difference range be -2 " to 2 ".
Preferably, the orientation angle Δ A=A1-A2。
Preferably, the pitch angle angle Δ E=E1-E2。
Preferably, the azimuthal error of the photoelectric platform and the Zero Position Calibration of the method for carrier aircraft setting angle zero position isWherein, σA1For autocollimation theodolite center deviation carrier aircraft longitudinal axis error, σA2For
Autocollimation theodolite azimuth aiming error, σA3For autocollimation theodolite interior focusing error, σA6For photoelectric platform visible light optical axis side
Position collimating fault.
Preferably, the pitch error of the photoelectric platform and the Zero Position Calibration of the method for carrier aircraft setting angle zero position isWherein, σE2For autocollimation theodolite pitching collimating fault, σE4For auto-collimation warp
Latitude instrument leveling error, σE5For the autocollimation theodolite error of zero, σE6For photoelectric platform visible light optical axis pitching collimating fault.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
A kind of method of photoelectric platform and carrier aircraft setting angle zero position provided by the embodiment of the present invention includes vertical
Line setting steps, linear guide set-up procedure, autocollimation theodolite aim at step, photoelectric platform aims at step and debugging computer
Amendment step, it is ensured that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero-bit and carrier aircraft pitching
Axis is parallel, to improve the precision of target positioning.A kind of photoelectric platform and carrier aircraft setting angle provided by the embodiment of the present invention
The method of zero position can receive target information and issue the spy of itself optical axis information using the autocollimation theodolite optical axis
Property, the carrier aircraft longitudinal axis and the photoelectric platform optical axis are simulated respectively with the autocollimation theodolite optical axis, record the azimuth of autocollimation theodolite
Angle value and pitch angle angle value, the orientation angles obtained when autocollimation theodolite aims at the carrier aircraft longitudinal axis and the photoelectric platform optical axis respectively are poor
Δ A and pitch angle difference Δ E modifies the angle of photoelectric platform with debugging computer, so that the azimuth axis of photoelectric platform coordinate system
It is parallel with the azimuth axis of carrier aircraft coordinate system and pitch axis with pitch axis.
Detailed description of the invention
Fig. 1 is the stream of a kind of photoelectric platform provided in the embodiment of the present invention and the method for carrier aircraft setting angle zero position
Journey schematic diagram；
Fig. 2 is corresponding to a kind of method of photoelectric platform and carrier aircraft setting angle zero position provided in inventive embodiments
The schematic top plan view of Calibration System；
Fig. 3 is corresponding to a kind of method of photoelectric platform and carrier aircraft setting angle zero position provided in inventive embodiments
The schematic side view of Calibration System.
Numbering in the drawing explanation:
100, Calibration System 1, carrier aircraft 2, photoelectric platform
3, linear guide 4, autocollimatic theodolite 5, first axle
6, second axis 7, third axis 8, four axistyle
9, the first plumb line 10, the second plumb line
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
As shown in Figure 1, the side of a kind of photoelectric platform provided in the embodiment of the present invention and carrier aircraft setting angle zero position
The flow diagram of method.In this embodiment, the method for photoelectric platform and carrier aircraft setting angle zero position includes that plumb line is set
It sets step, linear guide set-up procedure, autocollimation theodolite and aims at step, photoelectric platform aiming step and debugging computer amendment
Above-mentioned recapitulative step can be specifically described into nine steps by step, and details are provided below.
As shown in Figures 2 and 3, photoelectric platform installation Zero Position Calibration (i.e. Calibration System 100) includes carrier aircraft 1, photoelectric platform
2, autocollimation theodolite 4, the first plumb line 9, the second plumb line 10, linear guide 3, photoelectric platform display system (are not shown in figure
Out) and the equipment such as debugging computer (not shown).
Step S1: leveling carrier aircraft 1, so that the longitudinal axis of carrier aircraft 1 is parallel to the earth horizontal plane, then two in the carrier aircraft
The first plumb line 9 and the second plumb line 10 are respectively formed on longitudinal axis index point.Longitudinal axis herein is shown in Fig. 2 first
Axis 5.There are two index point under 1 ventral of carrier aircraft, two o'clock line is the longitudinal axis (i.e. first axle 5) of carrier aircraft 1.First axle 5
The azimuth axis zero-bit of carrier aircraft 1 is represented, after carrier aircraft 1 levels, first axle 5 represents the pitching of carrier aircraft with horizontal plane grade high two o'clock line
Axis zero-bit.The detailed process for forming the first plumb line 9 and the second plumb line 10 is to tie respectively in the position of described two index points
Tie up the first plumb line 9 and the second plumb line 10, plummet is respectively fastened in the lower end of the first plumb line 9 and the second plumb line 10.
Step S2: arranging a linear guide 3 on the ground of the extended line of the longitudinal axis (i.e. first axle 5) of carrier aircraft 1,
Longitudinal axis (i.e. first axle 5) of the direction of motion of linear guide 3 perpendicular to carrier aircraft 1.
Step S3: fixing autocollimation theodolite 4 in linear guide 3, and levels autocollimation theodolite 4.
Step S4: the pitch orientation of autocollimation theodolite 4 is parallel to the earth horizontal plane, and is searched along azimuth direction
It seeks, until aiming at the first plumb line 9, and records the orientation angles A of autocollimation theodolite 4 at this time0.By orientation angles A0Definition
At initial orientation angle.
Step S5: change the interior focusing of autocollimation theodolite 4, and the pitch orientation of autocollimation theodolite 4 is parallel to greatly
Ground horizontal plane, is searched along azimuth direction, until aiming at the second plumb line 10, records the side of autocollimation theodolite 4 at this time
Position angle A1.By orientation angles A1It is defined as first orientation angle.
Step S6: judge the A0With A1Whether within the preset error range, if being not at, repeatedly step S4
With step S5, until within the error range；Otherwise, S7 is entered step.In this embodiment, preset error range is A0
With A1Difference range be -2 " to 2 ".Work as A0When whether being within preset error range with A1, indicate in autocollimatic theodolite 4
The heart is located on the extended line of airborne 1 longitudinal axis (i.e. first axle 5).
Step S7: the pitch angle E1 of record autocollimation theodolite 4.At this point, the optical axis of autocollimation theodolite 4 and carrier aircraft 1
The longitudinal axis it is parallel while parallel with the earth horizontal plane.Pitch angle E1 is defined as the first pitch angle.
Step S8: opening 4 reticule plate lighting light source of autocollimation theodolite, and rotates respectively along azimuth direction and pitch orientation
The autocollimation theodolite 4 and photoelectric platform 2, with the graticle of the visible light optical axis search autocollimation theodolite 4 of photoelectric platform 2
Picture, until the electric center of reticule of photoelectric platform 2 is overlapped with the crosshair inconocenter of 4 graticle of autocollimation theodolite.Light level
The electric center of reticule of platform 2 is overlapped with the crosshair inconocenter of 4 graticle of autocollimation theodolite, indicates 2 visible light of photoelectric platform
The optical axis is parallel to 4 optical axis of autocollimation theodolite.The azimuth A of the autocollimation theodolite 4 of record at this time2With pitch angle E2, record this
When photoelectric platform 2 azimuth angle alpha and pitch angle β, obtain orientation angle Δ A and the pitching of autocollimatic theodolite 4 and photoelectric platform 2
Angle Δ E.By azimuth A2It is defined as second orientation angle, by pitch angle E2It is defined as the second pitch angle.Orientation angle Δ A
Expression it is as shown in formula 1:
Δ A=A1-A2(formula 1)
The expression of pitching angle Δ E is as shown in formula 2:
Δ E=E1-E2(formula 2)
Step S9: the azimuth of photoelectric platform 2 is modified as Δ A by α by debugging computer software, by the photoelectric platform
Pitch angle is modified as-Δ E by β.
With continued reference to Fig. 2 and Fig. 3, it is specifically described the proposed photoelectric platform of the embodiment of the present invention and carrier aircraft setting angle zero-bit
The principle of alignment methods.Under normal circumstances, the coordinate origin space of the spatial position of the coordinate origin of photoelectric platform 2 and carrier aircraft 1
Position is not identical, the photoelectric platform coordinate system center deviation carrier aircraft longitudinal axis.First axle 5 is that two index points are formed immediately below carrier aircraft
Carrier aircraft longitudinal axis.When second axis 6 indicates that the photoelectric platform optical axis is parallel to longitudinal axis, the bearing sense of photoelectric platform.By several
What relation derivation goes out, if orientation angles α=Δ A, first axle 5 are parallel with second axis 6.Wherein, α is photoelectric platform view
The orientation angles of photoelectric platform when axis aims at the autocollimation theodolite optical axis.The azimuth angle value of photoelectric platform at this time is modified as Δ
A, then when the azimuth of the photoelectric platform optical axis is zero, bearing sense is parallel to carrier aircraft longitudinal axis.
Third axis 7 is that autocollimation theodolite aims at carrier aircraft longitudinal axis index point in the earth horizontal plane and the water that is formed respectively
Horizontal line.Four axistyle 8 indicates that the pitching of photoelectric platform when the photoelectric platform optical axis is parallel to the earth horizontal plane is directed toward.By geometrical relationship
It derives, if pitch angle β=Δ E, third axis 7 are parallel with four axistyle 8.Wherein, β is that the photoelectric platform optical axis aims at
The pitch angle of photoelectric platform when the autocollimation theodolite optical axis.The pitch angle angle value of photoelectric platform at this time is modified as-Δ E, then
When the pitch angle of the photoelectric platform optical axis is zero, pitching is directed parallel to the earth horizontal plane.
Further, the photoelectric platform that is proposed in relation to the embodiment of the present invention and carrier aircraft setting angle zero position method
Zero Position Calibration error analysis is described in detail below.Photoelectric platform installation Zero Position Calibration is related to plumb line setting, linear guide tune
Whole, autocollimation theodolite aims at, and photoelectric platform aims at and several courses of work such as debugging computer amendment, wherein plumb line is set
It is minimum to set error, debugging computer corrects no error, can be ignored；The individual error of other courses of work always misses Zero Position Calibration
The contribution analysis of difference is as follows:
(1) autocollimation theodolite center deviation carrier aircraft longitudinal axis error σA1, take σA1=2 ", Normal Distribution.
(2) autocollimation theodolite azimuth aiming error σA2, take σA2=2 ", Normal Distribution；Pitching collimating fault σE2,
Take σE2=6 ", Normal Distribution.
(3) autocollimation theodolite interior focusing error σA3, take σA3=6 ", Normal Distribution.
(4) autocollimation theodolite leveling error σE4, take σE4=12 ", equal-probability distribution is obeyed.
(5) autocollimation theodolite error of zero σE5, take σE5=2 ", Normal Distribution.
(6) photoelectric platform visible light optical axis azimuth aiming error σA6, take σA6=20 ", Normal Distribution；Pitching aims at
Error σE6, take σE6=20 ", Normal Distribution.
In conclusion the zero of a kind of photoelectric platform provided in an embodiment of the present invention and carrier aircraft setting angle zero position method
The azimuthal error of position calibration:Provided in an embodiment of the present invention one
The pitch error of kind photoelectric platform and the Zero Position Calibration of carrier aircraft setting angle zero position method:
A kind of method of photoelectric platform and carrier aircraft setting angle zero position provided by the embodiment of the present invention includes vertical
Line setting steps, linear guide set-up procedure, autocollimation theodolite aim at step, photoelectric platform aims at step and debugging computer
Amendment step, it is ensured that the azimuth axis zero-bit of photoelectric platform is parallel with the carrier aircraft longitudinal axis, photoelectric platform pitch axis zero-bit and carrier aircraft pitching
Axis is parallel, to improve the precision of target positioning.
A kind of method of photoelectric platform and carrier aircraft setting angle zero position provided by the embodiment of the present invention utilizes autocollimatic
The straight theodolite optical axis can receive target information and issue the characteristic of itself optical axis information, with the autocollimation theodolite optical axis point
Not Mo Ni the carrier aircraft longitudinal axis and the photoelectric platform optical axis, record the azimuth angle value and pitch angle angle value of autocollimation theodolite, obtained from
Collimation theodolite aims at the orientation angles difference Δ A and pitch angle difference Δ E when the carrier aircraft longitudinal axis and the photoelectric platform optical axis respectively, with tune
The angle for trying computer modification photoelectric platform, so that the side of the azimuth axis and pitch axis of photoelectric platform coordinate system and carrier aircraft coordinate system
Position axis is parallel with pitch axis.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (7)
1. a kind of method of photoelectric platform and carrier aircraft setting angle zero position, which is characterized in that the method includes the steps:
Step S1: leveling carrier aircraft, so that the longitudinal axis of carrier aircraft is parallel to the earth horizontal plane, then two longitudinal axis in the carrier aircraft
The first plumb line and the second plumb line are respectively formed on index point；
Step S2: a linear guide, the fortune of the linear guide are arranged on the ground of the extended line of the carrier aircraft longitudinal axis
Longitudinal axis of the dynamic direction perpendicular to the carrier aircraft；
Step S3: fixing autocollimation theodolite in the linear guide, and levels the autocollimation theodolite；
Step S4: being parallel to the earth horizontal plane for the pitch orientation of the autocollimation theodolite, and searched along azimuth direction,
Until aiming at first plumb line, and record the orientation angles A of autocollimation theodolite at this time0；
Step S5: change the interior focusing of the autocollimation theodolite, and the pitch orientation of the autocollimation theodolite is parallel to
The earth horizontal plane, is searched along azimuth direction, until aiming at second plumb line, records autocollimation theodolite at this time
Orientation angles A1；
Step S6: judge the A0With A1Whether within the preset error range, if being not at, repeatedly step S4 and step
Rapid S5, until the A0With A1Within error range；
Step S7: the pitch angle E of the autocollimation theodolite is recorded1；
Step S8: opening the autocollimation theodolite reticule plate lighting light source, and rotates respectively along azimuth direction and pitch orientation
The autocollimation theodolite and photoelectric platform search for point of the autocollimation theodolite with the visible light optical axis of the photoelectric platform
Plate picture is drawn, until the crosshair inconocenter weight of the electric center of reticule of the photoelectric platform and the autocollimation theodolite graticle
It closes；The azimuth A of the autocollimation theodolite of record at this time2With pitch angle E2, record the azimuth angle alpha of photoelectric platform at this time and bow
Elevation angle β obtains the orientation angle Δ A and pitching angle Δ E of autocollimatic theodolite and photoelectric platform；
Step S9: the azimuth of the photoelectric platform is modified as Δ A by α by debugging computer software, by the photoelectric platform
Pitch angle is modified as-Δ E by β.
2. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The detailed process that the first plumb line and the second plumb line are formed in the step S1 is respectively in the position of described two index points
Bundle the first plumb line and the second plumb line, plummet is respectively fastened in the lower end of first plumb line and the second plumb line.
3. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The preset error range of the step S6 is A0With A1Difference range be -2 " to 2 ".
4. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The orientation angle Δ A=A1-A2。
5. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The pitch angle angle Δ E=E1-E2。
6. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The azimuthal error of the photoelectric platform and the Zero Position Calibration of the method for carrier aircraft setting angle zero position isWherein, σA1For autocollimation theodolite center deviation carrier aircraft longitudinal axis error, σA2For
Autocollimation theodolite azimuth aiming error, σA3For autocollimation theodolite interior focusing error, σA6For photoelectric platform visible light optical axis side
Position collimating fault.
7. the method for a kind of photoelectric platform according to claim 1 and carrier aircraft setting angle zero position, which is characterized in that
The pitch error of the photoelectric platform and the Zero Position Calibration of the method for carrier aircraft setting angle zero position isWherein, σE2For autocollimation theodolite pitching collimating fault, σE4For auto-collimation warp
Latitude instrument leveling error, σE5For the autocollimation theodolite error of zero, σE6For photoelectric platform visible light optical axis pitching collimating fault.
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| CN116878543A (en) * | 2023-09-06 | 2023-10-13 | 中国科学院长春光学精密机械与物理研究所 | Measuring system and measuring method for installation reference of inclination sensor of photoelectric theodolite |
| CN116878543B (en) * | 2023-09-06 | 2023-11-28 | 中国科学院长春光学精密机械与物理研究所 | Measuring system and measuring method for installation reference of inclination sensor of photoelectric theodolite |
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