CN110308437A - A Guidance Error Compensation Method for Radar Optical Equipment - Google Patents
A Guidance Error Compensation Method for Radar Optical Equipment Download PDFInfo
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Abstract
本发明公开了一种雷达光学设备引导误差补偿方法，实施过程是：将雷达光学设备固定于转台，调平转台，将方位向调至选定的基准方向；选取一到两个参考地物，控制伺服运动机构将雷达光学设备前视方向对准参考点位置，并使参考点地物位于设备的视场中心；记录转台位置和参考点位置的经度、纬度、高度和伺服机构的俯仰方位角度，确定设备相对地理坐标系的误差；对得到的引导信息进行误差补偿。本发明用于雷达光学设备数据采集外场试验，通过测量转台台面坐标系与当地地理坐标系的误差角，对GPS引导信息进行补偿，实现了对雷达光学设备的精确引导，保证了采集数据的质量。
The invention discloses a guide error compensation method for radar optical equipment. The implementation process is as follows: fixing the radar optical equipment on a turntable, leveling the turntable, adjusting the azimuth to a selected reference direction; selecting one or two reference ground objects, Control the servo motion mechanism to align the forward-looking direction of the radar optical equipment with the reference point position, and make the reference point ground object located in the center of the field of view of the device; record the longitude, latitude, height and pitch azimuth angle of the turntable position and the reference point position , determine the error of the device relative to the geographic coordinate system; perform error compensation on the obtained guidance information. The present invention is used for the field test of radar optical equipment data collection, by measuring the error angle between the coordinate system of the turntable surface and the local geographic coordinate system, and compensating the GPS guidance information, realizing the precise guidance of the radar optical equipment and ensuring the quality of the collected data .
Description
技术领域technical field
本发明涉及一种引导误差补偿方法，特别是一种雷达光学设备引导误差补偿 方法。The invention relates to a guidance error compensation method, in particular to a guidance error compensation method for radar optical equipment.
背景技术Background technique
在研究雷达光学设备抗干扰和目标跟踪问题时，需要在外场试验环境下采集 静止或运动目标的数据。When studying anti-jamming and target tracking problems of radar optical equipment, it is necessary to collect data of stationary or moving targets in the field test environment.
为了获得不同干扰背景下的目标数据，雷达光学设备需要借助外部的目标引 导信息实现对目标的精确跟踪。In order to obtain target data under different interference backgrounds, radar optical equipment needs to use external target guidance information to achieve precise tracking of targets.
在外场试验的环境下，将雷达光学设备安装到转台后一般会利用定向传感器 进行定向操作，使转台上的台面坐标系与当地地理坐标系(东北天坐标系)尽量 重合。In the field test environment, after the radar optical equipment is installed on the turntable, the orientation sensor is generally used for orientation operation, so that the table coordinate system on the turntable coincides with the local geographic coordinate system (northeast sky coordinate system) as much as possible.
在试验过程中发现，通过简易设备如地磁传感器进行雷达光学设备的定向 时，由于传感器精度有限且容易受到周围磁场和金属器物的影响，使定向后的台 面坐标系与当地的地理坐标系还是存在微小的偏差，导致根据GPS信息计算出 的俯仰角、方位角等引导信息不准确，无法对雷达光学设备进行精确引导，影响 了数据采集质量。During the test, it was found that when the radar optical equipment is oriented by simple equipment such as geomagnetic sensors, due to the limited accuracy of the sensor and the influence of the surrounding magnetic field and metal objects, the coordinate system of the table after orientation and the local geographic coordinate system still exist. Small deviations lead to inaccurate guidance information such as pitch angle and azimuth angle calculated based on GPS information, and the radar optical equipment cannot be accurately guided, which affects the quality of data collection.
遇到该问题时，现阶段主要是根据经验对转台进行人工的微调，耗时多且效 率低下。When encountering this problem, at this stage, manual fine-tuning of the turntable is mainly based on experience, which is time-consuming and inefficient.
发明内容Contents of the invention
本发明目的在于提供一种雷达光学设备引导误差补偿方法，解决在试验过程 中发现，通过简易设备如地磁传感器进行雷达光学设备的定向时，由于传感器精 度有限且容易受到周围磁场和金属器物的影响，使定向后的台面坐标系与当地的 地理坐标系还是存在微小的偏差，导致根据GPS信息计算出的俯仰角、方位角 等引导信息不准确，无法对雷达光学设备进行精确引导，影响了数据采集质量， 根据经验对转台进行人工的微调，耗时多且效率低下的问题。The purpose of the present invention is to provide a method for compensating the guidance error of radar optical equipment to solve the problem found in the test process that when a simple device such as a geomagnetic sensor is used to orient the radar optical equipment, the accuracy of the sensor is limited and it is easily affected by the surrounding magnetic field and metal objects. , so that there is still a slight deviation between the oriented table coordinate system and the local geographic coordinate system, resulting in inaccurate guidance information such as pitch angle and azimuth angle calculated based on GPS information, and the radar optical equipment cannot be accurately guided, which affects the data. Acquisition quality, manually fine-tuning the turntable based on experience, is time-consuming and inefficient.
一种雷达光学设备引导误差补偿方法的具体步骤为：The specific steps of a radar optical equipment guidance error compensation method are as follows:
确定台面坐标系与试验当地地理坐标系的偏差角。Determine the angle of deviation between the table top coordinate system and the test local geographic coordinate system.
用求得的偏差角对雷达光学设备的引导误差进行补偿。The guidance error of the radar optics is compensated with the determined deviation angle.
优选地，Preferably,
确定台面坐标系与试验当地地理坐标系的偏差角的具体内容为：The specific content of determining the deviation angle between the table coordinate system and the test local geographic coordinate system is as follows:
首先要选取台面坐标系的基准方向，台面y轴方向选择正北，x轴和z轴分 别与正东方向和天向重合，y轴方向为雷达光学设备视场中心方向，用粗对准方 式保证台面坐标系与试验当地地理坐标系偏差角为小角度，小角度为5度以内。Firstly, select the reference direction of the table coordinate system. The y-axis direction of the table is true north. The x-axis and z-axis coincide with the true east direction and the sky direction respectively. The y-axis direction is the center direction of the field of view of the radar optical equipment. Use the coarse alignment method Ensure that the deviation angle between the platform coordinate system and the test local geographic coordinate system is a small angle, and the small angle is within 5 degrees.
完成转台台面的粗对准后，在转台外设置参考点。After the rough alignment of the turntable table top, set the reference point outside the turntable.
控制雷达光学设备或转台的伺服机构，将雷达光学设备的视场中心准参考 点，使雷达光学设备到参考点形成一条线，在雷达光学设备的伺服机构运动时， 保持台面坐标系保持不变。Control the servo mechanism of the radar optical equipment or the turntable, align the center of the field of view of the radar optical equipment with the reference point, make the radar optical equipment form a line to the reference point, and keep the table coordinate system unchanged when the servo mechanism of the radar optical equipment moves .
利用GPS接收机测得转台位置的经度、纬度和高度值分别为λ、L、h，测 得参考点的经度、纬度和高度值分别为λ1、L1、h1，同时记录伺服机构输出的雷 达光学设备视场的俯仰角、方位角分别为ψb、θb。Use the GPS receiver to measure the longitude, latitude and height of the turntable position as λ, L and h respectively, and measure the longitude, latitude and height of the reference point as λ 1 , L 1 and h 1 respectively, and record the output of the servo mechanism at the same time The pitch angle and azimuth angle of the field of view of the radar optical equipment are ψ b , θ b , respectively.
用λ、L、h、λ1、L1、h1得到的转台位置到参考点的方向矢量为ag，通过 伺服机构输出的ψb和θb得到的方向矢量为ab。The direction vector from the turntable position to the reference point obtained by λ, L, h, λ 1 , L 1 , h 1 is a g , and the direction vector obtained by the ψ b and θ b output by the servo mechanism is a b .
ag通过将转台位置和参考点投影到地球坐标系下进行坐标相减后得到。a g is obtained by projecting the position of the turntable and the reference point into the earth coordinate system and subtracting the coordinates.
得到ag在地球坐标系下的X、Y、Z方向坐标为xe、ye、ze。The X, Y, and Z direction coordinates of a g in the earth coordinate system are obtained as x e , y e , and z e .
将方向矢量ag和ab的坐标都转化到转台所在地理坐标系下，并归一化得到 ag在X、Y、Z方向的坐标xg、yg、zg，得到ab在X、Y、Z方向的坐标xb、yb、 zb。Transform the coordinates of the direction vectors a g and a b into the geographic coordinate system where the turntable is located, and normalize to obtain the coordinates x g , y g , z g of a g in the X, Y, and Z directions, and obtain the coordinates of a b in X , coordinates x b , y b , z b in the Y and Z directions.
台面所在坐标系O-XbYbZb通过地理坐标系O-XgYgZg经方位、俯仰、滚转三 次有序旋转得到的旋转角度分别为φz、φx、φy，得到地理坐标系到台面坐标系 的转换矩阵。The coordinate system OX b Y b Z b where the table top is located through the geographic coordinate system OX g Y g Z g through three orderly rotations of azimuth, pitch, and roll, the rotation angles obtained are φ z , φ x , φ y respectively, and the geographic coordinate system is obtained Transformation matrix to table coordinate system.
由于偏差角φz、φx、φy均为在5度以内的小角度，忽略高阶小量后转换矩 阵进行简化。Since the deviation angles φ z , φ x , and φ y are all small angles within 5 degrees, the transformation matrix is simplified after ignoring high-order small quantities.
方向矢量ag和ab的关系为：The relationship between direction vector a g and a b is:
根据ag坐标(xg,yg,zg)和ab的坐标(xb,yb,zb)得到偏差角φz、φx、φy的 值。According to the coordinates of a g (x g , y g , z g ) and the coordinates of a b (x b , y b , z b ), the values of the deviation angles φ z , φ x , and φ y are obtained.
优选地，Preferably,
得出ag在地球坐标系下的X、Y、Z方向坐标为xe、ye、ze：The X, Y, and Z direction coordinates of a g in the earth coordinate system are obtained as x e , y e , z e :
其中，RN表示地球的卯酉圈半径；Among them, R N represents the radius of the earth's unitary circle;
f为地球的扁率。f is the flatness of the earth.
优选地，Preferably,
得到ab在X、Y、Z方向的坐标xb、yb、zb：Get the coordinates x b , y b , z b of a b in the X, Y, and Z directions:
x1、y1、z1分别ag在X、Y、Z方向未归一的坐标。x 1 , y 1 , and z 1 are the unnormalized coordinates of a g in the X, Y, and Z directions, respectively.
优选地，Preferably,
地理坐标系到台面坐标系的转换矩阵如式(5)所示：The conversion matrix from the geographic coordinate system to the table coordinate system is shown in formula (5):
优选地，Preferably,
由于偏差角φz、φx、φy均为在5度以内的小角度，忽略高阶小量后转换矩 阵简化为：Since the deviation angles φ z , φ x , and φ y are all small angles within 5 degrees, the transformation matrix is simplified to:
优选地，Preferably,
用求得的偏差角对雷达光学设备的引导误差进行补偿的具体内容为：The specific content of compensating the guidance error of the radar optical equipment with the obtained deviation angle is as follows:
求得偏差角φz、φx、φy的值后，得到地理坐标系到台面坐标系的转换矩阵 After obtaining the values of the deviation angles φ z , φ x , φ y , the conversion matrix from the geographic coordinate system to the table coordinate system is obtained
在对雷达光学设备进行引导时，目标会传回其位置的GPS信息。While the radar optics are being guided, the target transmits back GPS information of its location.
在转台位置信息已知的情况下，利用公式(1)求得转台位置到目标在地球 坐标系下在X、Y、Z方向的引导向量表示xe、ye、ze，然后利用公式(2)将 向量坐标转换到当地地理坐标系x1、y1、z1，此时不需要归一化处理。In the case where the position information of the turntable is known, use the formula (1) to obtain the steering vector representations x e , y e , z e from the position of the turntable to the target in the X, Y, and Z directions in the earth coordinate system, and then use the formula ( 2) Convert the vector coordinates to the local geographic coordinate system x 1 , y 1 , z 1 , and normalization processing is not required at this time.
再利用转换矩阵将引导向量坐标转换到台面坐标系下，得到坐标xb1、yb1、 zb1。reuse transformation matrix Transform the coordinates of the guidance vector into the coordinate system of the table top to obtain the coordinates x b1 , y b1 , z b1 .
得出用于引导伺服机构的方位角和俯仰角信息ψcmd和θcmd，方位角ψcmd和俯 仰角θcmd为经过补偿的引导信息。The azimuth and elevation angle information ψ cmd and θ cmd used to guide the servo mechanism are obtained, and the azimuth ψ cmd and elevation angle θ cmd are compensated guidance information.
优选地，Preferably,
用转换矩阵将引导向量坐标转换到台面坐标系下，得到坐标xb1、yb1、zb1， 过程如公式(8)所示：Use the transformation matrix Convert the guidance vector coordinates to the table coordinate system to obtain the coordinates x b1 , y b1 , z b1 , the process is shown in formula (8):
优选地，Preferably,
得出用于引导伺服机构的方位角和俯仰角信息ψcmd和θcmd：The azimuth and elevation information ψ cmd and θ cmd used to guide the servos are derived:
方位角ψcmd和俯仰角θcmd为经过补偿的引导信息。Azimuth ψ cmd and elevation θ cmd are compensated guidance information.
优选地，Preferably,
通过选取多个参考点，用公式(1)至公式(7)多次确定偏差角φz、φx、φy， 求所有偏差角的平均值。By selecting multiple reference points, the deviation angles φ z , φ x , φ y are determined multiple times using formula (1) to formula (7), and the average value of all deviation angles is calculated.
本发明将雷达光学设备固定于转台，调平转台，将方位向调至选定的基准方 向；选取一到两个参考地物，控制伺服运动机构将雷达光学设备前视方向对准参 考点位置，并使参考点地物位于设备的视场中心；记录转台位置和参考点位置的 经度、纬度、高度和伺服机构的俯仰方位角度，确定设备相对地理坐标系的误差； 对得到的引导信息进行误差补偿。In the present invention, the radar optical equipment is fixed on the turntable, the turntable is leveled, and the azimuth is adjusted to the selected reference direction; one or two reference ground objects are selected, and the servo motion mechanism is controlled to align the forward-looking direction of the radar optical equipment with the reference point position , and make the reference point object located in the center of the field of view of the device; record the longitude, latitude, height and pitch azimuth angle of the turntable position and the reference point position, and the pitch and azimuth angle of the servo mechanism, and determine the error of the device relative to the geographic coordinate system; error compensation.
本发明用于雷达光学设备数据采集外场试验，通过测量转台台面坐标系与当 地地理坐标系的误差角，对GPS引导信息进行补偿，实现了对雷达光学设备的 精确引导，保证了采集数据的质量。The present invention is used for the field test of radar optical equipment data collection, by measuring the error angle between the coordinate system of the turntable surface and the local geographic coordinate system, and compensating the GPS guidance information, realizing the precise guidance of the radar optical equipment and ensuring the quality of the collected data .
本发明操作简单，本发明可以应用于低成本实验条件下的设备引导，经过本 方法的误差补偿后，引导信息的精度可以满足试验中雷达光学设备的引导要求。The operation of the invention is simple, and the invention can be applied to equipment guidance under low-cost experimental conditions. After the error compensation of the method, the accuracy of guidance information can meet the guidance requirements of radar optical equipment in the test.
本发明就是通过计算台面坐标系与试验当地地理坐标系的偏差，实现对引导 误差补偿。该方法的操作过程简单，易于实现。The present invention realizes guiding error compensation by calculating the deviation between the table top coordinate system and the test local geographic coordinate system. The operation process of the method is simple and easy to implement.
本发明在外场试验环境下引导雷达光学设备进行数据采集试验时，采用低成 本设备实现GPS引导系统对光学设备的精确引导。When the invention guides the radar optical equipment to carry out the data collection test under the field test environment, the low-cost equipment is used to realize the accurate guidance of the optical equipment by the GPS guidance system.
附图说明Description of drawings
图1为转台台面坐标系与地理坐标系转化示意图。Figure 1 is a schematic diagram of transformation between the coordinate system of the turntable surface and the geographic coordinate system.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明作进一步详细说明，根据下面说明和权 利要求书，本发明的优点和特征将更清楚；需要说明的是，附图均采用非常简化 的形式且均适用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目 的。The present invention will be described in further detail below in conjunction with accompanying drawing and specific embodiment, according to following description and claims, the advantages and characteristics of the present invention will be clearer; The precise proportions are only used for the purpose of conveniently and clearly assisting in describing the embodiments of the present invention.
虽然本发明可以以多种形式的修改和替换来扩展，说明书中也列出了一些具 体的实施图例并进行详细阐述；应当理解的是，发明者的出发点不是将该发明限 于所阐述的特定实施例，正相反，发明者的出发点在于保护所有给予由本权利声 明定义的精神或范围内进行的改进、等效替换和修改。Although the present invention can be expanded in various forms of modification and replacement, some specific implementation figures are also listed and explained in detail in the description; it should be understood that the inventor's starting point is not to limit the invention to the specific implementation illustrated. For example, on the contrary, the inventor's starting point is to protect all improvements, equivalent substitutions and modifications given within the spirit or scope defined by this claim.
图1是本发明一个实施例的转台台面坐标系与地理坐标系转化示意图。Fig. 1 is a schematic diagram of transformation between the coordinate system of the turntable surface and the geographic coordinate system according to an embodiment of the present invention.
第一步确定台面坐标系与试验当地地理坐标系的偏差角The first step is to determine the deviation angle between the table coordinate system and the test local geographic coordinate system
首先要选取台面坐标系的基准方向，台面y轴方向选择正北，x轴和z轴分 别与正东方向和天向重合，y轴方向为雷达光学设备视场中心方向。Firstly, select the reference direction of the table coordinate system. The y-axis direction of the table is true north, the x-axis and z-axis coincide with the true east direction and the sky direction respectively, and the y-axis direction is the center direction of the field of view of the radar optical equipment.
用粗对准方式保证台面坐标系与试验当地地理坐标系偏差角为小角度，小角 度为5度以内，方便后面偏差角的计算和引导误差的补偿。Use the coarse alignment method to ensure that the deviation angle between the platform coordinate system and the test local geographic coordinate system is a small angle, and the small angle is within 5 degrees, which is convenient for the calculation of the subsequent deviation angle and the compensation of the guidance error.
完成转台台面的粗对准后，在转台外设置参考点。After the rough alignment of the turntable table top, set the reference point outside the turntable.
控制雷达光学设备或转台的伺服机构，将雷达光学设备的视场中心准参考 点，使雷达光学设备到参考点形成一条线，在雷达光学设备的伺服机构运动时， 保持台面坐标系保持不变。Control the servo mechanism of the radar optical equipment or the turntable, align the center of the field of view of the radar optical equipment with the reference point, make the radar optical equipment form a line to the reference point, and keep the table coordinate system unchanged when the servo mechanism of the radar optical equipment moves .
利用GPS接收机测得转台位置的经度、纬度和高度值分别为λ、L、h，测 得参考点的经度、纬度和高度值分别为λ1、L1、h1，同时记录伺服机构输出的雷 达光学设备视场的俯仰角、方位角分别为ψb、θb。Use the GPS receiver to measure the longitude, latitude and height of the turntable position as λ, L and h respectively, and measure the longitude, latitude and height of the reference point as λ 1 , L 1 and h 1 respectively, and record the output of the servo mechanism at the same time The pitch angle and azimuth angle of the field of view of the radar optical equipment are ψ b , θ b , respectively.
用λ、L、h、λ1、L1、h1得到的转台位置到参考点的方向矢量为ag，通过 伺服机构输出的ψb和θb得到的方向矢量为ab。The direction vector from the turntable position to the reference point obtained by λ, L, h, λ 1 , L 1 , h 1 is a g , and the direction vector obtained by the ψ b and θ b output by the servo mechanism is a b .
ag通过将转台位置和参考点投影到地球坐标系下进行坐标相减后得到。a g is obtained by projecting the position of the turntable and the reference point into the earth coordinate system and subtracting the coordinates.
根据公式(1)的得出ag在地球坐标系下的X、Y、Z方向坐标为xe、ye、ze：According to formula (1), the coordinates of a g in X, Y, and Z directions in the earth coordinate system are x e , y e , z e :
其中，RN表示地球的卯酉圈半径；Among them, R N represents the radius of the earth's unitary circle;
f为地球的扁率。f is the flatness of the earth.
将方向矢量ag和ab的坐标都转化到转台所在地理坐标系下，并归一化得到 ag在X、Y、Z方向的坐标xg、yg、zg，得到ab在X、Y、Z方向的坐标xb、yb、zb：Transform the coordinates of the direction vectors a g and a b into the geographic coordinate system where the turntable is located, and normalize to obtain the coordinates x g , y g , z g of a g in the X, Y, and Z directions, and obtain the coordinates of a b in X , coordinates x b , y b , z b in the Y and Z directions:
x1、y1、z1分别ag在X、Y、Z方向未归一的坐标。x 1 , y 1 , and z 1 are the unnormalized coordinates of a g in the X, Y, and Z directions, respectively.
台面坐标系与当地地理坐标系的关系如图1所示。The relationship between the table top coordinate system and the local geographic coordinate system is shown in Figure 1.
台面所在坐标系O-XbYbZb通过地理坐标系O-XgYgZg经方位、俯仰、滚转三 次有序旋转得到的旋转角度分别为φz、φx、φy。所以地理坐标系到台面坐标系 的转换矩阵如式(5)所示：The coordinate system OX b Y b Z b where the table top is located is rotated through the geographic coordinate system OX g Y g Z g through three orderly rotations of azimuth, pitch, and roll, and the rotation angles obtained are φ z , φ x , and φ y , respectively. Therefore, the conversion matrix from the geographic coordinate system to the table coordinate system is shown in formula (5):
由于偏差角φz、φx、φy均为在5度以内的小角度，忽略高阶小量后转换矩 阵简化为：Since the deviation angles φ z , φ x , and φ y are all small angles within 5 degrees, the transformation matrix is simplified to:
方向矢量ag和ab的关系为：The relationship between direction vector a g and a b is:
将ag坐标(xg,yg,zg)和ab的坐标(xb,yb,zb)带入公式(7)求得偏差角 φz、φx、φy的值。Put the coordinates of a g (x g , y g , z g ) and the coordinates of a b (x b , y b , z b ) into formula (7) to obtain the values of deviation angles φ z , φ x , and φ y .
通过选取多个参考点，用公式(1)至公式(7)多次确定偏差角φz、φx、φy， 求所有偏差角的平均值，以降低偏差角的计算测量误差。By selecting multiple reference points, using formulas (1) to (7) to determine the deviation angles φ z , φ x , φ y multiple times, and calculate the average value of all deviation angles to reduce the calculation and measurement error of deviation angles.
第二步用求得的偏差角对雷达光学设备的引导误差进行补偿The second step uses the obtained deviation angle to compensate the guidance error of the radar optical equipment
求得偏差角φz、φx、φy的值后，可得到地理坐标系到台面坐标系的转换矩 阵 After obtaining the values of the deviation angles φ z , φ x , φ y , the transformation matrix from the geographic coordinate system to the table coordinate system can be obtained
在对雷达光学设备进行引导时，目标会传回其位置的GPS信息。While the radar optics are being guided, the target transmits back GPS information of its location.
在转台位置信息已知的情况下，利用公式(1)求得转台位置到目标在地球 坐标系下在X、Y、Z方向的引导向量表示xe、ye、ze，然后利用公式(2)将 向量坐标转换到当地地理坐标系x1、y1、z1，此时不需要归一化处理。In the case where the position information of the turntable is known, use the formula (1) to obtain the steering vector representations x e , y e , z e from the position of the turntable to the target in the X, Y, and Z directions in the earth coordinate system, and then use the formula ( 2) Convert the vector coordinates to the local geographic coordinate system x 1 , y 1 , z 1 , and normalization processing is not required at this time.
再利用转换矩阵将引导向量坐标转换到台面坐标系下，得到坐标xb1、yb1、 zb1，过程如公式(8)所示：reuse transformation matrix Convert the guidance vector coordinates to the table coordinate system to obtain the coordinates x b1 , y b1 , z b1 , the process is shown in formula (8):
得出用于引导伺服机构的方位角和俯仰角信息ψcmd和θcmd：The azimuth and elevation information ψ cmd and θ cmd used to guide the servos are derived:
方位角ψcmd和俯仰角θcmd为经过补偿的引导信息。Azimuth ψ cmd and elevation θ cmd are compensated guidance information.
至此，完成雷达光学设备引导误差补偿。So far, the guidance error compensation of the radar optical equipment is completed.
本发明将雷达光学设备固定于转台，调平转台，将方位向调至选定的基准方 向；选取一到两个参考地物，控制伺服运动机构将雷达光学设备前视方向对准参 考点位置，并使参考点地物位于设备的视场中心；记录转台位置和参考点位置的 经度、纬度、高度和伺服机构的俯仰方位角度，确定设备相对地理坐标系的误差； 对得到的引导信息进行误差补偿。In the present invention, the radar optical equipment is fixed on the turntable, the turntable is leveled, and the azimuth is adjusted to the selected reference direction; one or two reference ground objects are selected, and the servo motion mechanism is controlled to align the forward-looking direction of the radar optical equipment with the reference point position , and make the reference point object located in the center of the field of view of the device; record the longitude, latitude, height and pitch azimuth angle of the turntable position and the reference point position, and the pitch and azimuth angle of the servo mechanism, and determine the error of the device relative to the geographic coordinate system; error compensation.
本发明用于雷达光学设备数据采集外场试验，通过测量转台台面坐标系与当 地地理坐标系的误差角，对GPS引导信息进行补偿，实现了对雷达光学设备的 精确引导，保证了采集数据的质量。The present invention is used for the field test of radar optical equipment data collection, by measuring the error angle between the coordinate system of the turntable surface and the local geographic coordinate system, and compensating the GPS guidance information, realizing the precise guidance of the radar optical equipment and ensuring the quality of the collected data .
本发明操作简单，本发明可以应用于低成本实验条件下的设备引导，经过本 方法的误差补偿后，引导信息的精度可以满足试验中雷达光学设备的引导要求。The operation of the invention is simple, and the invention can be applied to equipment guidance under low-cost experimental conditions. After the error compensation of the method, the accuracy of guidance information can meet the guidance requirements of radar optical equipment in the test.
本发明就是通过计算台面坐标系与试验当地地理坐标系的偏差，实现对引导 误差补偿。该方法的操作过程简单，易于实现。The present invention realizes guiding error compensation by calculating the deviation between the table top coordinate system and the test local geographic coordinate system. The operation process of the method is simple and easy to implement.
本发明在外场试验环境下引导雷达光学设备进行数据采集试验时，采用低成 本设备实现GPS引导系统对光学设备的精确引导。When the invention guides the radar optical equipment to carry out the data collection test under the field test environment, the low-cost equipment is used to realize the accurate guidance of the optical equipment by the GPS guidance system.
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