CN110308437A - A kind of radar optics equipment vectoring error compensation method - Google Patents
A kind of radar optics equipment vectoring error compensation method Download PDFInfo
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- CN110308437A CN110308437A CN201910633953.4A CN201910633953A CN110308437A CN 110308437 A CN110308437 A CN 110308437A CN 201910633953 A CN201910633953 A CN 201910633953A CN 110308437 A CN110308437 A CN 110308437A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention discloses a kind of radar optics equipment vectoring error compensation methodes, and implementation process is: radar optics equipment being fixed on turntable, turntable is leveled, orientation is adjusted to selected reference direction；One to two reference features are chosen, apparent direction before radar optics equipment is directed at reference point locations by control servo movement mechanism, and reference point atural object is made to be located at the field of view center of equipment；Record the longitudes of revolving table position and reference point locations, latitude, height and servo mechanism pitching orientation angles, determine error of the equipment with respect to geographic coordinate system；Error compensation is carried out to obtained guidance information.The present invention is used for the field trial of radar optics device data acquisition, by the error angle of measuring circurmarotate table top coordinate system and local geographic coordinate system, compensates to GPS guidance information, realizes the accurate guidance to radar optics equipment, ensure that the quality of acquisition data.
Description
Technical field
The present invention relates to a kind of vectoring error compensation method, especially a kind of radar optics equipment vectoring error compensation side
Method.
Background technique
When studying anti-interference radar optics equipment and Target Tracking Problem, need to acquire under the experimental enviroment of outfield quiet
Only or the data of moving target.
In order to obtain the target data under disturbance background, radar optics equipment is needed by external goal directed
Accurate tracking of the information realization to target.
In the environment of field trial, by radar optics equipment be installed to after turntable generally can using orientation sensor into
Row directional operation is overlapped the table top coordinate system on turntable as far as possible with local geographic coordinate system (northeast day coordinate system).
It finds during the test, when carrying out the orientation of radar optics equipment by simple machine such as geomagnetic sensor, by
It is limited in sensor accuracy and it is easy influenced by surrounding magnetic field and metal implements, make orientation after table top coordinate system and work as
Still there is small deviation in the geographic coordinate system on ground, cause to be guided according to the calculated pitch angle of GPS information, azimuth etc.
Information inaccuracy, can not accurately guide radar optics equipment, affect data acquisition quality.
When encountering the problem, artificial fine tuning, time-consuming more and low efficiency are mainly rule of thumb carried out to turntable at this stage
Under.
Summary of the invention
It is an object of that present invention to provide a kind of radar optics equipment vectoring error compensation methodes, solve during the test
It was found that when carrying out the orientation of radar optics equipment by simple machine such as geomagnetic sensor, since sensor accuracy is limited and holds
Vulnerable to the influence of surrounding magnetic field and metal implements, the table top coordinate system after making orientation is still deposited with local geographic coordinate system
In small deviation, cause according to the guidance informations such as the calculated pitch angle of GPS information, azimuth inaccuracy, it can not be to radar
Optical device is accurately guided, and data acquisition quality is affected, and artificial fine tuning is rule of thumb carried out to turntable, time-consuming more
And the problem of inefficiency.
A kind of specific steps of radar optics equipment vectoring error compensation method are as follows:
Determining table areal coordinate system and the angle of deviation for testing local geographic coordinate system.
It is compensated with vectoring error of the angle of deviation acquired to radar optics equipment.
Preferably,
The particular content of the angle of deviation of determining table areal coordinate system and the local geographic coordinate system of test are as follows:
First have to choose the reference direction of table top coordinate system, table top y-axis direction selection due north, x-axis and z-axis are respectively and just
East to day Xiang Chonghe, y-axis direction be radar optics equipment field of view center direction, guarantee table top coordinate with coarse alignment mode
System is low-angle with the local geographic coordinate system angle of deviation is tested, and low-angle is within 5 degree.
After the coarse alignment for completing turntable table top, reference point is set outside turntable.
The servo mechanism of control radar optical device or turntable makes the quasi- reference point of the field of view center of radar optics equipment
Radar optics equipment is into a line to reference point shape, in the servo action of radar optics equipment, holding station areal coordinate system
It remains unchanged.
The longitude, latitude and height value that revolving table position is measured using GPS receiver are respectively λ, L, h, measure reference point
Longitude, latitude and height value are respectively λ1、L1、h1, while recording the pitching of the radar optics equipment visual field of servo mechanism output
Angle, azimuth are respectively ψb、θb。
With λ, L, h, λ1、L1、h1The direction vector of obtained revolving table position to reference point is ag, exported by servo mechanism
ψbAnd θbObtained direction vector is ab。
agObtain after coordinate subtracts each other by projecting to revolving table position and reference point under terrestrial coordinate system.
Obtain agX, Y, Z-direction coordinate under terrestrial coordinate system are xe、ye、ze。
By direction vector agAnd abCoordinate be all transformed under geographic coordinate system where turntable, and normalize and obtain agX,
Y, the coordinate x of Z-directiong、yg、zg, obtain abIn X, Y, the coordinate x of Z-directionb、yb、 zb。
Coordinate system O-X where table topbYbZbPass through geographic coordinate system O-XgYgZgIt is orderly revolved three times through orientation, pitching, rolling
The rotation angle for turning to obtain is respectively φz、φx、φy, obtain geographic coordinate system to table top coordinate system transition matrix.
Due to angle of deviation φz、φx、φyIt is the low-angle within 5 degree, transition matrix carries out after ignoring high-order in a small amount
Simplify.
Direction vector agAnd abRelationship are as follows:
According to agCoordinate (xg,yg,zg) and abCoordinate (xb,yb,zb) obtain angle of deviation φz、φx、φyValue.
Preferably,
Obtain agX, Y, Z-direction coordinate under terrestrial coordinate system are xe、ye、ze:
Wherein, RNIndicate the prime vertical radius of the earth；
F is the ellipticity of the earth.
Preferably,
Obtain abIn X, Y, the coordinate x of Z-directionb、yb、zb:
x1、y1、z1A respectivelygIn X, Y, the coordinate of the non-normalizing of Z-direction.
Preferably,
Shown in transition matrix such as formula (5) of the geographic coordinate system to table top coordinate system:
Preferably,
Due to angle of deviation φz、φx、φyIt is the low-angle within 5 degree, transition matrix simplifies after ignoring high-order in a small amount
Are as follows:
Preferably,
The particular content compensated with vectoring error of the angle of deviation acquired to radar optics equipment are as follows:
Acquire angle of deviation φz、φx、φyValue after, obtain geographic coordinate system to table top coordinate system transition matrix
When guiding to radar optics equipment, target can pass the GPS information of its position back.
In the situation known to revolving table position information, revolving table position is acquired to target in terrestrial coordinate system using formula (1)
Under X, Y, Z-direction boot vector indicate xe、ye、ze, vectorial coordinate is then transformed into local geographical seat using formula (2)
Mark system x1、y1、z1, normalized is not needed at this time.
Recycle transition matrixThe amount of will be directed into coordinate is transformed under table top coordinate system, obtains coordinate xb1、yb1、 zb1。
Obtain the azimuth for guiding servo mechanism and pitch angle information ψcmdAnd θcmd, azimuth ψcmdAnd pitch angle
θcmdFor the guidance information through overcompensation.
Preferably,
Use transition matrixThe amount of will be directed into coordinate is transformed under table top coordinate system, obtains coordinate xb1、yb1、zb1, process
As shown in formula (8):
Preferably,
Obtain the azimuth for guiding servo mechanism and pitch angle information ψcmdAnd θcmd:
Azimuth ψcmdAnd pitching angle thetacmdFor the guidance information through overcompensation.
Preferably,
By choosing multiple reference points, with formula (1) to the multiple determination deviation angle φ of formula (7)z、φx、φy, ask all
The average value of the angle of deviation.
Radar optics equipment is fixed on turntable by the present invention, levels turntable, orientation is adjusted to selected reference direction；
One to two reference features are chosen, apparent direction before radar optics equipment is directed at reference point locations by control servo movement mechanism, and
Reference point atural object is set to be located at the field of view center of equipment；It record revolving table position and the longitudes of reference point locations, latitude, height and watches
The pitching orientation angles for taking mechanism, determine error of the equipment with respect to geographic coordinate system；Error benefit is carried out to obtained guidance information
It repays.
The present invention is used for the field trial of radar optics device data acquisition, passes through measuring circurmarotate table top coordinate system and locality
The error angle of geographic coordinate system compensates GPS guidance information, realizes the accurate guidance to radar optics equipment, guarantees
The quality of acquisition data.
Operation of the present invention is simple, and present invention could apply to the equipment guidance under inexpensive experiment condition, by this method
Error compensation after, the precision of guidance information can satisfy test in radar optics equipment guidance requirement.
The present invention is exactly to realize and miss to guidance by calculating table top coordinate system and testing the deviation of local geographic coordinate system
Difference compensation.The operating process of this method is simple, it is easy to accomplish.
When present invention director radar optical device under the experimental enviroment of outfield carries out data acquisition test, using low cost
Equipment realizes the accurate guidance of GPS guidance systems for optical equipment.
Detailed description of the invention
Fig. 1 is that turntable table top coordinate system and geographic coordinate system convert schematic diagram.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments, according to following explanation and right
Claim, advantages and features of the invention will become apparent from；It should be noted that attached drawing is all made of very simplified form and
It is applicable in non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
Although the present invention can modification in a variety of forms and replacement extend, also listed in specification some specific
Implementation legend and be described in detail；It should be understood that the invention is not limited to be illustrated by the starting point of inventor
Specific embodiment, antithesis, the starting point of inventor are to protect all spirit or scope given and defined by this rights statement
The improvement of interior progress, equivalent alterations and modifications.
Fig. 1 is that the turntable table top coordinate system of one embodiment of the invention and geographic coordinate system convert schematic diagram.
First step determining table areal coordinate system and the angle of deviation for testing local geographic coordinate system
First have to choose the reference direction of table top coordinate system, table top y-axis direction selection due north, x-axis and z-axis are respectively and just
East to day Xiang Chonghe, y-axis direction be radar optics equipment field of view center direction.
Guarantee table top coordinate system and test the local geographic coordinate system angle of deviation to be low-angle, low-angle with coarse alignment mode
Within 5 degree, facilitate the compensation of the calculating of the angle of deviation and vectoring error below.
After the coarse alignment for completing turntable table top, reference point is set outside turntable.
The servo mechanism of control radar optical device or turntable makes the quasi- reference point of the field of view center of radar optics equipment
Radar optics equipment is into a line to reference point shape, in the servo action of radar optics equipment, holding station areal coordinate system
It remains unchanged.
The longitude, latitude and height value that revolving table position is measured using GPS receiver are respectively λ, L, h, measure reference point
Longitude, latitude and height value are respectively λ1、L1、h1, while recording the pitching of the radar optics equipment visual field of servo mechanism output
Angle, azimuth are respectively ψb、θb。
With λ, L, h, λ1、L1、h1The direction vector of obtained revolving table position to reference point is ag, exported by servo mechanism
ψbAnd θbObtained direction vector is ab。
agObtain after coordinate subtracts each other by projecting to revolving table position and reference point under terrestrial coordinate system.
A is obtained according to formula (1)gX, Y, Z-direction coordinate under terrestrial coordinate system are xe、ye、ze:
Wherein, RNIndicate the prime vertical radius of the earth；
F is the ellipticity of the earth.
By direction vector agAnd abCoordinate be all transformed under geographic coordinate system where turntable, and normalize and obtain agX,
Y, the coordinate x of Z-directiong、yg、zg, obtain abIn X, Y, the coordinate x of Z-directionb、yb、zb:
x1、y1、z1A respectivelygIn X, Y, the coordinate of the non-normalizing of Z-direction.
Table top coordinate system and the relationship of local geographic coordinate system are as shown in Figure 1.
Coordinate system O-X where table topbYbZbPass through geographic coordinate system O-XgYgZgIt is orderly revolved three times through orientation, pitching, rolling
The rotation angle for turning to obtain is respectively φz、φx、φy.So transition matrix such as formula (5) of the geographic coordinate system to table top coordinate system
It is shown:
Due to angle of deviation φz、φx、φyIt is the low-angle within 5 degree, transition matrix simplifies after ignoring high-order in a small amount
Are as follows:
Direction vector agAnd abRelationship are as follows:
By agCoordinate (xg,yg,zg) and abCoordinate (xb,yb,zb) bring formula (7) into and acquire angle of deviation φz、φx、φy's
Value.
By choosing multiple reference points, with formula (1) to the multiple determination deviation angle φ of formula (7)z、φx、φy, ask all
The average value of the angle of deviation, to reduce the calculating measurement error of the angle of deviation.
Second step is compensated with vectoring error of the angle of deviation acquired to radar optics equipment
Acquire angle of deviation φz、φx、φyValue after, can be obtained geographic coordinate system to table top coordinate system transition matrix
When guiding to radar optics equipment, target can pass the GPS information of its position back.
In the situation known to revolving table position information, revolving table position is acquired to target in terrestrial coordinate system using formula (1)
Under X, Y, Z-direction boot vector indicate xe、ye、ze, vectorial coordinate is then transformed into local geographical seat using formula (2)
Mark system x1、y1、z1, normalized is not needed at this time.
Recycle transition matrixThe amount of will be directed into coordinate is transformed under table top coordinate system, obtains coordinate xb1、yb1、 zb1,
Shown in process such as formula (8):
Obtain the azimuth for guiding servo mechanism and pitch angle information ψcmdAnd θcmd:
Azimuth ψcmdAnd pitching angle thetacmdFor the guidance information through overcompensation.
So far, the compensation of radar optics equipment vectoring error is completed.
Radar optics equipment is fixed on turntable by the present invention, levels turntable, orientation is adjusted to selected reference direction；
One to two reference features are chosen, apparent direction before radar optics equipment is directed at reference point locations by control servo movement mechanism, and
Reference point atural object is set to be located at the field of view center of equipment；It record revolving table position and the longitudes of reference point locations, latitude, height and watches
The pitching orientation angles for taking mechanism, determine error of the equipment with respect to geographic coordinate system；Error benefit is carried out to obtained guidance information
It repays.
The present invention is used for the field trial of radar optics device data acquisition, passes through measuring circurmarotate table top coordinate system and locality
The error angle of geographic coordinate system compensates GPS guidance information, realizes the accurate guidance to radar optics equipment, guarantees
The quality of acquisition data.
Operation of the present invention is simple, and present invention could apply to the equipment guidance under inexpensive experiment condition, by this method
Error compensation after, the precision of guidance information can satisfy test in radar optics equipment guidance requirement.
The present invention is exactly to realize and miss to guidance by calculating table top coordinate system and testing the deviation of local geographic coordinate system
Difference compensation.The operating process of this method is simple, it is easy to accomplish.
When present invention director radar optical device under the experimental enviroment of outfield carries out data acquisition test, using low cost
Equipment realizes the accurate guidance of GPS guidance systems for optical equipment.
Claims (10)
1. a kind of radar optics equipment vectoring error compensation method, it is characterised in that the specific steps of this method are as follows:
Determining table areal coordinate system and the angle of deviation for testing local geographic coordinate system；
It is compensated with vectoring error of the angle of deviation acquired to radar optics equipment.
2. a kind of radar optics equipment vectoring error compensation method according to claim 1, which is characterized in that determine table top
The particular content of the angle of deviation of coordinate system and the local geographic coordinate system of test are as follows:
First have to choose the reference direction of table top coordinate system, table top y-axis direction selection due north, x-axis and z-axis respectively with due east direction
With day Xiang Chonghe, y-axis direction is radar optics equipment field of view center direction, guarantees table top coordinate system and test with coarse alignment mode
The local geographic coordinate system angle of deviation is low-angle, and low-angle is within 5 degree；
After the coarse alignment for completing turntable table top, reference point is set outside turntable；The servo of control radar optical device or turntable
The quasi- reference point of the field of view center of radar optics equipment is kept radar optics equipment into a line to reference point shape, in radar light by structure
When learning the servo action of equipment, holding station areal coordinate system is remained unchanged；
Be respectively λ, L, h using the longitude, latitude and height value that GPS receiver measures revolving table position, measure reference point longitude,
Latitude and height value are respectively λ1、L1、h1, while recording the pitch angle of the radar optics equipment visual field of servo mechanism output, orientation
Angle is respectively ψb、θb；
With λ, L, h, λ1、L1、h1The direction vector of obtained revolving table position to reference point is ag, pass through the ψ of servo mechanism outputbWith
θbObtained direction vector is ab；
agObtain after coordinate subtracts each other by projecting to revolving table position and reference point under terrestrial coordinate system；
Obtain agX, Y, Z-direction coordinate under terrestrial coordinate system are xe、ye、ze；
By direction vector agAnd abCoordinate be all transformed under geographic coordinate system where turntable, and normalize and obtain agIn X, Y, the side Z
To coordinate xg、yg、zg, obtain abIn X, Y, the coordinate x of Z-directionb、yb、zb；
Coordinate system O-X where table topbYbZbPass through geographic coordinate system O-XgYgZgIt is orderly rotated three times through orientation, pitching, rolling
To rotation angle be respectively φz、φx、φy, obtain geographic coordinate system to table top coordinate system transition matrix；
Due to angle of deviation φz、φx、φyIt is the low-angle within 5 degree, transition matrix is simplified after ignoring high-order in a small amount；
Direction vector agAnd abRelationship are as follows:
According to agCoordinate (xg,yg,zg) and abCoordinate (xb,yb,zb) obtain angle of deviation φz、φx、φyValue.
3. a kind of radar optics equipment vectoring error compensation method according to claim 2, which is characterized in that
Obtain agX, Y, Z-direction coordinate under terrestrial coordinate system are xe、ye、ze:
Wherein, RNIndicate that the prime vertical radius of the earth, f are the ellipticity of the earth.
4. a kind of radar optics equipment vectoring error compensation method according to claim 3, which is characterized in that
Obtain abIn X, Y, the coordinate x of Z-directionb、yb、zb:
x1、y1、z1A respectivelygIn X, Y, the coordinate of the non-normalizing of Z-direction.
5. a kind of radar optics equipment vectoring error compensation method according to claim 4, which is characterized in that
Shown in transition matrix such as formula (5) of the geographic coordinate system to table top coordinate system:
6. a kind of radar optics equipment vectoring error compensation method according to claim 5, which is characterized in that
Due to angle of deviation φz、φx、φyIt is the low-angle within 5 degree, transition matrix simplifies after ignoring high-order in a small amount are as follows:
7. a kind of radar optics equipment vectoring error compensation method according to claim 6, which is characterized in that with what is acquired
The particular content that the angle of deviation compensates the vectoring error of radar optics equipment are as follows:
Acquire angle of deviation φz、φx、φyValue after, obtain geographic coordinate system to table top coordinate system transition matrixTo thunder
When guiding up to optical device, target can pass the GPS information of its position back；In the situation known to revolving table position information, benefit
Acquiring revolving table position with formula (1) indicates x to boot vector of the target under terrestrial coordinate system in X, Y, Z-directione、ye、ze, so
Vectorial coordinate is transformed into local geographic coordinate system x using formula (2) afterwards1、y1、z1, normalized is not needed at this time；It is sharp again
Use transition matrixThe amount of will be directed into coordinate is transformed under table top coordinate system, obtains coordinate xb1、yb1、zb1；
Obtain the azimuth for guiding servo mechanism and pitch angle information ψcmdAnd θcmd, azimuth ψcmdAnd pitching angle thetacmdFor warp
The guidance information of overcompensation.
8. a kind of radar optics equipment vectoring error compensation method according to claim 7, which is characterized in that
Use transition matrixThe amount of will be directed into coordinate is transformed under table top coordinate system, obtains coordinate xb1、yb1、zb1, process such as formula
(8) shown in:
9. a kind of radar optics equipment vectoring error compensation method according to claim 8, which is characterized in that
Obtain the azimuth for guiding servo mechanism and pitch angle information ψcmdAnd θcmd:
Azimuth ψcmdAnd pitching angle thetacmdFor the guidance information through overcompensation.
10. according to claim 1 to a kind of radar optics equipment vectoring error compensation method described in any claim in 6,
It is characterized in that,
By choosing multiple reference points, with formula (1) to the multiple determination deviation angle φ of formula (7)z、φx、φy, seek all deviations
The average value at angle.
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