CN114111805A - Multi-source multi-category measurement data position reference high-precision alignment method for carrier rocket - Google Patents
Multi-source multi-category measurement data position reference high-precision alignment method for carrier rocket Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention belongs to the field of space launching and the field of space measurement and control, and discloses a position reference correction method for multi-source and multi-category measurement data of a carrier rocket. According to the technical approach provided by the invention, the actual measurement precision of the measurement position deviation of the radar measurement system, the optical measurement system, the satellite navigation measurement system and the inertial navigation measurement system in the projectile coordinate system determines the correction precision of the position measurement elements of the three measurement systems, so that the problem of high-precision alignment of the multi-source multi-type measurement data position reference of the carrier rocket can be effectively solved.
Description
Technical Field
The invention belongs to the field of space launching and the field of space measurement and control, and relates to a position reference high-precision alignment method for multi-source and multi-type measurement data of a carrier rocket.
Background
In space launch measurement data, there are three main categories of measurement data related to launch orbits: the method comprises the following steps that firstly, various external ballistic measurement data, namely measurement data of a radar measurement system (including a pulse radar and a high-precision speed measuring radar) and an optical measurement system; the second is inertial navigation ballistic data, namely output pulse data of an inertial measurement device (an accelerometer and a rate gyro) of the carrier rocket, which is downloaded by a telemetry system on the carrier rocket, and ballistic data (namely inertial navigation ballistic data) which is resolved by a navigation computer according to the pulse data, wherein the output pulse data of the inertial measurement device and the inertial navigation ballistic data have a strict corresponding relation, and can be viewed equally in application, and for convenience of application, the description in the following generally only refers to the inertial navigation ballistic data except for special description; and thirdly, satellite navigation measurement data downloaded by the carrier rocket through the rocket-borne telemetry system.
In the three types of measurement data, the measurement position of the radar measurement system is the antenna position of a transponder installed on the carrier rocket (the measurement position of the pulse radar is the antenna of the pulse radar transponder, the measurement position of the high-precision speed measuring radar is the speed measuring radar transponder), and the measurement position of the optical measurement system is the flame center position of the carrier rocket engine; the measurement position of the satellite navigation measurement system is the position of a satellite navigation information receiving antenna arranged on the carrier rocket; the measurement position of the inertial navigation measurement system is the measurement position of the inertial measurement device of the carrier rocket, namely the origin of the measurement coordinate system of the navigation platform. The inconsistency of the position reference can cause position difference and speed difference among the three types of measurement data, the existence of the difference not only directly influences the high-precision fusion of the three types of measurement data, but also inevitably influences the comprehensive analysis of the key process, the basic performance of key actions and the comprehensive performance of the flight process of the carrier rocket by utilizing inertial navigation ballistic data, outer ballistic measurement data, satellite navigation measurement data and various types of telemetering data of various systems of the carrier rocket.
In the aerospace launching task, the position alignment refers to aligning the measurement position of the radar measurement system, the measurement position of the optical measurement system and the measurement position of the satellite navigation measurement system to the measurement position of the inertial navigation measurement system, namely, correcting the position measurement data of other 3 types of measurement systems by taking the measurement position of the inertial navigation measurement system as a reference so as to keep the same position reference as the inertial navigation ballistic data. The current commonly used position alignment measure is to correct the difference between the engine flame center position measured by the optical measurement system and the measurement position of the inertial navigation measurement system, i.e. the photometric position correction. The difference between the measurement positions of the pulse radar and the speed measuring radar and the measurement position of the inertial navigation measurement system is not corrected generally, and the difference of speed measuring radar speed measurement metadata caused by the inconsistency of the measurement positions is never corrected.
The primary condition of high-precision fusion processing of multiple types of measurement data from multiple sources of a launch orbit of a carrier rocket is that the consistency of measurement positions is required. At present, no alignment principle and high-precision correction method for ensuring the consistency of position references of three types of measurement data are available.
Disclosure of Invention
The invention aims to provide a high-precision alignment method for position reference of multi-source multi-type measurement data of a carrier rocket, which utilizes the difference between the measurement position of an inertial navigation measurement system and the measurement position of other measurement systems, corrects position measurement elements corresponding to the measurement data of other measurement systems according to the measurement geometric relation, and corrects all the measurement data related to the position in the measurement data of other measurement systems to the measurement position of the inertial navigation measurement system, thereby realizing the consistency of the multi-source multi-type measurement data on the spatial position and providing technical support for the high-precision fusion processing and the fine application of the multi-source multi-type measurement data.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a multi-source multi-category measurement data position reference high-precision alignment method for a carrier rocket comprises the following steps:
step one, converting the position difference of a projectile system into a navigation system position difference;
step two, converting the navigation system position difference into a geocentric system position difference;
step three, correcting position measurement data by different measurement systems;
correcting the position measurement data of the satellite navigation measurement system, and executing the step four;
for the correction of the position measurement data of the radar measurement system, executing the fifth step to the seventh step;
for correcting the position measurement data of the optical measurement system, executing the step eight to the step ten;
correcting the satellite navigation position measurement data based on the geocentric position difference;
step five, converting the position difference of the geocentric system into the position difference of a measuring system of the radar measuring system;
step six, converting the position difference of a measurement system of the radar measurement system into a position measurement element difference of the radar measurement system;
step seven, correcting the position measurement metadata of the radar measurement system based on the position measurement metadata difference of the radar measurement system;
step eight, converting the position difference of the geocentric system into the position difference of the measuring system of the optical measuring system;
ninth, the position difference of the measurement system of the optical measurement system is converted into the position measurement element difference of the optical measurement system;
and step ten, correcting the position measurement metadata of the optical measurement system based on the position measurement metadata difference of the optical measurement system.
Further, the first step further comprises:
converting the projectile system position difference d into a navigation system position difference according to the formula (1)
In the formula, TG1The direction conversion matrix for carrying a rocket projectile coordinate system to a navigation platform measurement coordinate system comprises the following specific calculation formula:
in the formula (I), the compound is shown in the specification,
for the measurement of the attitude angle of the projectile coordinate system relative to the navigation platform, this data can be obtained directly from the computer word telemetry parameters of the launch vehicle.
Further, the second step further comprises:
differentiating the position of the navigation system according to the formula (2)
Converted into the position difference of the geocentric system
In the formula, TOGThe direction conversion matrix from the carrier rocket navigation measurement coordinate system to the geocentric coordinate system is calculated by the following specific formula:
where t is the time of flight of the launch vehicle relative to the time of initiation of the navigation computation, ωeIs the angular rate of rotation of the earth, B0、L0、A0The geographical latitude, the geographical longitude and the launching azimuth of the launching point of the carrier rocket are respectively.
Further, the fourth step further comprises:
the position difference of the geocentric system obtained in the second step
Calculating satellite navigation position measurement data [ x ] according to equation (3)sys zs]TCorrection value of
Further, the fifth step further comprises:
the difference in the position of the earth center system according to the formula (4)
Converting into position difference of measurement system of radar measurement system
In the formula, TMOThe direction conversion matrix from the geocentric coordinate system to the radar measurement system measurement coordinate system is specifically calculated as follows:
wherein, B and L are the geographical latitude and the geographical longitude of the radar measuring system respectively.
Further, the sixth step further comprises:
measuring the position difference of the system of radar measurement according to the formula (5)
Converting into radar measurement system position measured element difference [ dR dA dE]T：
In the formula, TAMThe position difference of a measuring system of the radar measuring system to a position measuring element of the radar measuring systemThe specific calculation formula of the conversion matrix of the difference is as follows:
wherein [ RA E ]]TThe position measuring element of the radar measuring system is shown, wherein R represents an oblique distance measuring element, A represents an azimuth angle measuring element, and E represents a high and low angle measuring element.
Further, the seventh step further comprises:
according to the position measured element difference [ dR dA dE ] of the radar measuring system obtained in the fifth step]TCalculating radar measurement system position measurement metadata [ RA E ] according to the formula (7)]TCorrection value of
Further, the step eight further comprises:
differentiating the position of the earth's center system according to the formula (8)
Converting into position differences of measurement systems of optical measurement systems
In the formula (I), the compound is shown in the specification,
the direction conversion matrix from the geocentric coordinate system to the measurement coordinate system of the optical measurement system comprises the following specific calculation formula:
in the formula, BGAnd LGRespectively the geographical latitude and the geographical longitude of the optical measurement system.
Further, the ninth step further comprises:
9.1 estimating the slant-distance measuring element of the optical measuring system
Firstly, according to the position data sequence of the carrier rocket measured by the satellite navigation measuring system within 10s before the t moment
The sequence number i corresponds to the time of flight t of the launch vehicleiI is 1,2, …, n, calculating the position data sequence of the carrier rocket in the optical measurement system measurement coordinate system according to the following formula:
in the formula (I), the compound is shown in the specification,
is a direction conversion matrix from a geocentric coordinate system to an optical measurement system measurement coordinate system;
secondly, according to the position data sequence of the carrier rocket in the optical measurement system measuring coordinate system
Calculating the slope distance sequence of the carrier rocket in the measuring coordinate system of the optical measuring system according to the following formula
Estimating the slant distance measuring element of the optical measuring system according to the formula (9) by using a second-order polynomial end point smoothing method
In the formula (I), the compound is shown in the specification,
9.2 measuring the position difference of the system by the optical measuring system according to the formula (10)
Conversion into position measurement element difference of optical measurement system
In the formula (I), the compound is shown in the specification,
the method is a conversion matrix from the position difference of a measurement system of an optical measurement system to the position measurement element difference of the optical measurement system, and the specific calculation formula is as follows:
wherein (A E) is an angle measurement unit of the optical measurement system.
Further, the step of decimal further comprises:
the position measured element difference of the optical measuring system obtained according to the step eight
Calculating an optical measuring system according to equation (11)Location measurement metadata
Correction value of
The invention has the advantages that:
according to the basic method of coordinate conversion and the basic characteristics of space launching measurement data, the basic fact that the positions of a satellite navigation measurement antenna and a radar responder antenna are fixed on an arrow coordinate system is fully utilized, the basic transfer relationship of the influence of the difference between the outer ballistic trajectory measurement position and the inertial navigation measurement position on various measurement system position measurement elements is established, the correction method of the satellite navigation measurement system position measurement data, the correction method of the radar measurement system position measurement element measurement data and the correction method of the optical measurement system angle measurement element measurement data are provided, and the practical problem of position consistency among various measurement data in a space launching task is well solved.
Drawings
Fig. 1 is a schematic view of a position alignment approach.
Fig. 2 is a schematic diagram of a main process of position alignment.
In fig. 2, 4 parts of the square frame mark mainly implement coordinate transformation of the measurement position difference between various types of measurement data, and mainly solve the principle and method problem of position measurement element correction; the 3 parts of the oval frame mark mainly realize the specific correction of the difference between the measurement position of the 3-type measurement system and the measurement position of the inertial navigation measurement system, and mainly solve the specific method and process problems of the correction of the position measurement element.
Detailed Description
As described above, the position measurement data of the other 3 types of measurement systems is corrected with the measurement position of the inertial navigation measurement system as a reference.
The main notations used in the present invention are described below:
the method for aligning the position reference of the multi-source multi-category measurement data of the carrier rocket at high precision comprises the following steps:
step one, converting the position difference of a projectile system into a navigation system position difference;
the position difference of the elastic system is determined according to the formula (1)
Converting into a navigation system position difference
In the formula, TG1The direction conversion matrix for carrying a rocket projectile coordinate system to a navigation platform measurement coordinate system comprises the following specific calculation formula:
in the formula (I), the compound is shown in the specification,
for the measurement of the attitude angle of the projectile coordinate system relative to the navigation platform, this data can be obtained directly from the computer word telemetry parameters of the launch vehicle.
Step two, converting the navigation system position difference into a geocentric system position difference;
differentiating the position of the navigation system according to the formula (2)
Converted into the position difference of the geocentric system
In the formula, TOGThe direction conversion matrix from the carrier rocket navigation measurement coordinate system to the geocentric coordinate system is calculated by the following specific formula:
where t is the time of flight of the launch vehicle relative to the time of initiation of the navigation computation, ωeIs the angular rate of rotation of the earth, B0、L0、A0The geographical latitude, the geographical longitude and the launching azimuth of the launching point of the carrier rocket are respectively.
Step one and step two are true for the satellite navigation measurement system, the radar measurement system and the optical measurement system. The correction of the position measurement data is carried out for different measurement systems, starting from the following steps:
step three, correcting position measurement data by different measurement systems;
correcting the position measurement data of the satellite navigation measurement system, and executing the step four;
for the correction of the position measurement data of the radar measurement system, executing the fifth step to the seventh step;
for correcting the position measurement data of the optical measurement system, executing the step eight to the step ten;
correcting the satellite navigation position measurement data based on the geocentric position difference;
the position difference of the geocentric system obtained in the second step
Calculating satellite navigation position measurement data [ x ] according to equation (3)sys zs]TCorrection value of
Step five, converting the position difference of the geocentric system into the position difference of a measuring system of the radar measuring system;
the difference in the position of the earth center system according to the formula (4)
Converting into position difference of measurement system of radar measurement system
In the formula, TMOThe direction conversion matrix from the geocentric coordinate system to the radar measurement system measurement coordinate system is specifically calculated as follows:
wherein, B and L are the geographical latitude and the geographical longitude of the radar measuring system respectively.
Step six, converting the position difference of a measurement system of the radar measurement system into a position measurement element difference of the radar measurement system;
measuring the position difference of the system of radar measurement according to the formula (5)
Converting into radar measurement system position measured element difference [ dR dA dE]T：
In the formula, TAMThe method is a conversion matrix from the position difference of a radar measurement system to the position measurement element difference of the radar measurement system, and the specific calculation formula is as follows:
wherein [ RA E ]]TThe position measuring element of the radar measuring system is shown, wherein R represents an oblique distance measuring element, A represents an azimuth angle measuring element, and E represents a high and low angle measuring element.
Specifically, the derivation process of the formula (5) is as follows:
position coordinate vector [ x ] of carrier rocket in radar measurement coordinate systemM yM zM]TPosition measurement element [ RA E ] of radar measurement system]TThe following basic relationships exist:
fully differentiating the above formula to obtain
By performing an equivalent transformation on the above formula, then
To obtain the formula (5).
Step seven, correcting the position measurement metadata of the radar measurement system based on the position measurement metadata difference of the radar measurement system;
radar measurements from step fiveSystem position delta [ dR dA dE ]]TCalculating radar measurement system position measurement metadata [ RA E ] according to the formula (7)]TCorrection value of
Step eight, converting the position difference of the geocentric system into the position difference of the measuring system of the optical measuring system;
differentiating the position of the earth's center system according to the formula (8)
Converting into position differences of measurement systems of optical measurement systems
In the formula (I), the compound is shown in the specification,
the direction conversion matrix from the geocentric coordinate system to the measurement coordinate system of the optical measurement system comprises the following specific calculation formula:
in the formula, BGAnd LGRespectively the geographical latitude and the geographical longitude of the optical measurement system.
Ninth, the position difference of the measurement system of the optical measurement system is converted into the position measurement element difference of the optical measurement system;
the method comprises the following steps of:
9.1 estimating the slant-distance measuring element of the optical measuring system
For any measurement time, not recording the time t, and measuring a position data sequence of the carrier rocket by a satellite navigation measurement system within 10s before the time t
The sequence number i corresponds to the time of flight t of the launch vehicleiI is 1,2, …, n, calculating the position data sequence of the carrier rocket in the optical measurement system measurement coordinate system according to the following formula:
in the formula (I), the compound is shown in the specification,
is a direction conversion matrix from the geocentric coordinate system to the measurement coordinate system of the optical measurement system.
Secondly, according to the position data sequence of the carrier rocket in the optical measurement system measuring coordinate system
Calculating the slope distance sequence of the carrier rocket in the measuring coordinate system of the optical measuring system according to the following formula
Estimating the slant distance measuring element of the optical measuring system according to the formula (9) by using a second-order polynomial end point smoothing method
In the formula (I), the compound is shown in the specification,
9.2 measuring the position difference of the system by the optical measuring system according to the formula (10)
Conversion into position measurement element difference of optical measurement system
In the formula (I), the compound is shown in the specification,
the method is a conversion matrix from the position difference of a measurement system of an optical measurement system to the position measurement element difference of the optical measurement system, and the specific calculation formula is as follows:
wherein (A E) is an angle measurement unit of the optical measurement system.
Specifically, the derivation process of the formula (10) is as follows:
position coordinate vector [ x ] of carrier rocket in optical measurement system measurement coordinate systemM yM zM]TPosition measuring unit for optical measuring system
The following basic relationships exist:
fully differentiating the above formula to obtain
By performing an equivalent transformation on the above formula, then
To obtain the formula (10).
Step ten, correcting the position measurement metadata of the optical measurement system based on the position measurement metadata difference of the optical measurement system;
the position measured element difference of the optical measuring system obtained according to the step eight
Calculating optical measurement system position measurement metadata according to equation (11)
Correction value of
The position reference correction method for the multi-source multi-category measurement data of the carrier rocket provided by the invention utilizes the difference between the measurement position of the inertial navigation measurement system and the measurement position of other measurement systems, and corrects the measurement element deviation caused by correcting the measurement position deviation, thereby realizing the consistency of all position measurement data on the spatial position. According to the technical approach provided by the invention, the actual measurement precision of the measurement position deviation of the radar measurement system, the optical measurement system, the satellite navigation measurement system and the inertial navigation measurement system in the projectile coordinate system determines the correction precision of the position measurement elements of the three measurement systems, so that the problem of high-precision alignment of the multi-source multi-type measurement data position reference of the carrier rocket can be effectively solved.
Claims (10)
1. A multi-source multi-category measurement data position reference high-precision alignment method for a carrier rocket is characterized by comprising the following steps:
step one, converting the position difference of a projectile system into a navigation system position difference;
step two, converting the navigation system position difference into a geocentric system position difference;
step three, correcting position measurement data by different measurement systems;
correcting the position measurement data of the satellite navigation measurement system, and executing the step four;
for the correction of the position measurement data of the radar measurement system, executing the fifth step to the seventh step;
for correcting the position measurement data of the optical measurement system, executing the step eight to the step ten;
correcting the satellite navigation position measurement data based on the geocentric position difference;
step five, converting the position difference of the geocentric system into the position difference of a measuring system of the radar measuring system;
step six, converting the position difference of a measurement system of the radar measurement system into a position measurement element difference of the radar measurement system;
step seven, correcting the position measurement metadata of the radar measurement system based on the position measurement metadata difference of the radar measurement system;
step eight, converting the position difference of the geocentric system into the position difference of the measuring system of the optical measuring system;
ninth, the position difference of the measurement system of the optical measurement system is converted into the position measurement element difference of the optical measurement system;
and step ten, correcting the position measurement metadata of the optical measurement system based on the position measurement metadata difference of the optical measurement system.
2. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 1, wherein said step one further comprises:
the position difference of the elastic system is determined according to the formula (1)
Converting into a navigation system position difference
In the formula, TG1The direction conversion matrix for carrying a rocket projectile coordinate system to a navigation platform measurement coordinate system comprises the following specific calculation formula:
in the formula (I), the compound is shown in the specification,
for the measurement of the attitude angle of the projectile coordinate system relative to the navigation platform, this data can be obtained directly from the computer word telemetry parameters of the launch vehicle.
3. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 2, wherein said step two further comprises:
differentiating the position of the navigation system according to the formula (2)
Converted into the position difference of the geocentric system
In the formula, TOGThe direction conversion matrix from the carrier rocket navigation measurement coordinate system to the geocentric coordinate system is calculated by the following specific formula:
where t is the time of flight of the launch vehicle relative to the time of initiation of the navigation computation, ωeIs the angular rate of rotation of the earth, B0、L0、A0The geographical latitude, the geographical longitude and the launching azimuth of the launching point of the carrier rocket are respectively.
4. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 3, wherein said step four further comprises:
the position difference of the geocentric system obtained in the second step
Calculating satellite navigation position measurement data [ x ] according to equation (3)s ys zs]TCorrection value of
5. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 4, wherein said step five further comprises:
the difference in the position of the earth center system according to the formula (4)
Conversion into a measurement system position of a radar measurement systemSet difference
In the formula, TMOThe direction conversion matrix from the geocentric coordinate system to the radar measurement system measurement coordinate system is specifically calculated as follows:
wherein, B and L are the geographical latitude and the geographical longitude of the radar measuring system respectively.
6. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 5, wherein said sixth step further comprises:
measuring the position difference of the system of radar measurement according to the formula (5)
Converting into radar measurement system position measured element difference [ dR dA dE]T：
In the formula, TAMThe method is a conversion matrix from the position difference of a radar measurement system to the position measurement element difference of the radar measurement system, and the specific calculation formula is as follows:
wherein [ RA E ]]TPosition measuring cell for radar measuring system, whichAnd R in the middle represents an oblique distance measuring element, A represents an azimuth angle measuring element, and E represents a high and low angle measuring element.
7. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 6, wherein said seventh step further comprises:
according to the position measured element difference [ dR dA dE ] of the radar measuring system obtained in the fifth step]TCalculating radar measurement system position measurement metadata [ RA E ] according to the formula (7)]TCorrection value of
8. The launch vehicle multi-source multi-category measurement data position reference high accuracy alignment method of claim 7, wherein said step eight further comprises:
differentiating the position of the earth's center system according to the formula (8)
Converting into position differences of measurement systems of optical measurement systems
In the formula (I), the compound is shown in the specification,
the direction conversion matrix from the geocentric coordinate system to the measurement coordinate system of the optical measurement system comprises the following specific calculation formula:
in the formula, BGAnd LGRespectively the geographical latitude and the geographical longitude of the optical measurement system.
9. The launch vehicle multi-source multi-category measurement data position reference high precision alignment method of claim 8, wherein said ninth step further comprises:
9.1 estimating the slant-distance measuring element of the optical measuring system
Firstly, according to the position data sequence of the carrier rocket measured by the satellite navigation measuring system within 10s before the t moment
The sequence number i corresponds to the time of flight t of the launch vehicleiI is 1,2, …, n, calculating the position data sequence of the carrier rocket in the optical measurement system measurement coordinate system according to the following formula:
in the formula (I), the compound is shown in the specification,
is a direction conversion matrix from a geocentric coordinate system to an optical measurement system measurement coordinate system;
secondly, according to the position data sequence of the carrier rocket in the optical measurement system measuring coordinate system
Calculating the slope distance sequence of the carrier rocket in the measuring coordinate system of the optical measuring system according to the following formula
Estimating the slant distance measuring element of the optical measuring system according to the formula (9) by using a second-order polynomial end point smoothing method
In the formula (I), the compound is shown in the specification,
9.2 measuring the position difference of the system by the optical measuring system according to the formula (10)
Conversion into position measurement element difference of optical measurement system
In the formula (I), the compound is shown in the specification,
the method is a conversion matrix from the position difference of a measurement system of an optical measurement system to the position measurement element difference of the optical measurement system, and the specific calculation formula is as follows:
wherein (A E) is an angle measurement unit of the optical measurement system.
10. The high-precision alignment method for position references of multi-source multi-class measurement data of a launch vehicle of claim 9, wherein said step of decimal further comprises:
the position measured element difference of the optical measuring system obtained according to the step eight
Calculating optical measurement system position measurement metadata according to equation (11)
Correction value of
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