KR20130066909A - Method for measuring direction error of gimbal platform and apparatus thereof - Google Patents

Abstract

PURPOSE: A method and a device for measuring directional error of a gimbal platform are provided to utilize for correcting the position of the gimbal platform with a control device by transmitting the detected directional deviation value to the control device and to improve the efficiency of an observing device. CONSTITUTION: A device(100) for measuring directional error of a gimbal platform comprises an image inputting unit(110) and an image processing unit(120). The image inputting unit films a target point where a light is irradiated in a directional point by an optical pointing unit and obtains images. The image processing unit operates the directional error to control the driving stabilization by calculating the horizontal deflection angle and the vertical deflection angle between the target point and the directional point from the images and determines the directional error to control the driving stabilization. [Reference numerals] (110) Image inputting unit; (120) Image processing unit; (130) Gimbal platform control unit; (140) Motion simulator

Description

METHODS FOR MEASURING DIRECTION ERROR OF GIMBAL PLATFORM AND APPARATUS THEREOF}

The present specification relates to a method and an apparatus for measuring a direction error of a gimbal platform.

A gimbal is a rotational support frame that allows rotation about the longitudinal axis in the horizontal and vertical directions so that equipment or equipment can be placed horizontally and vertically regardless of the shaking of the structure floating on the water.

The gimbal is mounted on a platform of a moving device such as a ground mobile vehicle, an aircraft or a vessel to perform two- or three-axis drive stabilization control, so that despite the disturbance applied to the platform during movement, Ensure that the final load stage, such as the GUN or antenna, maintains the initial orientation. Therefore, it is possible to continue to aim the target detected from the observation device regardless of the posture while moving the observation device using the gimbal.

The driving stabilization control of the gimbal platform rotates the platform or the observation device in a direction opposite to the change of the attitude of the observation device by the magnitude of disturbance in order to maintain the platform or the observation device as a target point where the object to be observed is located. Implemented in principle. Specifically, the absolute angular velocity applied to the platform is measured by using a position sensor such as a gyroscope, and the platform or the observation device is rotated by the driving means and vice versa.

Therefore, the measurement of the orientation error between the direction of the observation device and the target point due to disturbance applied to the gimbal has a great influence on the performance of the gimbal.

As a method for measuring a direction error in an observation apparatus using a gimbal platform, there is a method using an inertial navigation system. Specifically, this method mounts an inertial navigation device on a two- or three-axis gimbal platform and derives a target angle for each axis for which the inertial navigation device is directed in a specific direction. Thereafter, the final driving result of each axis through the control is measured by a position measuring sensor such as a resolver, and the directing accuracy is measured as an error between the target angle and the final driving angle.

The method using the inertial navigation device has some problems.

First, in order to measure the precision of the precision of the inertial navigation device for measuring the disturbance angle applied to the gimbal platform should have a high performance, there is a problem that the cost increases.

Second, in the case of the inertial navigation apparatus provided in consideration of the appropriateness of the cost, there is a problem that the accuracy of directivity is lowered because there is a measurement error of the device itself.

Third, there is a problem in that the direction error at the final load stage cannot be accurately measured due to the influence of the assembly error of the rear end of the resolver sensor used as the feedback signal and the mechanical deformation caused by the rigidity.

As another method, in the case of an antenna driving gimbal platform directed to a satellite, there is a method of measuring a direction error by the strength of a signal received by an antenna from a real satellite and a simulated satellite.

First of all, this method has a problem that indoor testing is impossible because there should be no obstacles between the satellite and the gimbal platform when the test is aimed at a real satellite or a simulated satellite.

Second, when using a satellite signal, there is a problem in that such interference component has to be removed to measure the true direct error due to the interference of the signal coming into the antenna by reflecting the satellite signal according to the test environment.

The present specification provides a method and an apparatus for measuring a direction error of a gimbal platform for measuring a direct direction error in which all error components of the gimbal platform are reflected using image information.

The apparatus for measuring the orientation error of the gimbal platform disclosed in the present specification is actually directed by the optical gimbal provided on the gimbal platform to perform driving stabilization control to direct an arbitrary target point in a situation where disturbance is applied. An image input unit which acquires an image by capturing a target spot irradiated with light to a directing point, and calculates a horizontal deviation angle and a vertical deviation angle between the target point and the directing point from the obtained image to direct an error for the driving stabilization control It characterized in that it comprises an image processing unit for determining.

The apparatus may further include a motion simulator for applying disturbance to the gimbal platform.

The apparatus may further include a gimbal platform controller configured to drive the gimbal platform to direct the target point based on the determined orientation error.

In addition, the image may be a partial region having an arbitrary length and an arbitrary number of pixels, with the horizontal and vertical centered on the target point among the entire regions of the target paper.

The image processor may be further configured to calculate a horizontal deviation length based on Equation 1 below based on a horizontal deviation pixel number between the target point and the direction point of the image, a horizontal length of the image, and a horizontal pixel number.

&Quot; (1) "

(Where x is the horizontal deviation length, nx is the horizontal deviation pixel number, D ₁ is the horizontal length, and N ₁ is the horizontal pixel number)

The horizontal deviation angle is calculated according to Equation 2 below based on the horizontal deviation length and the distance from the optical pointing unit to the target paper.

&Quot; (2) "

(Where q ₁ is the horizontal deviation angle, x is the horizontal deviation length, and L is the distance from the optical pointing portion to the target site)

The image processing unit may calculate a vertical deviation length according to Equation 3 below based on the number of vertical deviation pixels between the target point and the direction point of the image, the vertical length of the image, and the vertical pixel number.

&Quot; (3) "

(Where y is the length of vertical deviation, ny is the number of vertical deviation pixels, D ₂ is the length, and N ₂ is the number of vertical pixels)

The vertical deviation angle may be calculated according to Equation 4 below based on the longitudinal deviation length and the distance from the optical pointing unit to the target paper.

&Quot; (4) "

(Where q ₂ is the longitudinal deviation angle, y is the longitudinal deviation length, and L is the distance from the optical pointing portion to the target site)

In addition, the image input unit may include a camera using a lens-type filter that passes only the wavelength of the laser beam of the optical pointing device in order to increase the readability of the aiming point position by increasing the readability of the optical aiming point.

In addition, the observation apparatus disclosed herein is provided on the gimbal platform, the gimbal platform for performing a drive stabilization control to direct any target point in the situation where disturbance is applied, the gimbal platform is actually directed on the target site Optical pointing unit for irradiating light to a directing point, to capture the target area to obtain an image, and to calculate the horizontal deviation angle and the vertical deviation angle between the target point and the direction point from the acquired image direction error for the drive stabilization control Characterized in that it comprises a directional error measuring device for determining the.

In addition, the method for measuring the orientation error of the gimbal platform disclosed in the present disclosure is characterized in that the gimbal platform is provided by an optical pointing unit provided on the gimbal platform that performs driving stabilization control to direct an arbitrary target point in a situation where disturbance is applied. Obtaining an image by photographing a target spot irradiated with light on a direction point to which the light is actually directed, and calculating a horizontal deviation angle and a vertical deviation angle between the target point and the direction point from the obtained image to obtain an orientation error for the driving stabilization control Characterized in that it comprises the step of determining.

The method may further include applying disturbance to the gimbal platform.

The method may further include driving the gimbal platform to direct the target point based on the determined orientation error.

In addition, the image may be a partial region having an arbitrary length and an arbitrary number of pixels, with the horizontal and vertical centered on the target point among the entire regions of the target paper.

The determining of the orientation error may include calculating a horizontal deviation length according to Equation 5 below based on the number of horizontal deviation pixels between the target point and the direction point of the image, the horizontal length of the image, and the horizontal pixel number. Steps, and

&Quot; (5) "

(Where x is the horizontal deviation length, nx is the horizontal deviation pixel number, D ₁ is the horizontal length, and N ₁ is the horizontal pixel number)

And calculating the horizontal deviation angle according to Equation 6 below based on the horizontal deviation length and the distance from the optical pointing unit to the target paper.

&Quot; (6) "

(Where q ₁ is the horizontal deviation angle, x is the horizontal deviation length, and L is the distance from the optical pointing portion to the target site)

The determining of the orientation error may include calculating a vertical deviation length according to Equation 7 below based on the number of vertical deviation pixels between the target point and the direction point of the image, the vertical length of the image, and the vertical pixel number. Steps, and

&Quot; (7) "

(Where y is the length of vertical deviation, ny is the number of vertical deviation pixels, D ₂ is the length, and N ₂ is the number of vertical pixels)

And calculating the longitudinal deviation angle according to Equation 8 below based on the longitudinal deviation length and the distance from the optical pointing unit to the target paper.

<Equation 8>

(Where q ₂ is the longitudinal deviation angle, y is the longitudinal deviation length, and L is the distance from the optical pointing portion to the target site)

In addition, the observation method disclosed herein is actually directed to the gimbal platform on the target site by an optical pointing portion provided on the gimbal platform for performing the drive stabilization control to direct any target point in the event of disturbance is applied. Irradiating light to a directing point, photographing the target area to obtain an image, and calculating a horizontal deviation angle and a vertical deviation angle between the target point and the directing point from the obtained image to direct the driving stabilization control. Determining an error, and driving the gimbal platform to direct the target point based on the determined orientation error.

According to the method and apparatus for measuring the orientation error of the gimbal platform disclosed herein, in the orientation error measurement for a virtual target in a single state of the orientation / tracking system, the orientation deviation is detected through image processing using an image camera. Direct directional error measurements that reflect all the error components of the platform are possible.

In addition, according to the method and the apparatus for measuring the orientation error of the gimbal platform disclosed herein, by transmitting the detected orientation deviation value to the control device of the platform, the control device is used as information for correcting the gimbal platform position, and the gimbal platform is used. Improve the performance of the observation device used.

1 is a block diagram illustrating a configuration of an orientation error measuring apparatus according to an exemplary embodiment disclosed herein.
2 is a diagram illustrating a configuration of an observation apparatus including a directional error measuring apparatus according to an exemplary embodiment disclosed herein.
3 is a flowchart illustrating a direction error measuring method according to an exemplary embodiment of the present disclosure.
4 is a view showing the arrangement of the orientation error measuring apparatus and the target plate according to an embodiment disclosed herein.
FIG. 5 is a diagram illustrating an example of an image acquired by the apparatus for measuring directional error according to an exemplary embodiment disclosed herein.
6 is a diagram illustrating an example in which the orientation error measuring apparatus according to the exemplary embodiment disclosed herein calculates a horizontal deviation angle.
FIG. 7 is a diagram illustrating an example in which a direction error measuring apparatus calculates a vertical deviation angle according to an exemplary embodiment of the present disclosure.

It is to be noted that the technical terms used herein are merely used to describe particular embodiments, and are not intended to limit the present invention. In addition, the technical terms used herein should be interpreted as meanings generally understood by those of ordinary skill in the art, unless defined otherwise in this specification, and excessively inclusive It should not be construed as or in an overly reduced sense.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, "comprises" Or "includes." Should not be construed to encompass the various components or steps described in the specification, and some of the components or portions may not be included, or may include additional components or steps And the like.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured. It is to be noted that the attached drawings are only for the purpose of easily understanding the concept of the technology disclosed in the present specification, and should not be construed as limiting the spirit of the technology by the attached drawings.

Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating a configuration of an orientation error measuring apparatus according to an exemplary embodiment disclosed herein.

Referring to FIG. 1, the orientation error measuring apparatus 100 may include an image input unit 110, an image processor 120, a gimbal platform control unit 130, and a motion simulator 140.

The image input unit 110 may acquire an image by capturing an input external image. In addition, the image input unit 110 may transmit the obtained image to the image processor 120 to process the obtained image.

The image input unit 110 may include, for example, one or more of a lens, an image sensor, an image signal processor (ISP), and the like. In addition, the image input unit 110 may be, for example, a camera for photographing the front.

According to the exemplary embodiment disclosed herein, the image input unit 110 may acquire an image by photographing a target site. The image input unit 110 may acquire an image by photographing the target site in a state where light is irradiated to a direction point actually directed by the gimbal platform by the optical pointing unit provided on the gimbal platform.

In addition, according to an embodiment of the present disclosure, the camera provided in the image input unit 110, in order to increase the readability of the aiming point position by increasing the readability of the optical aiming point, passing only the wavelength of the laser light of the optical pointing device. Lens type filters can be used.

The image processor 120 may perform an operation for processing an image received from the image input unit 110. The image processor 120 may include one or more software modules for processing the image.

According to an embodiment of the present disclosure, the image processor 120 may analyze an image acquired by the image input unit 110 to determine a direction error between a target point to be directed by the gimbal platform and the direction point. .

The gimbal platform control unit 130 may control the driving of the gimbal platform to change the orientation point of the gimbal platform.

According to the exemplary embodiment disclosed herein, the gimbal platform controller 130 may drive the gimbal platform to direct the target point based on the orientation error determined by the image processor 120.

The motion simulator 140 may apply any motion to the gimbal platform. The arbitrary motion applied by the motion simulator 140 may be disturbance applied to the gimbal platform.

The motion simulator 140 may be, for example, a six-axis motion simulator. The six-axis motion simulator may be composed of six axes connected to each direction of the gimbal platform to deliver motion to the gimbal platform. The motion of the gimbal platform by the six-axis motion simulator may correspond to roll, pitch, and yaw motion.

Not all components of the directional error measuring apparatus 100 shown in FIG. 1 are essential components, and the directional error measuring apparatus 100 may be implemented by more or less components than those shown in FIG. 1. Can be.

2 is a diagram illustrating a configuration of an observation apparatus including a directional error measuring apparatus according to an exemplary embodiment disclosed herein.

Referring to FIG. 2, the observation device 200 may include a gimbal platform 210, an optical pointing unit 220, and an orientation error measuring device 100.

The gimbal platform 210 may perform driving stabilization control so that the observation or aiming device provided on the gimbal platform 210 may direct an arbitrary target point in a situation where disturbance is applied.

The optical pointing unit 220 may irradiate light to a direction point to which the gimbal platform 210 is actually directed. Therefore, the optical pointing unit 220 may be provided on the gimbal platform 210.

The optical pointing unit 220 may include a light source for irradiating light, and the light source may be a light source having straightness such as a laser diode, a light emitting diode (LED), a tungsten light source, or an optical fiber light source.

The directional error measuring apparatus 100 measures the directional error of the observation apparatus 200, and the detailed description of the directional error measuring apparatus 100 is as described above with reference to FIG. 1.

Referring to FIG. 2, the image input unit 110 may direct a target point of the gimbal platform 210 in a state fixed to the floor in order to photograph a direction point at which the optical pointing unit 220 emits light. have.

In addition, the motion simulator 140 is provided at the bottom of the gimbal platform 210 to apply disturbance to the gimbal platform 210, each axis that transmits power to the outside contacts the gimbal platform 210. Can be.

3 is a flowchart illustrating a direction error measuring method according to an exemplary embodiment of the present disclosure.

Referring to FIG. 3, first, the directional error measuring apparatus 100 applies disturbance to the gimbal platform 210 (S10).

The orientation error measuring apparatus 100 may apply disturbance to the gimbal platform 210 using the motion simulator 140. In this case, the disturbance applied to the gimbal platform 210 may include a rotational and / or translational motion.

The motion simulator 140 may measure the length of each axis using a linear motor or a built-in position sensor provided in each axis for transmitting power to the gimbal platform 210. In addition, the motion simulator 140 may measure the translational position displacement and the rotational angle displacement of the disturbance through kinematic analysis or the like based on the measurement result.

Next, the orientation error measuring apparatus 100 acquires an image by photographing the target spot 300 (S20).

Referring to FIG. 4, the orientation error measuring apparatus 100 may photograph the target spot 300 positioned in a direction of an arbitrary target point 310 through the image input unit 110. In this case, the target site 300 is light by the optical pointing unit 220 provided on the gimbal platform 210 to which the disturbance is applied, the light to the direction point 320 that the gimbal platform 210 is actually directed It may be investigated. The direction point 320 may be a point different from the target point 310 due to a direction error generated by the disturbance.

Therefore, the orientation error measuring apparatus 100 may acquire an image by photographing the target paper 330 irradiated with light by the optical pointing unit 220.

According to the exemplary embodiment disclosed herein, as illustrated in FIG. 5, the image 330 is centered on the target point 310 of the entire area of the target spot 300, and has a length that is horizontal and vertical. And some regions with any number of pixels.

The direction error measuring apparatus 100 may acquire pixel information (for example, the number of pixels, etc.) of a predetermined size constituting the image 330 when the image is acquired.

Referring to FIG. 5, the width of the image 330 may have a length D1 and a pixel number N1. In addition, the image 330 may have a length D2 and a pixel number N2. The image 330 as described above may have a fixed size according to the operation of the image processor 120.

Thereafter, the orientation error measuring apparatus 100 determines the orientation error (S30).

The orientation error measuring apparatus 100 may determine the orientation error of the gimbal platform 210 through the image processor 120.

According to an embodiment disclosed herein, the orientation error measuring apparatus 100 calculates a horizontal deviation angle and a vertical deviation angle between the target point 310 and the direction point 320 from the obtained image 330, The orientation error for the driving stabilization control may be determined.

Specifically, referring to FIG. 5, the orientation error measuring apparatus 100 determines the number of horizontal deviation pixels nx between the target point 310 and the orientation point 320 of the image 330, and the width of the image 330. Based on the length D1 and the horizontal pixel number N1, the horizontal deviation length x may be calculated by the following equation (1).

(Where x is the horizontal deviation length, nx is the horizontal deviation pixel number, D ₁ is the horizontal length, and N ₁ is the horizontal pixel number)

In addition, the orientation error measuring apparatus 100 may measure the distance from the end of the optical pointing unit 220 to the target paper 300. The directional error measuring apparatus 100 may measure the distance based on a time when the light radiated to the target plate 300 returns using an optical wave emitter or the like. To this end, the directional error measuring apparatus 100 may be provided with a separate device for measuring the distance. Alternatively, the directional error measuring apparatus 100 may obtain the measured distance from the apparatus for measuring the distance included in the observation apparatus 200.

The distance measurement may be measured in advance before the orientation error measurement apparatus 100 determines the orientation error, and may be stored in a storage unit or the like of the orientation error measurement apparatus 100.

Referring to FIG. 6, the directional error measuring apparatus 100 may determine the horizontal deviation according to Equation 2 below based on the horizontal deviation length x and the distance from the optical pointing unit 220 to the target destination 300. Each q1 can be calculated.

(Where q ₁ is the horizontal deviation angle, x is the horizontal deviation length, and L is the distance from the optical pointing portion to the target site)

In addition, referring to FIG. 5, the orientation error measuring apparatus 100 determines the number of vertical deviation pixels yn between the target point 310 and the orientation point 320 of the image 330, the vertical length D2 of the image, and the vertical length. Based on the number N2 of pixels, the vertical deviation length can be calculated by the following equation (3).

(Where y is the length of vertical deviation, ny is the number of vertical deviation pixels, D ₂ is the length, and N ₂ is the number of vertical pixels)

In addition, referring to FIG. 7, the directional error measuring apparatus 100 is based on the longitudinal deviation length y and the distance from the optical pointing unit 220 to the target site 300 according to Equation 4 below. The vertical deviation angle q2 can be calculated.

(Where q ₂ is the longitudinal deviation angle, y is the longitudinal deviation length, and L is the distance from the optical pointing portion to the target site)

The orientation error measuring apparatus 100 may determine the calculated horizontal deviation angle q1 and the vertical deviation angle q2 as orientation errors that the gimbal platform 210 has due to disturbance.

Finally, the directional error measuring apparatus 100 drives the gimbal platform 210 to direct the target point 310 (S40).

The directional error measuring apparatus 100 may drive the gimbal platform 210 to direct the target point 310 based on the determined directional error by using the gimbal platform control unit 130. That is, the orientation error measuring apparatus 100 calculates the elevation angle and the azimuth angle that the gimbal platform 210 needs to correct in order to direct the target point 310 based on the orientation error, and the gimbal platform 210 The orientation point may be corrected by the elevation and azimuth angles to drive the target point 310. As a result, the gimbal platform 210 may be maintained to direct the target point 310 even in a situation where disturbance is applied.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

100: orientation error measuring device 110: image input unit
120: image processing unit 130: gimbal platform control unit
140: motion simulator

Claims (14)

The optical pointing unit provided on the gimbal platform that performs driving stabilization control to direct an arbitrary target point in a situation where disturbance is applied, photographs a target spot irradiated with light on a direction point to which the gimbal platform is actually directed. Image input unit for obtaining a; And
And an image processor configured to determine a direction error for the driving stabilization control by calculating a horizontal deviation angle and a vertical deviation angle between the target point and the direction point from the obtained image. The method of claim 1,
And a motion simulator for applying disturbance to the gimbal platform. The method of claim 1,
And a gimbal platform control unit for driving the gimbal platform to direct the target point based on the determined orientation error. The method of claim 1, wherein the image,
Apparatus for measuring a direction error of a gimbal platform, characterized in that the center of the target area of the entire target area, the width and length are some areas having any length and any number of pixels. The method of claim 4, wherein the image processor,
Calculating a horizontal deviation length according to Equation 1 below based on the number of horizontal deviation pixels between the target point and the direction point of the image, the horizontal length of the image, and the horizontal pixel number,
&Quot; (1) &quot;

(Where x is the horizontal deviation length, nx is the horizontal deviation pixel number, D ₁ is the horizontal length, and N ₁ is the horizontal pixel number)
And calculating the lateral deviation angle according to Equation 2 below based on the lateral deviation length and the distance from the optical pointing unit to the target site.
&Quot; (2) &quot;

(Where q ₁ is the horizontal deviation angle, x is the horizontal deviation length, and L is the distance from the optical pointing portion to the target site) The method of claim 4, wherein the image processor,
Calculating a vertical deviation length according to Equation 3 below based on the number of vertical deviation pixels between the target point and the direction point of the image, the vertical length of the image, and the number of vertical pixels,
&Quot; (3) &quot;

(Where y is the length of vertical deviation, ny is the number of vertical deviation pixels, D ₂ is the length, and N ₂ is the number of vertical pixels)
And calculating the longitudinal deviation angle according to Equation 4 below based on the longitudinal deviation length and the distance from the optical pointing unit to the target site.
&Quot; (4) &quot;

(Where q ₂ is the longitudinal deviation angle, y is the longitudinal deviation length, and L is the distance from the optical pointing portion to the target site) A gimbal platform that performs drive stabilization control to direct an arbitrary target point in a situation where disturbance is applied;
An optical pointing unit provided on the gimbal platform and radiating light to a direction point to which the gimbal platform is actually directed on a target site;
And a direction error measuring device for acquiring an image by capturing the target area, and determining a direction error for driving stabilization control by calculating a horizontal deviation angle and a vertical deviation angle between the target point and the direction point from the obtained image. Observation apparatus characterized in that. The optical pointing unit provided on the gimbal platform that performs driving stabilization control to direct an arbitrary target point in a situation where disturbance is applied, photographs a target spot irradiated with light on a direction point to which the gimbal platform is actually directed. Obtaining a;
And calculating a direction error for the driving stabilization control by calculating a horizontal deviation angle and a vertical deviation angle between the target point and the direction point from the obtained image. 9. The method of claim 8,
The method of claim 1, further comprising applying a disturbance to the gimbal platform. 9. The method of claim 8,
And driving the gimbal platform to direct the target point based on the determined orientation error. The method of claim 8, wherein the image,
And a partial area having an arbitrary length and an arbitrary number of pixels centered on the target point among the entire area of the target area, and having a predetermined length and an arbitrary number of pixels. The method of claim 11, wherein the determining of the direct error comprises:
Calculating a horizontal deviation length according to Equation 5 below based on the number of horizontal deviation pixels between the target point and the direction point of the image, the horizontal length of the image, and the horizontal pixel number; And
Equation (5)

(Where x is the horizontal deviation length, nx is the horizontal deviation pixel number, D ₁ is the horizontal length, and N ₁ is the horizontal pixel number)
And calculating the horizontal deviation angle according to Equation 6 below based on the horizontal deviation length and the distance from the optical pointing unit to the target site.
&Quot; (6) &quot;

(Where q ₁ is the horizontal deviation angle, x is the horizontal deviation length, and L is the distance from the optical pointing portion to the target site) The method of claim 11, wherein the determining of the direct error comprises:
Calculating a vertical deviation length according to Equation 7 based on the number of vertical deviation pixels between the target point and the direction point of the image, the vertical length of the image, and the vertical pixel number; And
&Quot; (7) &quot;

(Where y is the length of vertical deviation, ny is the number of vertical deviation pixels, D ₂ is the length, and N ₂ is the number of vertical pixels)
And calculating the longitudinal deviation angle according to Equation 8 below based on the longitudinal deviation length and the distance from the optical pointing unit to the target site.
<Equation 8>

(Where q ₂ is the longitudinal deviation angle, y is the longitudinal deviation length, and L is the distance from the optical pointing portion to the target site) Irradiating light onto a target point that the gimbal platform is actually directed on a target site by an optical pointing unit provided on a gimbal platform that performs drive stabilization control to direct an arbitrary target point in a situation where disturbance is applied;
Photographing the target site to obtain an image;
Determining a direction error for the driving stabilization control by calculating a horizontal deviation angle and a vertical deviation angle between the target point and the direction point from the obtained image;
And driving the gimbal platform to direct the target point based on the determined orientation error.

Images