CN103424125A - Method for measuring reference installation error of optical axis of unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a method for measuring a reference installation error of an optical axis of an unmanned aerial vehicle. The method comprises the following steps: aircraft heading error measurement: 1), selecting a target point A, enabling the optical axis to lock the point A by an operating platform; 2), recording latitude and longitude data of a point 0 when the optical axis locks the point A: according to the latitude and longitude data of the point 0 and the point A, calculating azimuth alpha'' of a straight line OA; 3), recording a compass azimuth psi and a photoelectric platform azimuth alpha in the laser marking process; 4), aircraft heading axis installation error: platform azimuth installation error plus compass azimuth installation error: delta is equal to alpha'' minus psi minus alpha. The method can be implemented in the same flight as an actual target locating flight task (error measurement in the anterior stage of the flight, and actual locating in the posterior stage of the flight); the method is simple and direct; the locating accuracy is not reduced; the locating efficiency is much higher than that of the existing process.

Description

Unmanned plane optical axis benchmark alignment error measuring method

Technical field

The present invention relates to a kind of unmanned plane optical axis benchmark alignment error measuring method, belong to unmanned plane optical axis benchmark alignment error measuring method.

Background technology

The positioning precision of reconnaissance version unmanned plane to target is a most important technical indicator of the type unmanned plane.The intrinsic alignment error of aircraft, platform, its character is that each measurement mistiming difference is constant, numerical value is fixed.

For this intrinsic alignment error, before location, must be in advance in the aircraft manufacturing process error of measurement and positioning equipment mounting bracket, the positioning equipment alignment error after installing.Then record data; Input above-mentioned inherent error value when location, after being revised, for target localization.

Said process relates to the links such as aircraft manufacturing, equipment installation, and formality is loaded down with trivial details, time-consuming.

Summary of the invention

In order to overcome above-mentioned defect, the object of the invention is to provide a kind of unmanned plane optical axis benchmark alignment error measuring method, be different from existing inherent error and measure in advance in aircraft manufacturing, installation, after the front error originated from input modified value of actual location, then position.But, after airborne equipment installs, directly with the optical axis of aircraft self photoelectric platform, as measuring basis, carry out the inherent error measurement aloft, the method for then being proofreaied and correct, locating.

In order to achieve the above object, the present invention adopts following technical scheme:

A kind of unmanned plane optical axis benchmark alignment error measuring method, the method comprises the steps:

A), vector error measure:

1), select a target A point, operating platform to make optical axis locking A point;

2), the O point longitude and latitude data of recording light shaft lock while determining the A point: according to 2 points: the longitude and latitude data that O point, A are ordered, calculate the OA straight line azimuth angle alpha ' ';

Compass azimuth Ψ, photoelectric platform azimuth angle alpha when 3), laser beaten in record;

4), vector axis alignment error: platform orientation alignment error+compass azimuth alignment error: Δ=α ' '-Ψ-α;

B), the platform surface level alignment error and vertical gyro surface level alignment error measurement of aircraft on axially:

1), vector points to the A point: the platform directional reading is in 0 o ± 5 o scopes;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

3), the O point longitude and latitude data of record while beating laser: according to 2 points: the longitude and latitude data that O point, A are ordered calculate point-to-point transmission at the horizontal plane d;

4）、β''y?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft pitch angle θ, platform angular altitude β y;

6) the surface level alignment error that, fuselage axis makes progress: platform surface level alignment error+vertical gyro surface level alignment error: Δ y=β ' ' y-θ-β y;

C), the platform surface level alignment error that Aircraft Lateral makes progress and vertical gyro surface level alignment error are measured

1), guarantee aircraft wing orientation of its axis A point: the platform directional reading is in 90 o ± 5 o or 270 o ± 5 o scopes;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

O point longitude and latitude data when 3), laser beaten in record: the longitude and latitude data according to 2 points (O point, A point) calculate point-to-point transmission at the horizontal plane d;

4）、β''x?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft roll angle numerical value γ, photoelectric platform angular altitude numerical value β x;

6), fuselage surface level alignment error transversely: platform surface level alignment error+vertical gyro surface level alignment error: Δ x=β ' ' x-γ-β x.

Beneficial effect of the present invention:

The present invention gets final product (error measure of the present invention of flight leading portion, flight back segment actual location) same once the execution in-flight of realistic objective positioning flight task; This method is simple, direct, does not reduce positioning precision, and efficiency is far above existing operation.

The accompanying drawing explanation

Fig. 1 is place of the present invention schematic diagram.

Fig. 2 is vector error measure schematic diagram of the present invention.

Fig. 3 is the axial lateral error instrumentation plan of the present invention.

Fig. 4 is transverse horizontal error measure schematic diagram of the present invention.

Embodiment

Below in conjunction with accompanying drawing 1,2,3,4, the present invention is described in detail:

Fig. 1, without specific (special) requirements, is seen in place: select the obvious impact point A of a feature, require this air observation feature obviously, be easy to target lock-on; Personnel can approach this point on ground, unobstructed during its longitude and latitude of Measurement accuracy, block.

A kind of unmanned plane optical axis benchmark alignment error measuring method, the method comprises the steps:

A), vector error measure:

1), select a target A point, operating platform to make optical axis locking A point, see Fig. 2;

2), the O point longitude and latitude data of recording light shaft lock while determining the A point: according to 2 points: the longitude and latitude data that O point, A are ordered, calculate the OA straight line azimuth angle alpha ' ';

Compass azimuth Ψ, photoelectric platform azimuth angle alpha when 3), laser beaten in record;

4), vector axis alignment error: platform orientation alignment error+compass azimuth alignment error: Δ=α ' '-Ψ-α;

B), the platform surface level alignment error and vertical gyro surface level alignment error measurement of aircraft on axially:

1), vector points to the A point: the platform directional reading, in 0 o ± 5 o scopes, is shown in Fig. 3;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

3), the O point longitude and latitude data of record while beating laser: according to 2 points: the longitude and latitude data that O point, A are ordered calculate point-to-point transmission at the horizontal plane d;

4）、β''y?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft pitch angle θ, platform angular altitude β y;

6) the surface level alignment error that, fuselage axis makes progress: platform surface level alignment error+vertical gyro surface level alignment error: Δ y=β ' ' y-θ-β y;

C), the platform surface level alignment error that Aircraft Lateral makes progress and vertical gyro surface level alignment error are measured

1), guarantee aircraft wing orientation of its axis A point: the platform directional reading, in 90 o ± 5 o or 270 o ± 5 o scopes, is shown in Fig. 4;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

O point longitude and latitude data when 3), laser beaten in record: the longitude and latitude data according to 2 points (O point, A point) calculate point-to-point transmission at the horizontal plane d;

4）、β''x?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft roll angle numerical value γ, photoelectric platform angular altitude numerical value β x;

6), fuselage surface level alignment error transversely: platform surface level alignment error+vertical gyro surface level alignment error: Δ x=β ' ' x-γ-β x.

Claims (1)

1. a unmanned plane optical axis benchmark alignment error measuring method, it is characterized in that: the method comprises the steps:

A), vector error measure:

1), select a target A point, operating platform to make optical axis locking A point;

2), the O point longitude and latitude data of recording light shaft lock while determining the A point: according to 2 points: the longitude and latitude data that O point, A are ordered, calculate the OA straight line azimuth angle alpha ' ';

Compass azimuth Ψ, photoelectric platform azimuth angle alpha when 3), laser beaten in record;

4), vector axis alignment error: platform orientation alignment error+compass azimuth alignment error: Δ=α ' '-Ψ-α;

B), the platform surface level alignment error and vertical gyro surface level alignment error measurement of aircraft on axially:

1), vector points to the A point: the platform directional reading is in 0 o ± 5 o scopes;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

3), the O point longitude and latitude data of record while beating laser: according to 2 points: the longitude and latitude data that O point, A are ordered calculate point-to-point transmission at the horizontal plane d;

4）、β''y?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft pitch angle θ, platform angular altitude β y;

6) the surface level alignment error that, fuselage axis makes progress: platform surface level alignment error+vertical gyro surface level alignment error: Δ y=β ' ' y-θ-β y;

C), the platform surface level alignment error that Aircraft Lateral makes progress and vertical gyro surface level alignment error are measured

1), guarantee aircraft wing orientation of its axis A point: the platform directional reading is in 90 o ± 5 o or 270 o ± 5 o scopes;

2), operating platform makes optical axis locking A point; After locking, the A point is beaten to laser and carry out laser ranging, and recording laser distance measurement value s;

O point longitude and latitude data when 3), laser beaten in record: the longitude and latitude data according to 2 points (O point, A point) calculate point-to-point transmission at the horizontal plane d;

4）、β''x?=?arcos（d／s）；

5), the reading of a recording instrument beat laser the time aircraft roll angle numerical value γ, photoelectric platform angular altitude numerical value β x;

6), fuselage surface level alignment error transversely: platform surface level alignment error+vertical gyro surface level alignment error: Δ x=β ' ' x-γ-β x.

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