Method for calibrating installation error of optoelectronic pod of unmanned aerial vehicle

Abstract

The invention discloses a method for calibrating the installation error of an optoelectronic pod of an unmanned aerial vehicle. The method comprises the following concrete steps: 1, firstly, determining a ground cooperation target point, and using a high precision differential global positioning system (GPS) to acquire longitude, latitude and elevation of the target point; 2, determining a flight alignment route of the unmanned aerial vehicle according to the cooperation target point; observing the cooperation target point, acquiring and recording image point coordinates of the cooperation target point, and carrying out coordinate transformation; 3, establishing an installation error diagnosis model; 4, identifying unknown parameters in the installation error diagnosis model and compensating for the installation error of the optoelectronic pod during a subsequent positioning process. According to the method, the installation angle error of the optoelectronic pod is obtained mainly by analyzing flight alignment data, and correction is performed during coordinate transformation, so that the problems that at present, the installation error calibration of the optoelectronic pod of an existing unmanned aerial vehicle is complicated to implement and inefficient are solved.

Description

technical field [0001] The invention relates to the field of aviation technology, in particular to a method for calibrating installation errors of photoelectric pods of unmanned aerial vehicles. Background technique [0002] Ideally, the assembly of the photoelectric pod on the UAV should meet the following two points: 1) the platform reference plane of the photoelectric pod is parallel to the carrier plane; The azimuth axes are parallel and in the same direction. Under such conditions, the base coordinate system of the photoelectric pod can completely coincide with the aircraft coordinate system. However, in actual situations, due to the existence of assembly errors, it is difficult for the base coordinate system of the photoelectric pod to coincide with the aircraft coordinate system, and the error between the two may even reach several degrees. When UAVs perform reconnaissance missions, locating ground targets is one of their important functions. However, the installat...

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Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the present invention proposes a method for calibrating the installation error of the photoelectric pod of an unmanned aerial vehicle. This paper proposes a method for calibrating the installation error. The method mainly estimates the installation angle by analyzing the calibrating data Errors are corrected during coordinate conversion to solve the problems of cumbersome and low-efficiency calibration of the installation error calibration of the current UAV photoelectric pod

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