A method for improving mutual guidance accuracy of multiple photoelectric theodolites working together
An optoelectronic theodolite and collaborative work technology, applied in the theodolite and other directions, can solve the problem of insufficient mutual guidance accuracy, and achieve the effect of shortening the response time, achieving a high degree of realization, and reducing the dynamic lag error.
Active Publication Date: 2021-06-18
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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[0006] The technical problem to be solved by the present invention is: aiming at the demand for high-precision guidance, solve the problem of insufficient mutual guidance precision of multiple photoelectric theodolites that work together at present
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[0020] Examples of the present invention are described below. But following embodiment only limits to explain the present invention, and protection scope of the present invention should comprise the whole content of claim, and promptly can realize the whole content of claim of the present invention to those skilled in the art through following embodiment.
[0021] Theodolite A and B need to track a target at the same time, and the geodetic coordinate system coordinates of the site of theodolite A are (100, 30, 500) (longitude L 1 , latitude B 1 , Altitude H 1 ), theodolite B is about 100 meters east of A, and its station coordinates are (100.001, 30, 500). The theodolite that needs to find and track the target first sends a signal to the other theodolite to guide it to track.
[0022] Step (1), star shooting calibration: before entering the working state, shoot the Polaris for calibration, and take the true north direction as the direction of azimuth 0°. Assuming that theo...
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The invention discloses a method for improving the mutual guidance accuracy of multiple photoelectric theodolites working in coordination, aiming at the demand for high-precision guidance, and solving the problem of insufficient mutual guidance precision of multiple photoelectric theodolites working in cooperation at present. When multiple photoelectric theodolites track the same target at the same time, one theodolite first captures the target and tracks the target stably, and then sends a signal to guide other photoelectric theodolites to enter the tracking state. The main factors affecting the guidance accuracy are the site Error, pointing error, dynamic lag error. In order to suppress these three kinds of errors, the present invention uses synchronous shooting of stars to calibrate, transforms the target orbit data into the station center tangent plane coordinates of the guided theodolite, and the guided theodolite first moves according to the predicted target trajectory, and then adjusts the position of the frame after receiving the deviation amount. Carry out methods such as fine-tuning and deviation feed-forward control to improve the accuracy of mutual guidance.
Description
technical field [0001] The invention belongs to the field of photoelectric system tracking control, and relates to a method for improving mutual guiding precision among a plurality of photoelectric theodolites working together. Specifically, when multiple photoelectric theodolites are tracking the same target at the same time, one theodolite first captures the target and stably tracks the target, and then sends a signal to guide other photoelectric theodolites to enter the tracking state, improving its guidance accuracy. method. Background technique [0002] As a high-precision observation equipment, the photoelectric theodolite has the advantages of high precision, good real-time performance, dynamic tracking, and intuitive reproduction in the form of images, so it is widely used in aircraft experiments in the fields of aviation and aerospace. In some experiments, one theodolite cannot cover all the observation areas, so multiple theodolites need to work together, that is,...
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IPC IPC(8): G01C1/02
Inventor 毛耀李志俊刘琼任戈谭毅王继红于伟
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI