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Method for estimating installation error angle of optical pod of unmanned aerial vehicle

A technology for installing error angles and UAVs, which is applied in the field of UAV optical pods, can solve difficult and time-consuming problems, achieve the effects of reducing process requirements, simplifying installation procedures, and improving the accuracy of target positioning

Active Publication Date: 2019-09-10
CAIHONG DRONE TECH CO LTD
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Problems solved by technology

However, when the optical pod and inertial group are installed, it is difficult and time-consuming to align their zero position with the axial direction of the machine body

Method used

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  • Method for estimating installation error angle of optical pod of unmanned aerial vehicle
  • Method for estimating installation error angle of optical pod of unmanned aerial vehicle
  • Method for estimating installation error angle of optical pod of unmanned aerial vehicle

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Embodiment Construction

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0045] It should be understood that terms such as "having", "comprising" and "including" as used herein do not entail the presence or addition of one or more other elements or combinations thereof.

[0046] The invention provides a method for estimating the installation error angle of the optical pod of the UAV. During the flight of the UAV, the optical pod is used to lock a fixed target with known precise coordinates, and a mathematical model for solving the error angle of the installation of the optical pod is established. , according to the UAV coordinates, UAV attitude angle, optical pod pointing angle and laser ranging value at the time of optical pod laser ranging, the installation error angle of the optical pod is estimated by the multivariate Newton method, and the opt...

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Abstract

The invention relates to a method for estimating the installation error angle of an optical pod of an unmanned aerial vehicle, and the method comprises the following steps that during the flight of the unmanned aerial vehicle, the optical pod is used for locking a fixed target with known accurate coordinates, an optical pod installation error angle resolving mathematical model which takes unmanned aerial vehicle coordinates, an unmanned aerial vehicle attitude angle, an optical pod pointing angle and a laser ranging value as known parameters is established, the installation error angle of theoptical pod is estimated through a multi-Newton method, and the target positioning is carried out with the installation error angle of the optical pod as the known parameter. The method can accurately estimate the installation error angle of the optical pod, improve the target positioning precision of the optical pod of the unmanned aerial vehicle, realize the installation error calibration and the target accurate positioning of the optical pod in the same flight frame, simplify the installation procedure of the optical pod of the unmanned aerial vehicle, and improve the quick response capability of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a method for estimating an installation error angle of an optical pod of an unmanned aerial vehicle, which is suitable for an optical pod of an unmanned aerial vehicle with a laser ranging function, and belongs to the technical field of photoelectric equipment target positioning in the unmanned aerial vehicle technology. Background technique [0002] At this stage, the optical pods of UAVs at home and abroad can provide target positioning capabilities. According to the different basic principles of target positioning, it is divided into image-based passive positioning and laser ranging-based active positioning; according to the different delays of target positioning, it is divided into real-time positioning and non-real-time positioning. In most UAV optical pod target positioning methods, the installation error of the optical pod has a great influence on the positioning accuracy. Especially for the real-time target positioning...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 刘海龙陈鹏翰郝克张新伟黄欣宇
Owner CAIHONG DRONE TECH CO LTD
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