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A calculation method for boresight angle of a four-frame two-axis stabilized platform

A technology that stabilizes the platform and calculates the angle, and is used in the direction of measuring angles, instruments, surveying and navigation, etc.

Active Publication Date: 2021-09-14
凯迈(洛阳)测控有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The second method is more accurate than the first method, but there will still be a large error in the occasions that require extremely accurate boresight angles such as target positioning and target geographic guidance

Method used

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  • A calculation method for boresight angle of a four-frame two-axis stabilized platform
  • A calculation method for boresight angle of a four-frame two-axis stabilized platform

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Experimental program
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Embodiment 1

[0027] The outer azimuth angle A=45°, the outer pitch angle B=-45°, the inner azimuth angle a=0.5°, and the inner pitch angle b=-0.5° of the four-frame two-axis stable platform, thus

[0028] and

[0029] β=arcsin(-c 13 ), At the same time, C 12 =0.5017690, C 11 = 0.4894284, C 13 = 0.7132234, C 23 =-0.0061706, C 33 =0.7049096 to obtain the azimuth angle α=45.713° of the current visual axis relative to the turret base, the pitch angle β=-45.498° of the current visual axis relative to the turret base, and the transverse angle of the current visual axis relative to the turret base Roll angle γ=-0.5°.

[0030] As a comparison, using the traditional fusion method of inner and outer frame angles, α=A+a / cos(B)=45.707°, β=B+b=-45.500°. It can be seen that, compared with the technical solution of the present invention, the angle α of the current visual axis relative to the base of the turret and the azimuth β of the current visual axis relative to the base of the tur...

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Abstract

The invention discloses a method for calculating the boresight angle of a four-frame two-axis stable platform. The outer azimuth, outer pitch, inner azimuth, and inner pitch angle sensors on the four-frame two-axis stable platform of an airborne photoelectric turret respectively obtain outer and outer angles. Azimuth A, outer elevation angle B, inner azimuth a, inner elevation angle b, use two coordinate transformation methods to obtain two equal direction cosine matrices C' and C, and obtain the parameters about A, B, a, b and the visual axis The azimuth angle α relative to the base of the turret and the equation of the azimuth angle β of the visual axis relative to the base of the turret are used to calculate α and β. The azimuth α and pitch angle β obtained by the present invention are accurate values ​​obtained through calculation of parameters that can be accurately obtained, and the method is directly calculated by space coordinate transformation, and there is no error caused by a systematic method, so it can meet the requirements of high-precision viewing The requirements of the shaft use scenario, and no new measurement equipment is installed on the basis of the existing technology, which saves the cost of updating equipment in disguise.

Description

technical field [0001] The invention belongs to the technical field of photoelectric turret control, and in particular relates to a method for calculating the viewing axis angle of a four-frame two-axis stable platform. Background technique [0002] The high-precision airborne photoelectric turret often adopts the form of a four-frame two-axis stable platform. According to the nesting relationship of the frame structure, it is an outer azimuth frame, an outer pitch frame, an inner azimuth frame, and an inner pitch frame from outside to inside. Angle sensors are installed on each frame rotating shaft, and the measuring angles are A, B, a, and b respectively. From the coordinates of the base of the photoelectric turret to the coordinates of the boresight of the sensor, one turn through the outer azimuth angle A, the outer pitch angle B, the inner azimuth angle a, and the inner pitch angle b. When operating the photoelectric turret to perform tasks, it is necessary to obtain a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00
CPCG01C1/00
Inventor 渠继峰刘志广于兵石改安
Owner 凯迈(洛阳)测控有限公司