Error calibration method, system, medium and electronic equipment for angle measurement system

Abstract

The present disclosure relates to an error calibration method, system, medium and electronic equipment for an angle measurement system. The method simulates the target angle change of a radar seeker, determines the actual angle measurement value corresponding to different target positions, performs quadratic fitting on the target position and the actual angle measurement value, determines a second function expression, determines an angle measurement system error expression based on the difference between the second function expression and a predetermined first function expression, and determines a system error amount based on the actual angle measurement value and the angle measurement system error expression. The error calibration method is simple, has high accuracy, is easy to implement, and is suitable for calibration of angle measurement system errors of various wide beam radar seekers.

Description

Background Art

[0002] The radar seeker needs to calibrate the angle measurement system error before testing. The main factors in calibrating the angle measurement system error are the differences in beam width and the nonlinearity of the difference slope on the angle measurement error.

[0003] The existing sum-difference network cannot meet the linearity requirements of the difference slope under large beam width conditions. The difference slope is a curve within the full beam width range, which causes fluctuations in the angle measurement system error within the beam width range, making it difficult to calibrate the angle measurement system error.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to overcome the defect that the error calibration of the angle measurement system is difficult when the beam width of the existing radar seeker is wide, and to provide an error calibration method, system, medium and electronic equipment for the angle measurement system.

[0006] According to one aspect of the present disclosure, there is provided an error calibration method for an angle measurement system, the method comprising: simulating the target angle change of a radar seeker to determine actual angle measurement values ​​corresponding to different target positions; performing quadratic fitting on the target position and the actual angle measurement value to determine a second function expression; determining an angle measurement system error expression based on a difference between the second function expression and a predetermined first function expression; and determining a system error amount based on the actual angle measurement value and the angle measurement system error expression.

[0007] In one embodiment of the present disclosure, the method further includes: determining a corrected angle output value based on the actual angle measurement value and the system error amount.

[0008] In one embodiment of the present disclosure, the target angle change of a radar seeker is simulated to determine actual angle measurement values ​​corresponding to different target positions, including: adjusting different positions of the target array speaker output to simulate the target angle change, and measuring the actual angle measurement values ​​corresponding to different target positions by a radar seeker mounted on a turntable in a microwave darkroom.

[0009] In one embodiment of the present disclosure, an angle measurement system error expression is determined based on a difference between a second function expression and a predetermined first function expression, including: determining the first function expression based on a target position and an ideal angle measurement value; determining the angle measurement system error expression based on a difference between the second function expression and the first function expression.

[0010] In one embodiment of the present disclosure, the target position includes an azimuth and a pitch angle; simulating the target angle change of the radar seeker to determine the actual angle measurement value corresponding to different target positions includes: fixing the azimuth, scanning the pitch angle, and determining the actual angle measurement value of the pitch angle within the angle measurement range; performing quadratic fitting on the target position and the actual angle measurement value to determine the second function expression includes: performing quadratic fitting on the pitch angle and the actual angle measurement value corresponding to the pitch angle to determine the second pitch function expression; determining the angle measurement system error expression based on the difference between the second function expression and a predetermined first function expression includes: determining the pitch angle measurement system error expression based on the difference between the second pitch function expression and the predetermined first pitch function expression; determining the system error amount based on the actual angle measurement value and the angle measurement system error expression includes: determining the system error amount of the pitch angle based on the actual angle measurement value corresponding to the pitch angle and the pitch angle measurement system error expression; determining the corrected angle output value based on the actual angle measurement value and the system error amount includes: determining the corrected angle output value of the pitch angle based on the actual angle measurement value of the pitch angle and the system error amount of the pitch angle.

[0011] In one embodiment of the present disclosure, the target position includes an azimuth and an elevation; simulating the target angle change of the radar seeker to determine the actual angle measurement value corresponding to different target positions includes: fixing the elevation, scanning the azimuth, and determining the actual angle measurement value of the azimuth within the angle measurement range; quadratically fitting the target position and the actual angle measurement value to determine the second function expression includes: quadratically fitting the azimuth and the actual angle measurement value corresponding to the azimuth to determine the second azimuth function expression; based on the difference between the second function expression and a predetermined first function expression, determining the angle measurement system error expression includes: determining the pitch angle measurement system error expression based on the difference between the second azimuth function expression and the predetermined first azimuth function expression; determining the system error amount based on the actual angle measurement value and the angle measurement system error expression includes: determining the system error amount of the azimuth based on the actual angle measurement value corresponding to the azimuth and the azimuth angle measurement system error expression; determining the corrected angle output value based on the actual angle measurement value and the system error amount includes: determining the corrected angle output value of the azimuth based on the actual angle measurement value of the azimuth and the system error amount of the azimuth.

[0012] In one embodiment of the present disclosure, the first function expression is: y1 = a1x; the second function expression is: y2 = a2x 2 +b2x+c2; the angle measurement system error expression is: y3=a3x 2 +b3x+c3, where x is the target position, y1 is the ideal angle measurement value, y2 is the actual angle measurement value, y3 is the system error, and a1, a2, b2, c2, a3, b3, and c3 are all constants.

[0013] According to another aspect of the present disclosure, there is provided an error calibration system for an angle measurement system, comprising a measurement module, a fitting module, a difference module and a first calculation module, wherein the measurement module is configured to simulate the target angle change of a radar seeker and determine the actual angle measurement values ​​corresponding to different target positions; the fitting module is configured to perform a quadratic fit on the target position and the actual angle measurement value and determine a second function expression; the difference module is configured to determine an angle measurement system error expression based on the difference between the second function expression and a predetermined first function expression; and the first calculation module is configured to determine the system error amount based on the actual angle measurement value and the angle measurement system error expression.

[0014] According to another aspect of the present disclosure, a computer storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method according to one aspect of the present disclosure is implemented.

[0015] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0016] Processor; and

[0017] A memory for storing executable instructions of the processor;

[0018] The processor is configured to perform the method according to one aspect of the present disclosure by executing executable instructions.

[0019] The error calibration method of the angle measurement system disclosed in the present invention simulates the target angle change of the radar seeker, determines the actual angle measurement value corresponding to different target positions, performs quadratic fitting on the target position and the actual angle measurement value, determines the second function expression, determines the angle measurement system error expression based on the difference between the second function expression and the predetermined first function expression, and determines the system error amount based on the actual angle measurement value and the angle measurement system error expression. The error calibration method is simple, has high accuracy, is easy to implement, and is suitable for the calibration of the angle measurement system error of various wide beam radar seekers.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0022] Figure 1It is a schematic diagram of the change of the difference slope under ideal conditions involved in the embodiments of the present disclosure.

[0023] Figure 2 A schematic diagram of the relationship between the target position and the radar seeker angle measurement value involved in the embodiment of the present disclosure.

[0024] Figure 3 It is a flow chart of the error calibration method of the angle measurement system involved in the embodiment of the present disclosure.

[0025] Figure 4 It is a schematic diagram of the structure of the error calibration system of the angle measurement system involved in the embodiment of the present disclosure.

[0026] Figure 5 The figure is a schematic diagram of the structure of an electronic device involved in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0028] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0029] The terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first", "second" and "third" etc. are used merely as labels and are not intended to limit the quantity of their objects.

[0030] Radar seekers mainly include platform type and strapdown type. The beam of platform type radar seekers is narrow, generally within 3°. Platform type radar seekers are equipped with a servo system, and the antenna can follow the movement of the target, with high angle measurement accuracy; strapdown type radar seekers have a wide beam, generally greater than 10°. Strapdown type radar seekers do not have a servo system, and their angle measurement accuracy is lower than that of platform type radar seekers, but their cost is low.

[0031] The angle measurement error of the radar seeker generally includes systematic error and random error. The systematic error mainly includes the electric axis pointing error, differential slope error, radome refraction error, etc. The random error mainly includes thermal noise, clutter, multipath error, target angle noise, phase shift error, etc. The radar seeker needs to calibrate the angle measurement system error before the test. The main difference between the platform radar seeker and the strapdown radar seeker in the calibration of the angle measurement system error is: the difference in beam width and the influence of the nonlinearity of the differential slope on the angle measurement error.

[0032] The beam width of a platform radar seeker is generally less than 3°. The existing sum-difference network can meet the linearity requirement of the difference slope within the beam width range. During calibration, it is only necessary to measure the slope error and multiply it by the corresponding adjustment coefficient. The beam width of a strapdown radar seeker is generally more than 10°. The existing sum-difference network cannot meet the linearity requirement of the difference slope under large beam width conditions. The difference slope is not a straight line but a curve within the full beam width range, resulting in fluctuations in the angle measurement system error within the beam width range. The original linear fitting method cannot adapt to the calibration of the angle measurement system error when the difference slope is a curve.

[0033] The difference slope under ideal conditions changes as follows Figure 1 As shown in , when the beam width is narrow, the difference slope can be approximated as linear, and when the beam width is wide, the difference slope can be approximated as parabola. The relationship between the target position and the ideal angle measurement value output by the radar seeker under ideal conditions is as follows Figure 2 As shown by the line a in the figure, the function expression is y1=a1x. Due to the nonlinearity of the difference slope, the relationship between the target position and the actual angle measurement value actually output by the radar seeker is as follows: Figure 2 As shown by line b in .

[0034] Based on this, the present disclosure provides an error calibration method for an angle measurement system. Figure 3 As shown, the method comprises:

[0035] Step S10, simulating the target angle change of the radar seeker to determine the actual angle measurement values ​​corresponding to different target positions;

[0036] Step S20, performing a quadratic fit on the target position and the actual angle measurement value to determine a second function expression;

[0037] Step S30, determining an angle measurement system error expression based on a difference between the second function expression and a predetermined first function expression;

[0038] Step S40, determining the amount of system error based on the actual angle measurement value and the angle measurement system error expression.

[0039] The method simulates the target angle change of the radar seeker, determines the actual angle measurement value corresponding to different target positions, performs quadratic fitting on the target position and the actual angle measurement value, determines the second function expression, determines the angle measurement system error expression based on the difference between the second function expression and the predetermined first function expression, and determines the system error amount based on the actual angle measurement value and the angle measurement system error expression. The error calibration method is simple, has high accuracy, is easy to implement, and is suitable for the calibration of the angle measurement system error of various wide beam radar seekers.

[0040] The following are Figure 3 Each step in is described in detail.

[0041] In step S10, the target angle change of the radar seeker is simulated to determine the actual angle measurement values ​​corresponding to different target positions.

[0042] The radar seeker is mounted on a turntable in a microwave darkroom, and the different positions of the target array speaker output are adjusted to simulate the target angle change, and the actual angle measurement values ​​corresponding to different target positions are measured.

[0043] In step S20, a second function expression is determined by performing a quadratic fit on the target position and the actual angle measurement value.

[0044] The second function expression is: y2=a2x 2 +b2x+c2, x is the target position, y2 is the actual angle measurement value, a2, b2, c2 are all constants

[0045] The second function expression represents the variation law of the actual angle measurement value of the radar seeker relative to the target position within the entire beam width.

[0046] In step S30, an angle measurement system error expression is determined based on a difference between the second function expression and a predetermined first function expression.

[0047] A first function expression can be determined based on the target position and the ideal angle measurement value. The first function expression is: y1=a1x, where x is the target position, y1 is the ideal angle measurement value, and a1 is a constant. It should be noted that the ideal angle measurement value is usually equal to the target position, so the value of a1 is equal to 1, and y1=x.

[0048] Based on the difference between the second function expression and the first function expression, an angle measurement system error expression is determined.

[0049] The difference between y1 and y2 gives the form y3=a3x 2 +b3x+c3 is a quadratic function expression, where x is the target position, y3 is the system error, and a3, b3, and c3 are all constants. This angle measurement system error expression represents the law of angle measurement system error changing with the target position.

[0050] In step S40, the systematic error amount is determined based on the actual angle measurement value and the angle measurement systematic error expression.

[0051] When the actual angle measurement value of the radar seeker is θ, substitute θ into y3=a3x 2 +b3x+c3, the corresponding system error y can be obtained θ3 .

[0052] The method further includes determining a corrected angle output value based on the actual angle measurement value and a system error amount.

[0053] The corrected angle output value is equal to the difference between the actual angle measurement value and the system error, that is, θ-y θ3 The corrected angle output value can be obtained.

[0054] The target position may include an azimuth angle and a pitch angle. The following takes the pitch angle as an example to illustrate the error calibration of the angle measurement system.

[0055] Simulating the target angle change of the radar seeker and determining the actual angle measurement values ​​corresponding to different target positions may include: fixing the azimuth angle, scanning the elevation angle, and determining the actual angle measurement value of the elevation angle within the angle measurement range.

[0056] Specifically, the radar seeker can be mounted on a turntable in a microwave darkroom, the azimuth of the target array horn can be fixed, the different positions of the target array horn output can be adjusted to simulate the pitch angle change, and the actual angle measurement values ​​corresponding to different pitch angles can be measured.

[0057] Performing a quadratic fit on the target position and the actual angle measurement value to determine the second function expression may include: performing a fit on the pitch angle and the actual angle measurement value corresponding to the pitch angle to determine the second pitch function expression.

[0058] Determining the angle measurement system error expression based on the difference between the second function expression and the predetermined first function expression may include: determining the pitch angle measurement system error expression based on the difference between the second pitch function expression and the predetermined first pitch function expression.

[0059] Specifically, a first pitch function expression is determined based on the pitch angle and the ideal angle measurement value of the pitch angle; and a pitch angle measurement system error expression is determined based on the difference between the second pitch function expression and the first pitch function expression.

[0060] Determining the systematic error amount based on the actual angle measurement value and the angle measurement systematic error expression may include: determining the systematic error amount of the pitch angle based on the actual angle measurement value corresponding to the pitch angle and the pitch angle measurement systematic error expression.

[0061] Determining the corrected angle output value based on the actual angle measurement value and the systematic error amount may include: determining the corrected angle output value of the pitch angle based on the actual angle measurement value of the pitch angle and the systematic error amount of the pitch angle.

[0062] Among them, the first pitch function expression is: m1 =a m1 x m , the second pitch function expression is: y m2 =a m2 x m 2 +b m2 x m +c m2 , the pitch angle measurement system error expression is: m3 =a m3 x m 2 +b m3 x m +c m3 , where x m is the pitch angle, y m1 is the ideal angle measurement of the pitch angle, y m2 is the actual angle measurement of the pitch angle, y m3 is the systematic error of the pitch angle, a m1 、a m2 , b m2 、c m2 、a m3 , b m3 、c m3 are all constants.

[0063] The following takes the azimuth as an example to illustrate the error calibration of the angle measurement system.

[0064] Simulating the target angle change of the radar seeker and determining the actual angle measurement values ​​corresponding to different target positions may include: fixing the pitch angle, scanning the azimuth angle, and determining the actual angle measurement value of the azimuth angle within the angle measurement range.

[0065] Specifically, the radar seeker is mounted on a turntable in a microwave darkroom, the pitch angle of the target array horn is fixed, the different positions of the target array horn output are adjusted to simulate azimuth changes, and the actual angle measurement values ​​corresponding to different azimuths are measured.

[0066] Performing a quadratic fitting on the target position and the actual angle measurement value to determine the second function expression may include: fitting the azimuth angle and the actual angle measurement value corresponding to the azimuth angle to determine the second azimuth function expression.

[0067] Determining the angle measurement system error expression based on the difference between the second function expression and the predetermined first function expression may include: determining the pitch angle measurement system error expression based on the difference between the second azimuth function expression and the predetermined first azimuth function expression.

[0068] Specifically, a first pitch function expression is determined based on the pitch angle and the ideal angle measurement value of the pitch angle; and a pitch angle measurement system error expression is determined based on the difference between the second pitch function expression and the first pitch function expression.

[0069] Determining the systematic error amount based on the actual angle measurement value and the angle measurement systematic error expression may include: determining the systematic error amount of the azimuth angle based on the actual angle measurement value corresponding to the azimuth angle and the azimuth angle measurement systematic error expression.

[0070] Determining the corrected angle output value based on the actual angle measurement value and the systematic error amount may include: determining the corrected angle output value of the azimuth angle based on the actual angle measurement value of the azimuth angle and the systematic error amount of the azimuth angle.

[0071] Among them, the first pitch function expression is: n1 =a n1 x n , the second pitch function expression is: y n2 =a n2 x n 2 +b n2 x n +c n2 , the pitch angle measurement system error expression is: n3 =a n3 x n 2 +b n3 x n +c n3 , where x n is the pitch angle, y n1 is the ideal angle measurement of the pitch angle, y n2 is the actual angle measurement of the pitch angle, y n3 is the systematic error of the pitch angle, a n1 、an2 , b n2 、c n2 、a n3 , b n3 、c n3 are all constants.

[0072] like Figure 4 As shown, the embodiment of the present disclosure also provides an error calibration system 1000 for an angle measurement system, including a measurement module 1001, a fitting module 1002, a difference module 1003 and a first calculation module 1004. The measurement module 1001 can be configured to simulate the target angle change of the radar seeker and determine the actual angle measurement values ​​corresponding to different target positions; the fitting module 1002 can be configured to perform a quadratic fit on the target position and the actual angle measurement value to determine a second function expression; the difference module 1003 can be configured to determine an angle measurement system error expression based on the difference between the second function expression and a predetermined first function expression; the first calculation module 1004 can be configured to determine the system error amount based on the actual angle measurement value and the angle measurement system error expression.

[0073] In one embodiment, the error calibration system further includes a second calculation module, and the second calculation module can be configured to determine a corrected angle output value based on an actual angle measurement value and a system error amount.

[0074] In one embodiment, the measurement module can be specifically configured to: adjust different positions of the target array speaker output to simulate target angle changes, and measure actual angle measurement values ​​corresponding to different target positions through a radar seeker mounted on a turntable in a microwave darkroom.

[0075] In one embodiment, the difference module may be specifically configured to determine a first function expression based on the target position and the ideal angle measurement value; and determine an angle measurement system error expression based on a difference between a second function expression and the first function expression.

[0076] In one embodiment, the target position includes an azimuth angle and a pitch angle; the measurement module can be configured to: fix the azimuth angle, scan the pitch angle, and determine the actual angle measurement value of the pitch angle within the angle measurement range; the fitting module can be configured to: perform secondary fitting on the pitch angle and the actual angle measurement value corresponding to the pitch angle to determine the second pitch function expression; the difference module can be configured to: determine the pitch angle measurement system error expression based on the difference between the second pitch function expression and a predetermined first pitch function expression; the first calculation module can be configured to: determine the systematic error amount of the pitch angle based on the actual angle measurement value corresponding to the pitch angle and the pitch angle measurement system error expression; the second calculation module can be configured to: determine the corrected angle output value of the pitch angle based on the actual angle measurement value of the pitch angle and the systematic error amount of the pitch angle.

[0077] In one embodiment, the target position includes an azimuth and an elevation angle; the measurement module can be configured to: fix the elevation angle, scan the azimuth angle, and determine the actual angle measurement value of the azimuth angle within the angle measurement range; the fitting module can be configured to: perform quadratic fitting on the azimuth angle and the actual angle measurement value corresponding to the azimuth angle to determine the second azimuth function expression; the difference module can be configured to: determine the elevation angle measurement system error expression based on the difference between the second azimuth function expression and the predetermined first azimuth function expression; the first calculation module can be configured to: determine the systematic error amount of the azimuth angle based on the actual angle measurement value corresponding to the azimuth angle and the azimuth angle measurement system error expression; the second calculation module can be configured to: determine the corrected angle output value of the azimuth angle based on the actual angle measurement value of the azimuth angle and the systematic error amount of the azimuth angle.

[0078] In one embodiment, the first function expression is: y1 = a1x; the second function expression is: y2 = a2x 2 +b2x+c2; the angle measurement system error expression is: y3=a3x 2 +b3x+c3; where x is the target position, y1 is the ideal angle measurement value, y2 is the actual angle measurement value, y3 is the system error, and a1, a2, b2, c2, a3, b3, and c3 are all constants.

[0079] The exemplary embodiments of the present disclosure also provide a computer-readable storage medium, which can be implemented in the form of a program product, which includes a program code, and when the program product is run on an electronic device, the program code is used to cause the electronic device to perform the steps described in the above "Exemplary Method" section of this specification according to various exemplary embodiments of the present disclosure. In one embodiment, the program product can be implemented as a portable compact disk read-only memory (CD-ROM) and includes program code, and can be run on an electronic device, such as a personal computer. However, the program product of the present disclosure is not limited to this, and in this document, the readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or device.

[0080] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0081] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0082] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0083] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0084] The exemplary embodiment of the present disclosure also provides an electronic device, which can be used to execute executable instructions to perform the method described in the embodiment of the present disclosure. Figure 5 The electronic device is described. It should be understood that Figure 5 The electronic device 600 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0085] like Figure 5 As shown, the electronic device 600 is in the form of a general computing device. The components of the electronic device 600 may include but are not limited to: at least one processing unit 610, at least one storage unit 620, and a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610).

[0086] The storage unit stores program codes, which can be executed by the processing unit 610, so that the processing unit 610 performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification. For example, the processing unit 610 can perform the following steps: Figure 3 The method steps shown, etc.

[0087] The storage unit 620 may include a volatile storage unit, such as a random access storage unit (RAM) 621 and / or a cache storage unit 622 , and may further include a read-only storage unit (ROM) 623 .

[0088] The storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, such program modules 625 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0089] The bus 630 may include a data bus, an address bus, and a control bus.

[0090] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), and such communication may be performed via an input / output (I / O) interface 640. The electronic device 600 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 650. As shown, the network adapter 650 communicates with other modules of the electronic device 600 via a bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0091] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the exemplary embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0092] It will be appreciated by those skilled in the art that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or implementations combining hardware and software aspects, which may be collectively referred to herein as "circuit", "module" or "system". Those skilled in the art will readily think of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and implementation are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0093] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for calibrating an error of an angle measurement system, characterized in that: The method comprises: Simulate the target angle changes of the radar seeker and determine the actual angle measurements corresponding to different target positions; Performing a quadratic fit on the target position and the actual angle measurement value to determine a second function expression; Determine an angle measurement system error expression based on a difference between the second function expression and a predetermined first function expression; Determine the amount of system error based on the actual angle measurement value and the angle measurement system error expression; Determining a corrected angle output value based on the actual angle measurement value and the system error amount; The target position includes an azimuth angle and an elevation angle; Simulating the target angle change of the radar seeker and determining the actual angle measurement values ​​corresponding to different target positions includes: fixing the azimuth angle, scanning the elevation angle, and determining the actual angle measurement value of the elevation angle within the angle measurement range; Performing a quadratic fit on the target position and the actual angle measurement value to determine a second function expression includes: performing a quadratic fit on the pitch angle and the actual angle measurement value corresponding to the pitch angle to determine a second pitch function expression; Determining an angle measurement system error expression based on a difference between the second function expression and the predetermined first function expression includes: determining an elevation angle measurement system error expression based on a difference between the second elevation function expression and the predetermined first elevation function expression; Determining the systematic error amount based on the actual angle measurement value and the angle measurement systematic error expression comprises: determining the systematic error amount of the pitch angle based on the actual angle measurement value corresponding to the pitch angle and the pitch angle measurement systematic error expression; Determining the corrected angle output value based on the actual angle measurement value and the system error comprises: determining the corrected angle output value of the pitch angle based on the actual angle measurement value of the pitch angle and the system error amount of the pitch angle; or simulating the target angle change of the radar seeker, and determining the actual angle measurement value corresponding to different target positions includes: fixing the pitch angle, scanning the azimuth angle, and determining the actual angle measurement value of the azimuth angle within the angle measurement range; Performing a quadratic fit on the target position and the actual angle measurement value to determine a second function expression includes: performing a quadratic fit on the azimuth angle and the actual angle measurement value corresponding to the azimuth angle to determine a second azimuth function expression; Determining the angle measurement system error expression based on the difference between the second function expression and the predetermined first function expression includes: determining the azimuth angle measurement system error expression based on the difference between the second azimuth function expression and the predetermined first azimuth function expression; Determining the systematic error amount based on the actual angle measurement value and the angle measurement systematic error expression includes: determining the systematic error amount of the azimuth angle based on the actual angle measurement value corresponding to the azimuth angle and the azimuth angle measurement systematic error expression; Determining the corrected angle output value based on the actual angle measurement value and the systematic error amount includes: determining the corrected angle output value of the azimuth angle based on the actual angle measurement value of the azimuth angle and the systematic error amount of the azimuth angle.

2. The error calibration method of the angle measurement system according to claim 1, characterized in that: Simulate the target angle changes of the radar seeker and determine the actual angle measurements corresponding to different target positions, including: The different positions of the target array speaker output are adjusted to simulate the target angle change, and the actual angle measurement values ​​corresponding to the different target positions are measured by a radar seeker mounted on a turntable in a microwave darkroom.

3. The error calibration method of the angle measurement system according to claim 1, characterized in that: Determining an angle measurement system error expression based on a difference between the second function expression and the predetermined first function expression includes: Determining the first functional expression based on the target position and the ideal angle measurement value; Based on the difference between the second function expression and the first function expression, an angle measurement system error expression is determined.

4. The error calibration method of the angle measurement system according to claim 1, characterized in that: The first function expression is: y1=a1x; The second function expression is: y2=a2x 2 +b2x+c2; The angle measurement system error expression is: y3 = a3x 2 +b3x+c3; Where x is the target position, y1 is the ideal angle measurement value, y2 is the actual angle measurement value, y3 is the system error, and a1, a2, b2, c2, a3, b3, and c3 are all constants.

5. An error calibration system for an angle measurement system, characterized in that: include: A measurement module configured to simulate target angle changes of a radar seeker and determine actual angle measurement values ​​corresponding to different target positions; A fitting module is configured to perform a second fitting of the target position and the actual angle measurement value to determine a second function expression; A difference module, configured to determine an angle measurement system error expression based on a difference between the second function expression and a predetermined first function expression; A first calculation module is configured to determine a system error amount based on the actual angle measurement value and the angle measurement system error expression; The target position includes an azimuth angle and a pitch angle; the measuring module is configured to: fix the azimuth angle, scan the pitch angle, and determine the actual angle measurement value of the pitch angle within the angle measurement range; the fitting module is configured to: perform a secondary fitting on the pitch angle and the actual angle measurement value corresponding to the pitch angle to determine a second pitch function expression; The difference module is configured to: determine a pitch angle measurement system error expression based on a difference between the second pitch function expression and a predetermined first pitch function expression; The first calculation module is configured to: determine the systematic error amount of the pitch angle based on the actual angle measurement value corresponding to the pitch angle and the pitch angle measurement systematic error expression; The second calculation module is configured to: determine a corrected angle output value of the pitch angle based on an actual angle measurement value of the pitch angle and a system error amount of the pitch angle; Or the measuring module is configured to: fix the pitch angle, scan the azimuth angle, and determine the actual angle measurement value of the azimuth angle within the angle measurement range; the fitting module is configured to: perform a secondary fitting on the actual angle measurement value corresponding to the azimuth angle and the azimuth angle to determine the second azimuth function expression; The difference module is configured to: determine the pitch angle measurement system error expression based on the difference between the second orientation function expression and the predetermined first orientation function expression; The first calculation module is configured to: determine the systematic error amount of the azimuth angle based on the actual angle measurement value corresponding to the azimuth angle and the azimuth angle measurement systematic error expression; The second calculation module is configured to determine an angle output value after azimuth angle correction based on an actual angle measurement value of the azimuth angle and a systematic error amount of the azimuth angle.

6. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

7. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 4 by executing the executable instructions.

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