A method for correcting relative error of angle measurement in a multi-sensor system

Abstract

The present invention provides a method for correcting the relative error of angle measurement of a multi-sensor system, including mechanical installation parameter calibration, static calibration of relative system error of sensors, and dynamic inspection of relative error of multiple sensors. In view of the different working principles of each sensor, the present invention selects an active high-precision sensor as the main sensor of the integrated sensor system, and the sensor to be registered is registered with the main sensor. By obtaining the relative system difference between the sensor to be registered and the main sensor, relative error correction is performed, thereby realizing error correction of each sensor in the system and alignment of angle measurement consistency of the whole system.

Description

Technical Field

[0001] The invention belongs to the field of information technology and relates to a method for correcting relative errors in angle measurement of a multi-sensor system. Background Art

[0002] The integrated sensor system on a large ship platform is composed of multiple sensors, and each sensor can work independently or collaboratively. The factors that affect the error of the integrated sensor system mainly include: a. Sensor original measurement system error; b. Installation angle error; c. Ship platform attitude error. When there is an uncompensated relative system error of the sensor, the fusion output accuracy of the multi-sensor system is very poor, and it may even be worse than the data accuracy of a single sensor, or even cause the data results to be chaotic and unable to be fused. In order to facilitate data fusion between multiple sensors, improve the detection accuracy of the integrated sensor system, and give full play to the collaborative detection efficiency of multiple sensors, it is necessary to measure and correct the system errors of each sensor to eliminate the system errors.

[0003] In the past, the differential calibration of each sensor system was mainly achieved by comparing the measured values ​​of the targets of different sensors with the true values. This required multiple measurements and had the disadvantages of being difficult to obtain the true values ​​(needing to coordinate with aircraft / ship platforms), high cost, and long cycle. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a method for correcting relative error of angle measurement of a multi-sensor system, comprising the following steps:

[0005] Mechanical installation parameter calibration: Use electronic level and gyro theodolite to measure the horizontality, azimuth and pitch angle of the antenna array of all sensors and the relative position relationship between different sensor antennas; According to the horizontality, azimuth, pitch angle and relative position relationship between different sensor antennas obtained by the above measurements, installation error correction and relative position error correction are implemented; All sensors include main sensors and sensors to be aligned; the correction of installation errors is carried out according to the horizontality, azimuth and pitch angle of the antenna array of the sensor and the relative position relationship between different sensor antennas;

[0006] Static calibration of sensor relative system error:

[0007] After setting up the signal source in the external far field, the main sensor scans the azimuth and elevation wave by wave to obtain a series of sampling data, and finally obtains the angle measurement result of the signal source by the sum and difference beams; the sensor to be registered measures the angle of the same signal source, and compares the angle measurement result of the sensor to be registered with that of the main sensor to obtain the relative angle measurement deviation of each sensor to be registered relative to the main sensor.

[0008] The signal source installation position or the ship platform direction is changed multiple times, and the relative angle measurement deviation of the sensor in different directions relative to the normal is measured. The final relative error is obtained by statistically negating all the relative angle measurement deviations.

[0009] Dynamic check of multi-sensor relative error:

[0010] An angular emitter, a full-band signal source and a speaker are set up on the target ship. The target ship moves at a constant speed around the ship platform. The main sensor is stimulated to track the target ship, and the sensor to be aligned passively detects the direction of the target ship signal source, and the measurement value of each sensor is recorded respectively. If the data rate of the target detection time in the measurement values ​​of each sensor is inconsistent, the target detection time in the measurement values ​​of each sensor is time-matched, and the measurement values ​​of each sensor after time alignment are compared, and the relative error is adjusted according to the dynamic inspection process.

[0011] Furthermore, the horizontality of the antenna array installation is measured by directly reading the electronic level; the inclination angle of the antenna array is directly measured by a gyrotheodolite; the azimuth of the antenna array is measured by the gyrotheodolite, and the angle between the azimuth of the antenna array and the ship platform baseline relative to the north direction is calculated.

[0012] Furthermore, the measurement of the horizontality of the antenna array installation specifically includes the following steps:

[0013] Place the electronic level parallel to the measurement plane of the antenna array of each sensor to be aligned, and read the level reading on the electronic screen after the data displayed by the electronic level is stable;

[0014] Adjust the direction of the electronic level in sequence according to 0°, 30°, 45°, 60°, 90°, 120°, 135°, 150°, 180°, 210°, 225°, 240°, 270°, 300°, 315°, and 330°, and read the horizontality of the electronic level;

[0015] The average of the level readings of the sensors to be registered is calculated to obtain the final level of the sensors to be registered.

[0016] Furthermore, the measurement of the tilt angle of the antenna array specifically includes the following steps:

[0017] The elevation angle of the normal line of the plane mirror of each antenna array surface of the equipment is directly measured by using a gyrotheodolite; the measured elevation angle of the normal line of the plane mirror of each antenna array surface is the inclination angle of the antenna array surface.

[0018] Furthermore, the measurement of the azimuth angle of the antenna array specifically includes the following steps:

[0019] Set up the gyro theodolite above the rear mark plate of the bow and stern line of the ship platform, accurately align and level it according to the center of the rear mark plate, turn on the power to start the gyro, and perform precise orientation measurement. Then aim at the center point of the front bow and stern line reference mark plate, and measure the angle α between the bow and stern line of the ship platform and the true north direction, with clockwise as positive;

[0020] Set up the gyrotheodolite near the azimuth mirror at the rear of the antenna array, ensuring that the sighting axis is on the normal line of the sensor's antenna array plane mirror. Turn on the gyrotheodolite theodolite self-alignment function to make the theodolite optical axis coincide with the normal line of the antenna array azimuth mirror. Measure the angle α′ between the normal line of the sensor azimuth mirror and the true north direction, with clockwise being positive.

[0021] The angle between the normal line of the azimuth mirror of the sensor's antenna array and the bow and stern line of the ship platform is calculated, that is, |α-α′|; the angle between the normal line of the azimuth mirror of the antenna array and the bow and stern line of the ship platform is the azimuth angle of the antenna array after installation.

[0022] Furthermore, the measurement of the relative position relationship between different sensor antennas specifically includes the following steps:

[0023] Set up a total station above the mark plate behind the bow and stern line of the ship platform, accurately align and level it according to the center of the mark plate, aim the total station at the center point of the bow and stern line mark plate on the same side, and set the horizontal angle to zero;

[0024] Another total station is set up at an appropriate position on the shore around the ship, and the bow and stern line of the ship platform is transmitted to the total station on the shore through mutual aiming of the two total stations; the appropriate position means that the position has line of sight with the total station setting point on the ship platform and the two antenna array reference points;

[0025] Using a total station, respectively measure the relative data of the antenna array of the main sensor and the antenna array of the sensor to be registered relative to the installation point of the total station on shore, wherein the relative data includes distance, horizontal angle and vertical angle;

[0026] The relative position relationship data of the centers of the two sensor antennas are calculated based on the measured relative data, the size of the antenna array, the reference point of the antenna array and the position relationship of the reference point of the antenna array relative to the center of the antenna array.

[0027] Furthermore, interpolation or least square method is used to perform time matching on the target detection time in the measurement values ​​of each sensor.

[0028] Furthermore, the main sensor is an active sensor, and the sensor to be registered is a passive sensor.

[0029] Compared with the prior art, the present invention has the following technical effects:

[0030] (1) In view of the different working principles of various sensors, the present invention selects an active high-precision sensor as the main sensor of the integrated sensor system, and the sensor to be registered is registered with the main sensor. By obtaining the relative system difference between the sensor to be registered and the main sensor, relative error correction is performed, thereby realizing error correction of each sensor in the system and alignment of the angle measurement consistency of the entire system.

[0031] (2) The present invention selects one sensor as the main sensor and adopts a multi-sensor antenna array to perform mechanical axis calibration, electrical performance calibration and dynamic calibration methods. When the true value of the target is unknown, different sensors can be relatively aligned to eliminate the relative errors of multiple sensors, facilitate subsequent data fusion of each sensor, and thus improve the angular measurement accuracy of the multi-sensor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the horizontality of the antenna array installation according to an embodiment of the present invention.

[0033] Figure 2 The figure is a schematic diagram of the horizontality measurement orientation according to an embodiment of the present invention.

[0034] Figure 3 Schematic diagram of the angle between the normal line of the antenna array surface and the bow and stern line of the ship platform according to an embodiment of the present invention.

[0035] Figure 4 It is a schematic diagram of the normal line of the antenna array surface and the horizontal reference plane of the ship platform according to an embodiment of the present invention.

[0036] Figure 5 Schematic diagram of a static calibration scenario of a sensor relative system error according to an embodiment of the present invention.

[0037] Figure 6 Schematic diagram of dynamic inspection of multi-sensor registration according to an embodiment of the present invention.

[0038] Figure 7 The figure is a flow chart of a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention provides a method for correcting relative errors in angle measurement of a multi-sensor system. The method can realize internal error correction of the multi-sensor system without knowing the true value, thereby facilitating multi-sensor data fusion and improving the detection accuracy of the system. It can also be used for daily inspection and analysis of the detection accuracy of each sensor in the system to ensure that the angle measurement of each sensor remains consistent.

[0040] The specific method is as follows:

[0041] 1. Mechanical installation parameter calibration: Use the total station, electronic level and gyro theodolite to calibrate the installation position, horizontality, tilt angle and azimuth of each antenna aperture, bind the installation parameters, and convert the measurement data of each sensor into a unified coordinate system according to the relative position relationship of the antenna planes, such as the center position of the antenna array of a certain sensor, to correct the installation angle error;

[0042] 2. Static calibration of sensor relative system error: Set up a signal source and a full-band speaker, use the antenna pointing measured by the electronic scanning of the main sensor as the true value, and the passive reconnaissance signal of the sensor to be aligned as the measured value, and correct the azimuth and elevation angle measurement errors of the sensor to be aligned; the main sensor is an active sensor, and the sensor to be aligned is a passive sensor.

[0043] 3. Dynamic inspection of multi-sensor relative errors: by setting up angular emitters, full-band signal sources and speakers on the target ship, the target ship moves at a uniform speed around the ship platform, the main sensor is stimulated to track the target ship, and the sensor to be aligned passively detects the signal source position of the target ship, and the measurement values ​​of each sensor are recorded respectively. If the data rates of each sensor are inconsistent, interpolation, extrapolation, least squares method and other methods can be used for time matching, and the measurement values ​​of each sensor after time alignment are compared to check whether the relative errors of multiple sensors have been corrected, and the relative errors can be fine-tuned according to the dynamic inspection process.

[0044] In order to facilitate understanding of the technical solution of the present invention, the principle thereof is described below:

[0045] The relative error correction is achieved by modeling and estimating the relative value of the systematic deviation of the measurement values ​​between the two sensors, selecting one of the sensors as the main sensor, and aligning the sensor to be registered to the main sensor as the sensor to be registered.

[0046] Assume that there are two sensors S1 and S2, and the spatial measurement value of the target is (r, θ, ε), which are the target distance, azimuth and pitch angle respectively. The measurement value of the converted rectangular coordinate system of the target is (x, y, z). The change relationship between the spatial polar coordinate reference system and the rectangular coordinate reference system is shown in the following formula.

[0047]

[0048] For the sensor itself, its measurement reference system is not necessarily stable. The three coordinate axes of the stable reference system correspond to the north-south horizontal line of the ship platform, the east-west horizontal line of the ship platform, and the vertical line of the horizontal plane of the ship platform. (φ k ,η k ,ψ k ) are the yaw angle, pitch angle and roll angle of the measurement reference system in the stable reference system. The Cartesian measurement value of sensor k in the measurement reference system is r k =[xk y k z k ] T , the corresponding stable reference frame coordinates are r k '=[x k 'y k 'z k '] T , transform from the measurement reference frame to the stable reference frame: r k '=R k r k ,in,

[0049]

[0050] The position coordinates of sensor S2 in the stable reference frame of sensor S1 are t = [t x t y t z ] T , r2 is the target measurement value of sensor S2 in its measurement system, then r2 is transformed to the measurement reference system of sensor S1 and expressed as:

[0051] r 12 =Rr2+R1 T t

[0052] where r 12 represents the corresponding target position vector in the S1 measurement system, and R = R1 T The calculation of the transformation matrix R, R1, and R2 depends on the attitude angle parameters of the two sensors, that is, the mechanical axis calibration parameters. If there is no bias error in these attitude angle measurements, it can be assumed that there is no bias and random error in the sensor measurements, and r can be obtained. 12 = r1. However, due to the fact that the calibration parameters of mechanical axes are affected by factors such as measuring instruments and human calculations, and there are also deviations between electromechanical axes, r 12 ≠r1,r 12 The target position of the measurement system of S1 cannot be correctly represented. Therefore, after the mechanical parameter calibration is completed, the electrical performance calibration is also required to estimate the system error between sensors.

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] As attached Figure 7As shown, a method for correcting relative error of angle measurement of a multi-sensor system in an embodiment of the present application specifically includes the following steps:

[0055] 1. Calibration of mechanical installation parameters

[0056] Mechanical calibration is to measure the horizontality, azimuth and elevation angle of the antenna array installation of all sensors through an electronic level and a gyrotheodolite, so that the sensor can transmit and receive with the correct beam pointing during use and correctly perform coordinate conversion when measuring the target.

[0057] The main measurement methods are as follows: the horizontality of the antenna array installation is measured by directly reading the reading of an electronic level; the inclination angle of the antenna array is directly measured by a gyrotheodolite; the azimuth of the antenna array is measured by a gyrotheodolite, and then the angle between the azimuth of the antenna array relative to the north direction and the ship platform baseline relative to the north direction is calculated.

[0058] The detailed measurement methods for the horizontality, inclination angle and azimuth of the installation are as follows:

[0059] 1.1 Horizontal measurement of antenna array installation

[0060] The horizontality of the antenna array installation is the angle between the lower edge of the antenna array and the main reference plane of the hull, such as Figure 1 As shown, its deviation will affect the measurement accuracy of the detected target at a large angle.

[0061] The specific measurement steps are as follows:

[0062] Place an electronic level in parallel on the measuring plane of the antenna array of each sensor to be aligned;

[0063] After the data displayed on the electronic level is stable, read the level reading on the electronic screen;

[0064] according to Figure 2 Adjust the direction of the electronic level in the direction shown and read the levelness of the electronic level;

[0065] The average of the level readings of the sensors to be registered is calculated to obtain the final level of the sensors to be registered.

[0066] 1.2 Measure the angle between the normal line of the antenna array and the bow and stern line of the ship platform

[0067] The angle between the normal line of the antenna array and the bow and stern line of the ship platform is the azimuth angle of the antenna array after installation, such as Figure 3 As shown, its deviation will affect the azimuth angle of the detected target.

[0068] The specific measurement steps are as follows:

[0069] Set up the gyro theodolite above the rear mark plate of the bow and stern line of the ship platform, accurately align and level it according to the center of the rear mark plate, turn on the power to start the gyro, and perform precise orientation measurement. Then aim at the center point of the front bow and stern line reference mark plate, and measure the angle α between the bow and stern line of the ship platform and the true north direction, with clockwise as positive;

[0070] Set up the gyrotheodolite near the azimuth mirror at the rear of the antenna array (make sure the sighting axis is on the normal line of the sensor's antenna array plane mirror), turn on the gyrotheodolite theodolite self-alignment function, make the theodolite optical axis coincide with the normal line of the antenna array azimuth mirror, and measure the angle α′ between the normal line of the sensor azimuth mirror and the true north direction, with clockwise being positive;

[0071] The angle between the normal line of the sensor's antenna array azimuth mirror and the bow and stern line of the ship platform is obtained by calculation, namely |α-α′|;

[0072] 1.3 Measure the angle between the normal line of the antenna array and the horizontal reference plane of the ship platform

[0073] The angle between the normal line of the antenna array and the horizontal reference plane of the ship platform is the inclination angle of the antenna array after installation, such as Figure 4 As shown, its deviation will affect the pitch angle of the detected target.

[0074] The specific measurement steps are as follows:

[0075] After completing the measurement of the angle between the normal line of the antenna array and the bow and stern line of the ship platform, turn off the power of the gyrotheodolite; use the gyrotheodolite to directly measure the elevation angle of the normal line of the plane mirror of each antenna array of the equipment.

[0076] 1.4 Measurement of relative position relationship between multiple sensor antennas

[0077] Set up a total station above the mark plate behind the bow and stern line of the ship platform, accurately align and level it according to the center of the mark plate, aim the total station at the center point of the bow and stern line mark plate on the same side, and set the horizontal angle to zero;

[0078] Set up another total station at an appropriate location on the shore around the ship (the location should be in sight with the total station setting point on the ship platform and the two antenna array reference points, without obstruction), and transmit the bow and stern line of the ship platform to the total station on the shore through mutual aiming of the two total stations;

[0079] Using the angle and distance measurement functions of the total station, the shore total station is operated to measure the distance, horizontal angle, vertical angle and other relative data of the antenna array of the main sensor and the antenna array of the sensor to be aligned relative to the installation point of the shore total station;

[0080] The relative position relationship data of the centers of the two sensor antennas are calculated based on the measured relative data, the size of the antenna array, the reference point of the antenna array and the position relationship of the reference point of the antenna array relative to the center of the antenna array.

[0081] The horizontality, azimuth, pitch angle, and relative position relationship between different sensor antennas obtained by the above measurements are bound to the background software of each sensor device, and are put into operation during target detection to realize the correction of installation angle error and relative position error.

[0082] 2. Static calibration of sensor relative system error

[0083] Since there is a certain deviation between the mechanical axis of the sensor antenna and the actual electrical performance, the electrical performance needs to be calibrated to eliminate the electromechanical axis error and other system errors. The main methods are as follows:

[0084] After setting up the signal source in the external far field, the main sensor scans the azimuth and elevation wave by wave to obtain a series of sampling data, and finally obtains the angle measurement result of the signal source by the sum and difference beams; the sensor to be registered measures the angle of the same signal source, and compares the angle measurement result of the sensor to be registered with that of the main sensor to obtain the relative angle measurement deviation of each sensor to be registered relative to the main sensor. Figure 5 Schematic diagram of the static calibration scenario of sensor relative system error.

[0085] By repeatedly changing the position of the signal source or the direction of the ship platform, the angular measurement error of the sensor in different directions relative to the normal is measured. A more accurate relative error can be obtained by statistically analyzing the measurement results. The relative error is then inverted and bound to the background software of the sensor to be aligned.

[0086] 3. Dynamic inspection of multi-sensor relative errors

[0087] By setting up an angular emitter, a full-band signal source and a speaker on the target ship, the target ship moves at a constant speed around the ship platform, the main sensor is stimulated to track the target ship, and the sensor to be aligned passively detects the signal source position of the target ship, and the measurement values ​​of each sensor are recorded respectively. If the target detection time is inconsistent due to the data rate, interpolation, extrapolation, least squares method and other methods are used for time matching, and the measurement values ​​of each sensor after time alignment are compared to check whether the relative error of multiple sensors can be corrected, and the relative error can be fine-tuned according to the dynamic inspection process. The schematic diagram of dynamic inspection of multi-sensor alignment is shown in the figure. Figure 6 shown.

[0088] According to the different working principles of various sensors, the present invention selects an active high-precision sensor as the main sensor of the integrated sensor system, and the sensor to be registered is registered with the main sensor. By obtaining the relative system difference between the sensor to be registered and the main sensor, relative error correction is performed, thereby realizing error correction of various sensors inside the system and alignment of the angular measurement consistency of the entire system.

[0089] The present invention selects one sensor as the main sensor and adopts a multi-sensor antenna array to perform mechanical axis calibration, electrical performance calibration and dynamic calibration methods. When the target true value is unknown, different sensors can be relatively aligned to eliminate the relative errors of multiple sensors, facilitate subsequent data fusion of each sensor, and further improve the angular measurement accuracy of the multi-sensor system.

[0090] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0091] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0092] In the several embodiments provided in the present application, it should be understood that the disclosed systems and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0095] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, English abbreviation: ROM), random access memory (full name in English: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program codes.

[0096] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting relative error of angle measurement in a multi-sensor system, characterized in that: The following steps are involved: Mechanical installation parameter calibration: Use electronic level and gyro theodolite to measure the horizontality, azimuth and pitch angle of the antenna array of all sensors and the relative position relationship between different sensor antennas; According to the horizontality, azimuth, pitch angle and relative position relationship between different sensor antennas obtained by the above measurements, installation error correction and relative position error correction are implemented; All sensors include main sensors and sensors to be aligned; the correction of installation errors is carried out according to the horizontality, azimuth and pitch angle of the antenna array of the sensor and the relative position relationship between different sensor antennas; Static calibration of sensor relative system error: After setting up the signal source in the external far field, the main sensor scans the azimuth and elevation wave by wave to obtain a series of sampling data, and finally obtains the angle measurement result of the signal source by the sum and difference beams; the sensor to be registered measures the angle of the same signal source, and compares the angle measurement result of the sensor to be registered with that of the main sensor to obtain the relative angle measurement deviation of each sensor to be registered relative to the main sensor. The signal source installation position or the ship platform direction is changed multiple times, and the relative angle measurement deviation of the sensor in different directions relative to the normal is measured. The final relative error is obtained by statistically negating all the relative angle measurement deviations. Dynamic check of multi-sensor relative error: An angular emitter, a full-band signal source and a speaker are set up on the target ship. The target ship moves at a constant speed around the ship platform. The main sensor is stimulated to track the target ship, and the sensor to be registered passively detects the direction of the target ship signal source, and the measurement values ​​of each sensor are recorded respectively. If the data rates of the target detection times in the measurement values ​​of each sensor are inconsistent, the target detection times in the measurement values ​​of each sensor are time-matched, and the measurement values ​​of each sensor after time alignment are compared, and the relative errors are adjusted according to the dynamic inspection process.

2. The method for correcting relative error of angle measurement of a multi-sensor system according to claim 1, characterized in that: The horizontality of the antenna array installation is measured by directly reading the electronic level; the inclination angle of the antenna array is directly measured by a gyrotheodolite; the azimuth of the antenna array is measured by the gyrotheodolite, and the angle between the azimuth of the antenna array and the due north is calculated.

3. The method for correcting relative error of angle measurement of a multi-sensor system according to claim 2, characterized in that: The measurement of the horizontality of the antenna array installation specifically includes the following steps: Place the electronic level parallel to the measurement plane of the antenna array of each sensor to be aligned, and read the level reading on the electronic screen after the data displayed by the electronic level is stable; Adjust the direction of the electronic level in sequence according to 0°, 30°, 45°, 60°, 90°, 120°, 135°, 150°, 180°, 210°, 225°, 240°, 270°, 300°, 315°, and 330°, and read the horizontality of the electronic level; The average of the level readings of the sensors to be registered is calculated to obtain the final level of the sensors to be registered.

4. The method for correcting relative angle errors of a multi-sensor system according to claim 3, characterized in that: The measurement of the tilt angle of the antenna array specifically includes the following steps: The elevation angle of the normal line of the plane mirror of each antenna array surface of the equipment is directly measured by using a gyrotheodolite; the measured elevation angle of the normal line of the plane mirror of each antenna array surface is the inclination angle of the antenna array surface.

5. The method for correcting relative error of angle measurement of a multi-sensor system according to claim 4, characterized in that: The measurement of the azimuth angle of the antenna array specifically includes the following steps: Set up the gyro theodolite above the rear mark plate of the bow and stern line of the ship platform, accurately align and level it according to the center of the rear mark plate, turn on the power to start the gyro, and perform precise orientation measurement. Then aim at the center point of the front bow and stern line reference mark plate, and measure the angle α between the bow and stern line of the ship platform and the true north direction, with clockwise as positive; Set up the gyrotheodolite near the azimuth mirror at the rear of the antenna array, ensuring that the sighting axis is on the normal line of the sensor's antenna array plane mirror. Turn on the gyrotheodolite theodolite self-alignment function to make the theodolite optical axis coincide with the normal line of the antenna array azimuth mirror. Measure the angle α′ between the normal line of the sensor azimuth mirror and the true north direction, with clockwise being positive. The angle between the normal line of the azimuth mirror of the sensor's antenna array and the bow and stern line of the ship platform is calculated, that is, |α-α′|; the angle between the normal line of the azimuth mirror of the antenna array and the bow and stern line of the ship platform is the azimuth angle of the antenna array after installation.

6. The method for correcting relative error of angle measurement of a multi-sensor system according to claim 5, characterized in that: The measurement of the relative position relationship between different sensor antennas specifically includes the following steps: Set up a total station above the mark plate behind the bow and stern line of the ship platform, accurately align and level it according to the center of the mark plate, aim the total station at the center point of the bow and stern line mark plate on the same side, and set the horizontal angle to zero; Another total station is set up at an appropriate position on the shore around the ship, and the bow and stern line of the ship platform is transmitted to the total station on the shore through mutual aiming of the two total stations; the appropriate position means that the position has line of sight with the total station setting point on the ship platform and the two antenna array reference points; Using a total station, respectively measure the relative data of the antenna array of the main sensor and the antenna array of the sensor to be registered relative to the installation point of the total station on shore, wherein the relative data includes distance, horizontal angle and vertical angle; The relative position relationship data of the centers of the two sensor antennas are calculated based on the measured relative data, the size of the antenna array, the reference point of the antenna array and the position relationship of the reference point of the antenna array relative to the center of the antenna array.

7. The method for correcting relative angle errors of a multi-sensor system according to claim 6, characterized in that: The target detection times in the sensor measurements are time-matched using interpolation or least squares.

8. The method for correcting relative angle errors of a multi-sensor system according to claim 7, characterized in that: The main sensor is an active sensor, and the sensor to be registered is a passive sensor.

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