Method and system for compensating and controlling simulated line-of-sight errors of special-shaped multi-mode sensors

Abstract

The present invention provides a control method and system for line-of-sight error compensation in simulation of heterogeneous multimode sensors. The method involves real-time calculation of the position of compensation point P2. Using matrix transformation, the motion of a flight turntable is used to determine the motion pattern of the center point P1 of receiving module R2. Combined with the line-of-sight pointing vector, the motion pattern of compensation point P2 is then derived. This method addresses the issue of line-of-sight angle simulation error in hardware-in-the-loop simulation of heterogeneous multimode wideband sensors that are not coaxial or concentric, ensuring real-time simulation accuracy of line-of-sight angles for these sensors and effectively improving the reliability of the simulation system.

Description

Technical Field

[0001] The present invention relates to the field of sensor simulation technology, and in particular to a method and system for controlling a simulation sight line error of a special-shaped multi-mode sensor. Background Art

[0002] With the rapid development of multi-mode guided weapons, heterogeneous multi-mode wideband sensors are becoming increasingly popular. Compared with traditional single-mode sensors, heterogeneous multi-mode wideband sensors have stronger anti-interference capabilities. Compared with conventional symmetrical multi-mode wideband sensors, heterogeneous multi-mode wideband devices have higher device technology maturity and relatively lower cost.

[0003] The special-shaped multi-mode wide-band sensor has the characteristics of "non-coaxial and non-concentric", specifically Figure 1 As shown in the figure, the sensor has receiving modules with two working frequency bands. The axes of the two receiving modules are not coaxial, and the centers of the receiving modules are not cocentric. There is an axial deviation L1 and a longitudinal deviation L2 in the structure between the two modules. Using a sensor with this structure for semi-physical simulation will produce line of sight angle simulation errors.

[0004] The system composition of the hardware-in-the-loop simulation of special-shaped multi-mode wide-band sensors is as follows: Figure 2 As shown, the system primarily comprises a target array, a flight turntable, and a shaped multimode wideband sensor. The shaped multimode wideband sensor is mounted on the flight turntable, with the center of its receiving module R1 coinciding with the turntable center O. The target array is a sphere centered at the turntable center O. The radiating elements on the array generate signals that simulate the target's line of sight. The position Q of the radiated signal RS1 and the position of the module center MC1 of the receiving module R1, which also corresponds to the turntable center O, constitute the reference line of sight. As the flight turntable moves, the module center MC2 of the receiving module R2, denoted as center point P1, performs spherical motion around the turntable center O. If the radiated signal RS2 is also at point Q, an angle will be generated between the radiation point RP2 of the radiated signal RS2 and the line of sight simulated by the receiving module R2 and the reference line of sight, which is the line of sight angle error ε. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for compensating and controlling the simulated line of sight error of a special-shaped multi-mode sensor.

[0006] According to the present invention, a method for controlling simulated sight line error compensation for a special-shaped multi-mode sensor is provided, comprising:

[0007] Step 1: According to the flight turntable control instructions, solve the flight turntable motion law and obtain the coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system; obtain the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system; wherein, the special-shaped multi-mode wide-band sensor includes two sensor modules corresponding to two working frequency bands respectively, and the module centers of these two sensor modules are module center MC1 and module center MC2 respectively, wherein module center MC1 is at the flight turntable rotation center, and module center MC2 is not at the flight turntable rotation center;

[0008] Step 2: Calculate the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system based on the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system;

[0009] Step 3: Calculate the coordinates of the compensation point P2 on the target array in the inertial coordinate system based on the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system;

[0010] Step 4: Calculate the line of sight error compensation value based on the coordinates of the compensation point P2 on the target array in the inertial coordinate system.

[0011] Preferably, in step 1:

[0012] The flight turntable motion information is obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as θ * , γ * ;

[0013] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows:

[0014]

[0015] The axial distance from the module center MR2 to the module center MR1 is measured to be L1m, the longitudinal distance is L2m, and the lateral distance is 0. The vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is Expressed as

[0016]

[0017] Preferably, in step 2:

[0018] According to the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system are calculated. The specific solution is:

[0019]

[0020] x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

[0021] Preferably, in step three:

[0022] Using the geometric constraint of parallel lines of sight and the target array spherical diameter, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are solved. The specific solution is:

[0023] The vector corresponding to the coordinates in the P2 inertial coordinate system Expressed as

[0024]

[0025] x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2.

[0026] The vector corresponding to the compensated RF line of sight for

[0027]

[0028] Vector corresponding to the reference line of sight OQ for

[0029]

[0030] α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions.

[0031] According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is,

[0032]

[0033] k represents a positive real number, used to represent the vector and vector There is a parallel relationship between them and the directions are consistent;

[0034] Calculate the coordinate value of the compensation point P2 in the inertial coordinate system

[0035]

[0036] in

[0037] Preferably, in step 4:

[0038] Combined with the line of sight angle simulation relationship, the line of sight error compensation value is solved; the specific solution is:

[0039]

[0040] α xz ,β xz It indicates that the compensation value is divided into two dimensions: altitude and azimuth.

[0041] According to the present invention, a special-shaped multi-mode sensor simulation line of sight error compensation control system is provided, comprising:

[0042] The first module: According to the flight turntable control instructions, the motion law of the flight turntable is solved to obtain the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system; the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system are obtained; wherein, the special-shaped multi-mode wide-band sensor includes two sensor modules corresponding to two working frequency bands, and the module centers of these two sensor modules are module center MC1 and module center MC2 respectively, wherein module center MC1 is at the flight turntable rotation center, and module center MC2 is not at the flight turntable rotation center;

[0043] The second module: According to the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinate of the center point of the receiving module R2 in the flight turntable coordinate system, the coordinate of the center point P1 of the receiving module R2 in the inertial coordinate system is solved;

[0044] The third module: According to the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are calculated;

[0045] Step 4: Calculate the line of sight error compensation value based on the coordinates of the compensation point P2 on the target array in the inertial coordinate system.

[0046] Preferably, in the first module:

[0047] The flight turntable motion information is obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as θ * , γ * ;

[0048] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows:

[0049]

[0050] The axial distance from the module center MR2 to the module center MR1 is measured to be L1m, the longitudinal distance is L2m, and the lateral distance is 0. The vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is Expressed as

[0051]

[0052] Preferably, in the second module:

[0053] According to the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system are calculated. The specific solution is:

[0054]

[0055] x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

[0056] Preferably, in the third module:

[0057] Using the geometric constraint of parallel lines of sight and the target array spherical diameter, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are solved. The specific solution is:

[0058] The vector corresponding to the coordinates in the P2 inertial coordinate system Expressed as

[0059]

[0060] x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2.

[0061] The vector corresponding to the compensated RF line of sight for

[0062]

[0063] Vector corresponding to the reference line of sight OQ for

[0064]

[0065] α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions.

[0066] According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is,

[0067]

[0068] k represents a positive real number, used to represent the vector and vector They are parallel and in the same direction; calculate the coordinate value of the compensation point P2 in the inertial coordinate system

[0069]

[0070] in

[0071] Preferably, in step 4:

[0072] Combined with the line of sight angle simulation relationship, the line of sight error compensation value is solved; the specific solution is:

[0073]

[0074] α xz ,β xz It indicates that the compensation value is divided into two dimensions: altitude and azimuth.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] 1. The present invention utilizes the target array of the semi-physical simulation system to control the position of the radiation signal RS2 to the compensation point in real time during the simulation process of the special-shaped multi-mode wide-band sensor.

[0077] 2. The present invention realizes the real-time control of the parallel dual-line of sight of the simulation of the special-shaped multi-mode wide-band sensor, corrects the simulation line of sight error caused by the special-shaped structure of the sensor, and improves the high-precision simulation capability of the special-shaped multi-mode wide-band semi-physical simulation system.

[0078] 3. The present invention ensures the real-time simulation accuracy of the sight angle of the semi-physical simulation of the special-shaped multi-mode wide-band sensor, and effectively improves the credibility of the simulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0080] Figure 1 Schematic diagram of the structure of the special-shaped multi-mode wide-band sensor.

[0081] Figure 2 Schematic diagram of the system composition and working principle of semi-physical simulation of special-shaped multi-mode wide-band sensor.

[0082] Figure 3 Flowchart of the line-of-sight error compensation algorithm for simulating heterogeneous multi-mode wide-band sensors. DETAILED DESCRIPTION

[0083] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0084] This invention primarily compensates for line-of-sight errors during hardware-in-the-loop simulations of heterogeneous multimode, wideband sensors, ensuring high-precision simulation. The difficulty lies in calculating the position of compensation point P2 in real time. By employing matrix transformation, the invention uses the motion of a flight turntable to determine the motion pattern of the center point P1 of receiver module R2. This is then combined with the line-of-sight pointing vector to derive the motion pattern of compensation point P2.

[0085] Specifically, if Figure 2 As shown, the present invention controls the target array to adjust the position of the target radiation, so that during the movement of the flight turntable, the simulated line of sight between the position P2 of the compensated radiation point RP2 and the module center MC2 of the receiving module R2 remains parallel to the reference line of sight in real time. This algorithmically corrects the line of sight error in the semi-physical simulation of the special-shaped multi-mode wide-band sensor, improving the high-precision simulation capability of the multi-mode wide-band semi-physical simulation system. The working principle is: the positions of the centers of the two receiving modules of the special-shaped multi-mode wide-band sensor on the sensor are fixed, such as Figure 1 The structure dimensions are shown in the figure. Since the special-shaped multi-mode wide-band sensor is installed and fixed on the flight turntable, the position of the receiving module center is also fixed relative to the turntable, and its coordinates in the turntable coordinate system are fixed values. Figure 1 The structural dimensions are obtained in . The turntable moves according to known control instructions. The control instructions can be used to calculate the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system, which contains the turntable's motion law. Combined with the coordinates of the center point P1 of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system can be calculated. After compensation, the two lines of sight should remain parallel. The coordinates of the compensation point P2 in the inertial coordinate system can be calculated using the vector parallel constraint and the spherical diameter R of the target array. Combined with the line of sight angle simulation relationship, the angle of the compensation point P2 on the target array can be calculated.

[0086] More specifically, the present invention provides a method for controlling the simulated line of sight error compensation of a special-shaped multi-mode sensor, including:

[0087] Step 1: According to the flight turntable control instructions, solve the flight turntable motion law and obtain the coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system;

[0088] According to the structural dimensions of the special-shaped multi-mode wide-band sensor, obtain the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system;

[0089] Step 2: Calculate the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system based on the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system;

[0090] Step 3: Using the geometric constraint of parallel lines of sight and the spherical diameter of the target array, the coordinates of the compensation point P2 on the target array in the inertial coordinate system are calculated based on the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system.

[0091] Step 4: Combined with the line of sight angle simulation relationship, calculate the line of sight error compensation value according to the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system.

[0092] The present invention is described in more detail below. The control method for simulating line-of-sight error compensation for a special-shaped multi-mode wide-band sensor is implemented by the following steps:

[0093] Step 1: Calculate the motion law of the turntable according to the turntable control command and obtain the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system;

[0094] The flight turntable motion information can be obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as θ * , γ * , is a known quantity.

[0095] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows:

[0096]

[0097] Furthermore, the coordinates of the center point of the receiving module R2 in the turntable coordinate system are obtained according to the structural dimensions of the special-shaped multi-mode wide-band sensor;

[0098] According to the structural layout of the special-shaped multi-mode wide-band sensor, the axial distance from the module center MR2 to the module center MR1 can be measured to be L1m, the longitudinal distance is L2m, the lateral distance is 0, and the vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is It can be expressed as

[0099]

[0100] Step 2: Calculate the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system based on the coordinate conversion matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system. The specific solution is:

[0101]

[0102] x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

[0103] Step 3: Using the geometric constraint of parallel lines of sight and the target array spherical diameter, calculate the coordinates of the compensation point P2 on the target array in the inertial coordinate system. The specific solution is:

[0104] The vector corresponding to the coordinates in the P2 inertial coordinate system It can be expressed as

[0105]

[0106] x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2.

[0107] The vector corresponding to the compensated RF line of sight for

[0108]

[0109] Vector corresponding to the reference line of sight OQ for

[0110]

[0111] α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions.

[0112] According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is,

[0113]

[0114] k represents a positive real number, used to represent the vector and vector They are parallel and in the same direction; the coordinate value of the compensation point P2 in the inertial coordinate system can be calculated

[0115]

[0116] in

[0117] Step 4: Combine the line of sight angle simulation relationship to calculate the line of sight error compensation value. The compensation value is divided into two dimensions: altitude and azimuth, which can be expressed as α xz ,β xz , the specific solution is

[0118]

[0119] The present invention also provides a special-shaped multi-mode sensor simulation line of sight error compensation control system. Those skilled in the art can implement the special-shaped multi-mode sensor simulation line of sight error compensation control system by executing the steps of the special-shaped multi-mode sensor simulation line of sight error compensation control method. That is, the special-shaped multi-mode sensor simulation line of sight error compensation control system method can be understood as a preferred embodiment of the special-shaped multi-mode sensor simulation line of sight error compensation control system. Specifically, the special-shaped multi-mode sensor simulation line of sight error compensation control system provided by the present invention includes:

[0120] The first module: According to the flight turntable control instructions, the motion law of the flight turntable is solved to obtain the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system; the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system are obtained; wherein, the special-shaped multi-mode wide-band sensor includes two sensor modules corresponding to two working frequency bands, and the module centers of these two sensor modules are module center MC1 and module center MC2 respectively, wherein module center MC1 is at the flight turntable rotation center, and module center MC2 is not at the flight turntable rotation center;

[0121] The second module: According to the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinate of the center point of the receiving module R2 in the flight turntable coordinate system, the coordinate of the center point P1 of the receiving module R2 in the inertial coordinate system is solved;

[0122] The third module: According to the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are calculated;

[0123] Step 4: Calculate the line of sight error compensation value based on the coordinates of the compensation point P2 on the target array in the inertial coordinate system.

[0124] Preferably, in the first module:

[0125] The flight turntable motion information is obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as θ * , γ * ;

[0126] The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows:

[0127]

[0128] The axial distance from the module center MR2 to the module center MR1 is measured to be L1m, the longitudinal distance is L2m, and the lateral distance is 0. The vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is Expressed as

[0129]

[0130] Preferably, in the second module:

[0131] According to the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system are calculated. The specific solution is:

[0132]

[0133] x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

[0134] Preferably, in the third module:

[0135] Using the geometric constraint of parallel lines of sight and the target array spherical diameter, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are solved. The specific solution is:

[0136] The vector corresponding to the coordinates in the P2 inertial coordinate system Expressed as

[0137]

[0138] x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2.

[0139] The vector corresponding to the compensated RF line of sight for

[0140]

[0141] Vector corresponding to the reference line of sight OQ for

[0142]

[0143] α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions.

[0144]

[0145] According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is,

[0146]

[0147] k represents a positive real number, used to represent the vector and vector There is a parallel relationship between them and the directions are consistent;

[0148] Calculate the coordinate value of the compensation point P2 in the inertial coordinate system

[0149]

[0150] in

[0151] Preferably, in step 4:

[0152] Combined with the line of sight angle simulation relationship, the line of sight error compensation value is solved; the specific solution is:

[0153]

[0154] α xz ,β xz It indicates that the compensation value is divided into two dimensions: altitude and azimuth.

[0155] Those skilled in the art will appreciate that, in addition to implementing the system, device, and various modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like by logically programming the method steps. Therefore, the system, device, and various modules provided by the present invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; the modules for implementing various functions can also be considered both software programs for implementing the method and structures within the hardware component.

[0156] The present invention solves the problem of line of sight angle simulation error in semi-physical simulation of non-coaxial and non-concentric special-shaped multi-mode wide-band sensors. Based on the idea of ​​​​dot matrix combination, it adopts the implementation method of real-time angular position compensation of the target array. By combining the line of sight pointing vector with matrix conversion, it realizes the control of the real-time parallel relationship between the two lines of sight of the special-shaped multi-mode wide-band sensor, compensates for the simulated line of sight angle error caused by the special-shaped structure of the sensor, ensures the real-time simulation accuracy of the line of sight angle of the semi-physical simulation of this type of sensor, and effectively improves the credibility of the simulation system. The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present invention. In the absence of conflict, the embodiments of this application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A method for compensating and controlling the simulated sight error of a special-shaped multi-mode sensor, characterized in that: include: Step 1: According to the flight turntable control instructions, solve the flight turntable motion law and obtain the coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system; obtain the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system; wherein, the special-shaped multi-mode wide-band sensor includes two sensor modules corresponding to two working frequency bands respectively, and the module centers of these two sensor modules are module center MC1 and module center MC2 respectively, wherein module center MC1 is at the flight turntable rotation center, and module center MC2 is not at the flight turntable rotation center; Step 2: Calculate the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system based on the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system; Step 3: Calculate the coordinates of the compensation point P2 on the target array in the inertial coordinate system based on the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system; Step 4: Calculate the sight error compensation value based on the coordinates of the compensation point P2 on the target array in the inertial coordinate system; In step three: Using the geometric constraint of parallel lines of sight and the target array spherical diameter, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are solved. The specific solution is: The vector corresponding to the coordinates in the P2 inertial coordinate system Expressed as x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2; The vector corresponding to the compensated RF line of sight for Vector corresponding to the reference line of sight OQ for α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions; According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is, k represents a positive real number, used to represent the vector and vector There is a parallel relationship between them and the directions are consistent; Calculate the coordinate value of the compensation point P2 in the inertial coordinate system in In the step 4: Combined with the line of sight angle simulation relationship, the line of sight error compensation value is solved; the specific solution is: α xz ,β xz It indicates that the compensation value is divided into two dimensions: altitude and azimuth.

2. The method for compensating for the simulated sight error of a special-shaped multi-mode sensor according to claim 1, wherein: In step 1: The flight turntable motion information is obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows: The axial distance from the module center MR2 to the module center MR1 is measured to be L1m, the longitudinal distance is L2m, and the lateral distance is 0. The vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is Expressed as 3. The method for compensating for the simulated sight error of a special-shaped multi-mode sensor according to claim 2, wherein: In the second step: According to the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system are calculated. The specific solution is: x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

4. A special-shaped multi-mode sensor simulation line of sight error compensation control system, characterized in that: include: The first module: According to the flight turntable control instructions, the motion law of the flight turntable is solved to obtain the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system; the coordinates of the center point of the receiving module R2 in the flight turntable coordinate system are obtained; wherein, the special-shaped multi-mode wide-band sensor includes two sensor modules corresponding to two working frequency bands, and the module centers of these two sensor modules are module center MC1 and module center MC2 respectively, wherein module center MC1 is at the flight turntable rotation center, and module center MC2 is not at the flight turntable rotation center; The second module: According to the coordinate conversion matrix from the flight turntable coordinate system to the inertial coordinate system and the coordinate of the center point of the receiving module R2 in the flight turntable coordinate system, the coordinate of the center point P1 of the receiving module R2 in the inertial coordinate system is solved; The third module: According to the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are calculated; Step 4: Calculate the sight error compensation value based on the coordinates of the compensation point P2 on the target array in the inertial coordinate system; In the third module: Using the geometric constraint of parallel lines of sight and the target array spherical diameter, the coordinates of the compensation point P2 on the target array surface in the inertial coordinate system are solved. The specific solution is: The vector corresponding to the coordinates in the P2 inertial coordinate system Expressed as x2, y2, and z2 represent the calculated values ​​of the inertial coordinates of point P2; The vector corresponding to the compensated RF line of sight for Vector corresponding to the reference line of sight OQ for α bc is the installation angle error of the position Q of the radiation signal RS1, and R is the spherical diameter of the target array, both of which can be measured and obtained according to actual conditions; According to the geometric constraint of the two sight lines being parallel, the target condition P1P2 / / OQ is compensated, that is, k represents a positive real number, used to represent the vector and vector There is a parallel relationship between them and the directions are consistent; Calculate the coordinate value of the compensation point P2 in the inertial coordinate system in In the step 4: Combined with the line of sight angle simulation relationship, the line of sight error compensation value is solved; the specific solution is: α xz ,β xz It indicates that the compensation value is divided into two dimensions: altitude and azimuth.

5. The special-shaped multi-mode sensor simulation line of sight error compensation control system according to claim 4, characterized in that: In the first module: The flight turntable motion information is obtained according to the flight turntable control instructions, where the flight turntable control instructions have three dimensions: middle frame, outer frame, and inner frame, which are used to simulate the direction, pitch, and roll motion of the aircraft, respectively, and are expressed as The coordinate transformation matrix from the flight turntable coordinate system to the inertial coordinate system is expressed as The specific solution is as follows: The axial distance from the module center MR2 to the module center MR1 is measured to be L1m, the longitudinal distance is L2m, and the lateral distance is 0. The vector corresponding to the coordinates of the module center MR2 point P1 in the turntable coordinate system is Expressed as 6. The special-shaped multi-mode sensor simulation line of sight error compensation control system according to claim 5, characterized in that: In the second module: According to the coordinate transformation matrix from the turntable coordinate system to the inertial coordinate system and the coordinates of the center point of the receiving module R2 in the turntable coordinate system, the coordinates of the center point P1 of the receiving module R2 in the inertial coordinate system are calculated. The specific solution is: x1, y1, and z1 represent the calculated values ​​of the inertial coordinates of point P1.

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