A method for calculating the angular motion error of a vibration damper of a geographic indication photoelectric turret

Abstract

The application provides a method for calculating the angular motion error of a vibration damper of a geo-indicated photoelectric turret, comprising the following steps: S1, calculating the attitude angle of an outer frame relative to inertial space according to the attitude information output by an airborne inertial integrated navigation system and the motion information of the outer frame; S2, calculating the attitude angle of an inner frame relative to inertial space according to the attitude angular rate output by a three-axis gyroscope and the motion information of the inner frame; and S3, calculating the angular motion information of the vibration damper according to the attitude angle of the outer frame and the attitude angle of the inner frame. The method calculates the estimation of the angular motion error of the vibration damper, and then corrects the positioning result by the angular motion error of the vibration damper when positioning is performed by using the geo-indicated photoelectric turret, so as to improve the positioning precision, and the convergence time requirement in the digital filtering method is not needed, and the method is suitable for rapid multi-target positioning in reconnaissance search.

Description

Technical Field

[0001] This application relates to the field of aerial optoelectronic reconnaissance technology, and in particular to a method for calculating the angular motion error of the damper of a geographic indication optoelectronic turret. Background Technology

[0002] Airborne optoelectronic reconnaissance equipment consists of optoelectronic sensors, a gyro-stabilized platform, vibration dampers, and other components. When indicating the geographical location of a target, it utilizes data from the aircraft's onboard inertial navigation system, the frame rotation information of the optoelectronic turret, and video miss distance information to calculate the target's geographical location through coordinate transformation.

[0003] Modern photoelectric turret systems integrate an airborne inertial navigation system. This system is mounted on the turret base, and the angle information of the two-axis, four-frame stabilized platform is measured by a photoelectric encoder. High-precision geographic indication is provided for the photoelectric turret structure. Figure 1 As shown, the high-precision geolocation photoelectric turret directly calculates the target's geographical location information using sensor data. However, due to the presence of vibration dampers between the inner and outer frames, the angular motion of these dampers cannot be directly measured. When the angular motion amplitude reaches 0.1°, it introduces a geolocation error of approximately 17m@10km. Therefore, it is necessary to estimate the angular motion error of the vibration dampers. Commonly used methods include mathematical filtering such as Kalman filtering and particle filtering, which treat the errors of each sensor and vibration as measurement noise. However, this requires a certain convergence time, and the filtering effect is limited when performing rapid positioning.

[0004] Therefore, in order to solve the above problems, this invention designs a method for calculating the angular motion error of the vibration damper of a geographic indicator photoelectric turret. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for calculating the angular motion error of the vibration damper in a geographic indicator photoelectric turret.

[0006] On one hand, embodiments of the present invention provide a method for calculating the angular motion error of the vibration damper of a geographic indicator photoelectric turret, including:

[0007] S1. Calculate the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame;

[0008] S2. Calculate the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame.

[0009] S3. Calculate the angular motion information of the shock absorber based on the attitude angles of the outer frame and the inner frame.

[0010] Based on the above embodiments, further, S1, calculating the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial integrated navigation system and the motion information of the outer frame includes:

[0011] The attitude angle transformation matrix of the outer frame is calculated based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame.

[0012] The attitude angle of the outer frame relative to the inertial space is calculated based on the attitude angle transformation matrix of the outer frame.

[0013] Based on the above embodiments, the attitude information output by the airborne inertial navigation system is the X coordinate system corresponding to the first coordinate system. B Y B Y B The rotation angles in three directions; the motion information of the outer frame includes the outer orientation frame angle and the outer pitch frame angle;

[0014] Accordingly, the step of calculating the attitude angle transformation matrix of the outer frame based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame includes:

[0015] According to the X coordinate system corresponding to the airborne inertial navigation system in the first coordinate system B Y B Y B The angles in the three directions are calculated according to the formula:

[0016]

[0017] Calculate the first transformation matrix; where, Let R be the first transformation matrix; R, P, and Y be the X, Y, and Y coordinates of the airborne inertial navigation system in the first coordinate system, respectively. B Y B Y B Turns in three directions;

[0018] Based on the aforementioned outer azimuth frame angle and outer pitch frame angle, according to the formula:

[0019]

[0020] Calculate the second transformation matrix; where, Let θ be the second transformation matrix. azo θ is the outer orientation frame angle. po The external pitch frame angle;

[0021] Based on the first transformation matrix and the second transformation matrix, according to the formula: Calculate the outer frame attitude angle transformation matrix; where T is the outer frame attitude angle transformation matrix. Let be the first transformation matrix. Let be the second transformation matrix.

[0022] Based on the above embodiments, further, calculating the attitude angle of the outer frame relative to the inertial space according to the outer frame attitude angle transformation matrix includes:

[0023] remember

[0024]

[0025] According to the formula:

[0026] θ o = -arcsin(T) 13 )

[0027]

[0028]

[0029] Calculate the attitude angle of the outer frame relative to the inertial space; where θ o γ o ψ o The attitude angle of the outer frame relative to the inertial space.

[0030] Based on the above embodiments, further, S2, calculating the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame, including:

[0031] Calculate the attitude angle transformation matrix of the inner frame based on the motion information of the inner frame and the first and second transformation matrices;

[0032] The initial values ​​of the attitude angles of the inner frame relative to the inertial space are calculated based on the attitude angle transformation matrix of the inner frame.

[0033] The attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope.

[0034] The attitude angle of the inner frame relative to the inertial space is calculated based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space.

[0035] Based on the above embodiments, the motion information of the inner frame further includes the inner pitch frame angle and the inner azimuth frame angle;

[0036] Accordingly, the attitude angle transformation matrix of the inner frame is calculated based on the motion information of the inner frame and the first transformation matrix and the second transformation matrix, including:

[0037] Based on the inner pitch frame angle and the inner azimuth frame angle, according to the formula:

[0038]

[0039] Calculate the third transformation matrix; where, Let θ be the third transformation matrix. pi θ is the inward pitch frame angle. azi For interior orientation frame angle;

[0040] Based on the first transformation matrix, the second transformation matrix, and the third transformation matrix, according to the formula: Calculate the inner frame attitude angle transformation matrix; where C is the inner frame attitude angle transformation matrix. The third transformation matrix is... Let be the first transformation matrix. Let be the second transformation matrix.

[0041] Based on the above embodiments, further, calculating the initial values ​​of the attitude angles of the inner frame relative to the inertial space according to the inner frame attitude angle transformation matrix includes:

[0042] remember

[0043]

[0044] According to the formula:

[0045] θ i0 = -arcsin(C 13 )

[0046]

[0047]

[0048] Calculate the initial values ​​of the attitude angles of the inner frame relative to the inertial space; where θ i0 γ i0 ψ i0 These are the initial values ​​of the attitude angles of the inner frame relative to the inertial space.

[0049] Based on the above embodiments, the attitude angular rate output by the three-axis gyroscope further includes the X-axis corresponding to the second coordinate system. SP Y SP Z SP Angular rates in three directions;

[0050] Accordingly, the attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope, including:

[0051] According to the X-axis output of the triaxial gyroscope in the second coordinate system SP Y SP Z SP The angular velocities in the three directions are calculated using the following formula:

[0052]

[0053]

[0054]

[0055] Calculate the attitude angular rate of the inner frame relative to the inertial space; where, These are the attitude angular rates of the inner frame relative to the inertial space, ω and ω, respectively. x ω y ω z These are the X values ​​output by the three-axis gyroscope in the second coordinate system. SP Y SP Z SP Angular rates in three directions.

[0056] Based on the above embodiments, further, the attitude angle of the inner frame relative to the inertial space is calculated according to the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, including:

[0057] Based on the initial attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, according to the formula:

[0058]

[0059]

[0060]

[0061] Calculate the attitude angle of the inner frame relative to the inertial space; where θ i γ i ψ i Let θ be the attitude angle of the inner frame relative to the inertial space. i0 γ i0 ψ i0 The initial values ​​of the attitude angles of the inner frame relative to the inertial space are given. These are the attitude angular rates of the inner frame relative to the inertial space.

[0062] Based on the above embodiments, further, S3, calculating the angular motion information of the shock absorber according to the attitude angle of the outer frame and the attitude angle of the inner frame, including:

[0063] Based on the attitude angles of the outer frame and the inner frame, according to the formula:

[0064] Δθ i =θ i -θ o

[0065] Δγ i =γ i -γ o

[0066] Δψ i =ψ i -ψ o

[0067] Calculate the attitude angle of the vibration damper relative to the inertial space; where Δθ i Δγ i , Δψ i θ is the attitude angle of the damper relative to the inertial space. i γ i ψ i θ is the attitude angle of the inner frame relative to the inertial space. o γ o ψ o The attitude angle of the outer frame relative to the inertial space.

[0068] Based on the attitude angle of the damper relative to the inertial space and the third transformation matrix, according to the formula:

[0069]

[0070] Calculate the angular motion matrix of the shock absorber; where C Δ Let Δθ be the angular motion matrix of the shock absorber. i Δγ i , Δψ i The attitude angle of the shock absorber relative to the inertial space. Let be the third transformation matrix.

[0071] The beneficial effects of this application are as follows: The method for calculating the angular motion error of the shock absorber of the geographic indicator photoelectric turret provided in this application firstly calculates the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame; then, it calculates the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame; and finally, it calculates the angular motion information of the shock absorber based on the attitude angle of the outer frame and the attitude angle of the inner frame.

[0072] In summary, this method can calculate the angular motion of the shock absorbers between the inner and outer frames using the attitude information output by the airborne inertial navigation system, the motion information of the outer frame, the attitude angular rate output by the three-axis gyroscope, and the motion information of the inner frame. This allows for the estimation of the shock absorber angular motion error, which can then be used to correct the positioning results when using a geolocation photoelectric turret for positioning. This improves positioning accuracy and eliminates the convergence time requirement of digital filtering methods, making it suitable for rapid multi-target positioning during reconnaissance and search. Attached Figure Description

[0073] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 This is a schematic diagram of the structure of a geographic indicator photoelectric turret according to an embodiment of the present invention;

[0075] Figure 2 This is a flowchart illustrating a method for calculating the angular motion error of a vibration damper in a geographic indicator photoelectric turret, as provided in an embodiment of the present invention.

[0076] Figure 3 A schematic diagram of the hardware structure of a computer device provided in an embodiment of the present invention.

[0077] Figure 1 middle:

[0078] 1. Base; 2. Inertial navigation system; 3. Outer orientation frame; 4. Outer pitch frame; 5. Vibration damper; 6. Inner pitch frame; 7. Inner orientation frame; 8. Three-axis gyroscope; 9. Optical load. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] Figure 1 This is a schematic diagram of the structure of a geographic indicator photoelectric turret provided in an embodiment of the present invention, as shown below. Figure 1As shown, an airborne inertial navigation system 2 is installed on the base 1. The outer pitch frame 4 and inner pitch frame 6 are connected by a vibration damper 5. A three-axis gyroscope 8 and an optical load 9 are installed on the inner azimuth frame 7. All four frames—outer azimuth frame 3, outer pitch frame 4, inner pitch frame 6, and inner azimuth frame 7—contain angle measuring devices, allowing for the measurement of various angles. The coordinate system OX of the outer pitch frame and the base is [omitted]. B Y B Z B (i.e., the origin of the first coordinate system) is located at the center of the airborne inertial navigation system 2, OX B Axial optical load 9, eye axis pointing forward, OZ B The axis points vertically downwards, OY B With OX B OZ B This forms a right-handed coordinate system. The interior orientation frame coordinate system (i.e., the second coordinate system) OX SP Y SP Z SP The origin is located at the center of the three-axis gyroscope 8, OX SP Axial optical load 9, eye axis pointing forward, OZ SP The axis points downwards, OY SP With OX SP OZ SP This forms a right-handed coordinate system.

[0081] Figure 2 This is a flowchart illustrating a method for calculating the angular motion error of a vibration damper in a geographic indicator photoelectric turret, as provided by the present invention. Figure 2 As shown, the method for calculating the angular motion error of the vibration damper of a geographic indicator photoelectric turret provided by the present invention includes:

[0082] S1. Calculate the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame;

[0083] Specifically, the attitude angle transformation matrix of the outer frame is calculated based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame; the attitude angle of the outer frame relative to the inertial space is then calculated based on the attitude angle transformation matrix. That is, the attitude angle of the outer frame relative to the inertial space is calculated by performing a matrix transformation based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame. The attitude information output by the airborne inertial navigation system includes the X coordinates corresponding to the airborne inertial navigation system in the first coordinate system. B Y B Y B The rotation angles in three directions, with the first coordinate system being the base coordinate system OX. B Y B Z BThe motion information of the outer frame includes the outer azimuth frame angle and the outer pitch frame angle; the motion information of the inner frame includes the inner pitch frame angle and the inner azimuth frame angle. The attitude information output by the airborne inertial navigation system and the motion information of the outer frame may also include other information, which can be set and adjusted according to actual conditions, and are not specifically limited here.

[0084] S2. Calculate the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame.

[0085] Specifically, firstly, the attitude angle transformation matrix of the inner frame is calculated based on the motion information of the inner frame; then, the initial value of the attitude angle of the inner frame relative to the inertial space is calculated based on the attitude angle transformation matrix; next, the attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope; finally, the attitude angle of the inner frame relative to the inertial space is calculated based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space. That is, matrix transformation is performed based on the motion information of the inner frame to calculate the initial value of the attitude angle of the inner frame relative to the inertial space, and then integration is performed based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate output by the three-axis gyroscope to obtain the attitude angle of the inner frame relative to the inertial space. The attitude angular rate output by the three-axis gyroscope includes the X-axis angle corresponding to the second coordinate system. SP Y SP Z SP Angular rates in three directions, the second coordinate system being the interior orientation frame coordinate system OX. SP Y SP Z SP The motion information of the inner frame includes the inner pitch frame angle and the inner azimuth frame angle. The motion information of the inner frame may also include other information, which can be set and adjusted according to actual conditions; no specific limitations are made here.

[0086] S3. Calculate the angular motion information of the shock absorber based on the attitude angles of the outer frame and the inner frame.

[0087] Specifically, based on the attitude angles of the outer frame relative to the inertial space and the inner frame relative to the inertial space, the attitude angle of the shock absorber relative to the inertial space is calculated. Then, based on the attitude angles of the shock absorber relative to the inertial space, a matrix transformation is performed to calculate the angular motion matrix of the shock absorber.

[0088] The beneficial effects of this application are as follows: The method for calculating the angular motion error of the shock absorber of the geographic indicator photoelectric turret provided in this application firstly calculates the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame; then, it calculates the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame; and finally, it calculates the angular motion information of the shock absorber based on the attitude angle of the outer frame and the attitude angle of the inner frame.

[0089] In summary, this method can calculate the angular motion of the damper between the inner and outer frames using the attitude information output by the airborne inertial navigation system, the motion information of the outer frame, the attitude angular rate output by the three-axis gyroscope, and the motion information of the inner frame. This allows for the estimation of the damper angular motion error, which in turn corrects the positioning results when using a geolocation photoelectric turret for positioning, thereby improving positioning accuracy.

[0090] Based on the above embodiments, the step of calculating the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial integrated navigation system and the motion information of the outer frame includes:

[0091] The attitude angle transformation matrix of the outer frame is calculated based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame.

[0092] The attitude angle of the outer frame relative to the inertial space is calculated based on the attitude angle transformation matrix of the outer frame.

[0093] Specifically, a first transformation matrix is ​​calculated based on the attitude information output by the airborne inertial navigation system; a second transformation matrix is ​​calculated based on the motion information of the outer frame; and then, an outer frame attitude angle transformation matrix is ​​calculated based on the first and second transformation matrices. Finally, the attitude angles of the outer frame relative to inertial space are calculated based on the outer frame attitude angle transformation matrix. The first and second transformation matrices are obtained by calculation using different preset formulas.

[0094] Based on the above embodiments, the attitude information output by the airborne inertial navigation system is the X coordinate system corresponding to the first coordinate system. B Y B Y B The rotation angles in three directions; the motion information of the outer frame includes the outer orientation frame angle and the outer pitch frame angle;

[0095] Specifically, the airborne inertial integrated navigation system corresponds to the X coordinate system in the first coordinate system. B Y B Y BThe turning angles in the three directions are directly output by the airborne inertial navigation system, while the outer azimuth frame angle and outer pitch frame angle are output by the angle measuring device built into the outer frame itself.

[0096] Accordingly, the step of calculating the attitude angle transformation matrix of the outer frame based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame includes:

[0097] According to the X coordinate system corresponding to the airborne inertial navigation system in the first coordinate system B Y B Y B The angles in the three directions are calculated according to the formula:

[0098]

[0099] Calculate the first transformation matrix; where, Let R be the first transformation matrix; R, P, and Y be the X, Y, and Y coordinates of the airborne inertial navigation system in the first coordinate system, respectively. B Y B Y B Turns in three directions;

[0100] Based on the aforementioned outer azimuth frame angle and outer pitch frame angle, according to the formula:

[0101]

[0102] Calculate the second transformation matrix; where, Let θ be the second transformation matrix. azo θ is the outer orientation frame angle. po The external pitch frame angle;

[0103] Based on the first transformation matrix and the second transformation matrix, according to the formula: Calculate the outer frame attitude angle transformation matrix; where T is the outer frame attitude angle transformation matrix. Let be the first transformation matrix. Let be the second transformation matrix.

[0104] Based on the above embodiments, further, calculating the attitude angle of the outer frame relative to the inertial space according to the outer frame attitude angle transformation matrix includes:

[0105] remember

[0106]

[0107] According to the formula:

[0108] θ o = -arcsin(T) 13 )

[0109]

[0110]

[0111] Calculate the attitude angle of the outer frame relative to the inertial space; where θ o γ o ψ o The attitude angle of the outer frame relative to the inertial space.

[0112] in, It is based on the first transformation matrix Second transformation matrix The calculated result is a 3x3 matrix, and for ease of representation, each element is denoted as T. 11 T 12 T 13 T 21 T 22 T 23 T 31 T 32 T 33 .

[0113] Based on the above embodiments, further, the attitude angle of the inner frame relative to the inertial space is calculated according to the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame, including:

[0114] Calculate the attitude angle transformation matrix of the inner frame based on the motion information of the inner frame and the first and second transformation matrices;

[0115] The initial values ​​of the attitude angles of the inner frame relative to the inertial space are calculated based on the attitude angle transformation matrix of the inner frame.

[0116] The attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope.

[0117] The attitude angle of the inner frame relative to the inertial space is calculated based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space.

[0118] Specifically, a third transformation matrix is ​​calculated based on the motion information of the inner frame. Then, an attitude angle transformation matrix for the inner frame is calculated based on the third transformation matrix, the first transformation matrix, and the second transformation matrix. The third transformation matrix is ​​obtained by calculating the motion information of the inner frame according to a preset formula. Next, the initial values ​​of the attitude angles of the inner frame relative to the inertial space are calculated based on the attitude angle transformation matrix. The motion information of the inner frame includes the inner pitch frame angle and the inner azimuth frame angle, both of which are initial values. These initial values ​​can be the real-time values ​​of the inner pitch and inner azimuth frame angles output by the inner frame's built-in goniometer at a certain moment, or the average values ​​of multiple inner pitch and inner azimuth frame angles output by the inner frame's built-in goniometer over a certain time period. The specific values ​​can be set and adjusted according to actual conditions, and are not specifically limited here. Finally, the attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope. The attitude angular rate output by the three-axis gyroscope includes the X-axis angle corresponding to the second coordinate system. SP Y SP Z SP The rotation rates in three directions. The attitude angles of the inner frame relative to the inertial space are calculated based on the initial values ​​of the attitude angles of the inner frame relative to the inertial space and the attitude angular rates of the inner frame relative to the inertial space.

[0119] Based on the above embodiments, the motion information of the inner frame further includes the inner pitch frame angle and the inner azimuth frame angle;

[0120] Specifically, the inner pitch frame angle and the inner azimuth frame angle are both initial values. The initial values ​​can be the real-time values ​​of the inner pitch frame angle and the inner azimuth frame angle output by the inner frame's built-in goniometer at a certain moment, or they can be the average value of multiple inner pitch frame angles and multiple inner azimuth frame angles output by the inner frame's built-in goniometer over a certain period of time. They can be set and adjusted according to the actual situation, and no specific limitation is made here.

[0121] Accordingly, the attitude angle transformation matrix of the inner frame is calculated based on the motion information of the inner frame and the first transformation matrix and the second transformation matrix, including:

[0122] Based on the inner pitch frame angle and the inner azimuth frame angle, according to the formula:

[0123]

[0124] Calculate the third transformation matrix; where, Let θ be the third transformation matrix. pi θ is the inward pitch frame angle. azi For interior orientation frame angle;

[0125] Based on the first transformation matrix, the second transformation matrix, and the third transformation matrix, according to the formula: Calculate the inner frame attitude angle transformation matrix; where C is the inner frame attitude angle transformation matrix. The third transformation matrix is... Let be the first transformation matrix. Let be the second transformation matrix.

[0126] Based on the above embodiments, further, calculating the initial values ​​of the attitude angles of the inner frame relative to the inertial space according to the inner frame attitude angle transformation matrix includes:

[0127] remember

[0128]

[0129] According to the formula:

[0130] θ i0 = -arcsin(C 13 )

[0131]

[0132]

[0133] Calculate the initial values ​​of the attitude angles of the inner frame relative to the inertial space; where θ i0 ,γi0,ψ i0 These are the initial values ​​of the attitude angles of the inner frame relative to the inertial space.

[0134] in, It is based on the first transformation matrix Second transformation matrix and the third transformation matrix The calculated result is a 3x3 matrix. For ease of representation, each element is denoted as C. 11 C 12 C 13 C 21 C 22 C 23 C 31 C 32 C 33 .

[0135] Based on the above embodiments, the attitude angular rate output by the three-axis gyroscope further includes the X-axis corresponding to the second coordinate system. SP Y SP Z SP Angular rates in three directions;

[0136] Accordingly, the attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope, including:

[0137] According to the X-axis output of the triaxial gyroscope in the second coordinate system SP Y SP Z SP The angular velocities in the three directions are calculated according to the formula:

[0138]

[0139]

[0140]

[0141] Calculate the attitude angular rate of the inner frame relative to the inertial space; where, These are the attitude angular rates of the inner frame relative to the inertial space, ω and ω, respectively. x ω y ω z These are the X values ​​output by the three-axis gyroscope in the second coordinate system. SP Y SP Z SP Angular rates in three directions.

[0142] Based on the above embodiments, further, the attitude angle of the inner frame relative to the inertial space is calculated according to the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, including:

[0143] Based on the initial attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, according to the formula:

[0144]

[0145]

[0146]

[0147] Calculate the attitude angle of the inner frame relative to the inertial space; where θ i γ i ψ i Let θ be the attitude angle of the inner frame relative to the inertial space. i0 γ i0 ψ i0 The initial values ​​of the attitude angles of the inner frame relative to the inertial space are given. These are the attitude angular rates of the inner frame relative to the inertial space.

[0148] Based on the above embodiments, the angular motion information of the shock absorber is calculated according to the attitude angles of the outer frame and the inner frame, including:

[0149] Based on the attitude angles of the outer frame and the inner frame, according to the formula:

[0150] Δθ i =θ i -θ o

[0151] Δγ i =γ i -γ o

[0152] Δψ i =ψ i -ψ o

[0153] Calculate the attitude angle of the vibration damper relative to the inertial space; where Δθ i Δγ i , Δψ i θ is the attitude angle of the damper relative to the inertial space. i γ i ψ i θ is the attitude angle of the inner frame relative to the inertial space. o γ o ψ o The attitude angle of the outer frame relative to the inertial space.

[0154] Based on the attitude angle of the damper relative to the inertial space and the third transformation matrix, according to the formula:

[0155]

[0156] Calculate the angular motion matrix of the shock absorber; where C Δ Let Δθ be the angular motion matrix of the shock absorber. i Δγ i , Δψ i The attitude angle of the shock absorber relative to the inertial space. Let be the third transformation matrix.

[0157] Specifically, using the angular motion matrix C of the damper Δ This is used to characterize the angular motion error of the shock absorber, thereby correcting the positioning result when using the geo-indicating photoelectric turret for positioning, thus improving positioning accuracy. It eliminates the convergence time requirement of digital filtering methods and is suitable for rapid multi-target positioning during reconnaissance and search.

[0158] The beneficial effects of this application are as follows: The method for calculating the angular motion error of the shock absorber of the geographic indicator photoelectric turret provided in this application firstly calculates the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame; then, it calculates the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame; and finally, it calculates the angular motion information of the shock absorber based on the attitude angle of the outer frame and the attitude angle of the inner frame.

[0159] In summary, this method can calculate the angular motion of the damper between the inner and outer frames using the attitude information output by the airborne inertial navigation system, the motion information of the outer frame, the attitude angular rate output by the three-axis gyroscope, and the motion information of the inner frame. This allows for the estimation of the damper angular motion error, which in turn corrects the positioning results when using a geolocation photoelectric turret for positioning, thereby improving positioning accuracy.

[0160] This application also provides a computer device, the device comprising: a memory for storing executable program code; and one or more processors for reading the executable program code stored in the memory to execute the method for calculating the angular motion error of the vibration damper of a geographic indicator photoelectric turret as described above. Please refer to... Figure 3 A schematic diagram of the hardware structure of a computer device is provided.

[0161] The computer system includes a central processing unit (CPU) 301, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 302 or programs loaded from storage into random access memory (RAM) 303. RAM 303 also stores various programs and data required for system operation. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0162] The following components are connected to I / O interface 305: an input section 306 including a keyboard, mouse, etc.; an output section including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive is also connected to I / O interface 305 as needed. A removable medium 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 310 as needed so that computer programs read from it can be installed into storage section 308 as needed.

[0163] In particular, according to embodiments of the present invention, the process described above in the method for calculating the angular motion error of the damper of a geographic indicator photoelectric turret can be implemented as a computer software program. For example, an embodiment of the present invention relating to the method for calculating the angular motion error of the damper of a geographic indicator photoelectric turret includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU) 301, the functions defined above in the system of this application are performed.

[0164] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0165] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions, and operations of the method, apparatus, and computer program product for calculating the angular motion error of the vibration damper of the photoelectric turret according to the present invention. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and combinations of blocks in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0166] The units described in the embodiments of the present invention can be implemented in software or hardware, and can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. The described units or modules can also be located in a processor; for example, a processor can be described as including a first generation module, an acquisition module, a search module, a second generation module, and a merging module. Again, the names of these units or modules do not necessarily limit the specific unit or module itself.

[0167] In another aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to implement the method for calculating the angular motion error of the vibration damper of the geographic indicator photoelectric turret as described in the above embodiments.

[0168] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this 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 and embodied by multiple modules or units.

[0169] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0170] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware.

[0171] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the angular motion error of the vibration damper in a geographic indicator photoelectric turret, characterized in that, include: S1. Calculate the attitude angle of the outer frame relative to the inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame; S2. Calculate the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame. S3. Calculate the angular motion information of the shock absorber based on the attitude angles of the outer frame and the inner frame; The attitude information output by the airborne inertial navigation system is the X-axis corresponding to the airborne inertial navigation system in the first coordinate system. B Y B Z B The rotation angles in three directions; the motion information of the outer frame includes the outer orientation frame angle and the outer pitch frame angle; Accordingly, the step of calculating the attitude angle transformation matrix of the outer frame based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame includes: According to the X coordinate system corresponding to the airborne inertial navigation system in the first coordinate system B Y B Z B The angles in the three directions are calculated according to the formula: Calculate the first transformation matrix; where, Let R be the first transformation matrix; R, P, and Y be the X, Y, and Y coordinates of the airborne inertial navigation system in the first coordinate system, respectively. B Y B Z B Turns in three directions; Based on the outer azimuth frame angle and the outer pitch frame angle, according to the formula: Calculate the second transformation matrix; where, This is the second transformation matrix. For the outer orientation frame angle, The external pitch frame angle; Based on the first transformation matrix and the second transformation matrix, according to the formula: Calculate the outer frame attitude angle transformation matrix; where T is the outer frame attitude angle transformation matrix. Let be the first transformation matrix. This is the second transformation matrix; S2. Calculate the attitude angle of the inner frame relative to the inertial space based on the attitude angular rate output by the three-axis gyroscope and the motion information of the inner frame, including: Calculate the attitude angle transformation matrix of the inner frame based on the motion information of the inner frame and the first and second transformation matrices; Calculate the initial values ​​of the attitude angles of the inner frame relative to the inertial space based on the attitude angle transformation matrix of the inner frame; The attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope. The attitude angle of the inner frame relative to the inertial space is calculated based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space.

2. The method according to claim 1, characterized in that, S1. Calculate the attitude angles of the outer frame relative to inertial space based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame, including: The attitude angle transformation matrix of the outer frame is calculated based on the attitude information output by the airborne inertial navigation system and the motion information of the outer frame. The attitude angle of the outer frame relative to the inertial space is calculated based on the attitude angle transformation matrix of the outer frame.

3. The method according to claim 2, characterized in that, Calculating the attitude angles of the outer frame relative to the inertial space based on the outer frame attitude angle transformation matrix includes: remember According to the formula: Calculate the attitude angle of the outer frame relative to the inertial space; wherein, , , The attitude angle of the outer frame relative to the inertial space.

4. The method according to claim 3, characterized in that, The motion information of the inner frame includes the inner pitch frame angle and the inner azimuth frame angle. Accordingly, the attitude angle transformation matrix of the inner frame is calculated based on the motion information of the inner frame and the first transformation matrix and the second transformation matrix, including: Based on the inner pitch frame angle and the inner azimuth frame angle, according to the formula: Calculate the third transformation matrix; where, The third transformation matrix is... For the inward pitch frame angle, For interior orientation frame angle; Based on the first transformation matrix, the second transformation matrix, and the third transformation matrix, according to the formula: Calculate the inner frame attitude angle transformation matrix; where C is the inner frame attitude angle transformation matrix. The third transformation matrix is... Let be the first transformation matrix. Let be the second transformation matrix.

5. The method according to claim 4, characterized in that, The initial values ​​of the attitude angles of the inner frame relative to the inertial space are calculated based on the inner frame attitude angle transformation matrix, including: remember According to the formula: Calculate the initial values ​​of the attitude angles of the inner frame relative to the inertial space; where, , , These are the initial values ​​of the attitude angles of the inner frame relative to the inertial space.

6. The method according to claim 5, characterized in that, The attitude angular rate output by the triaxial gyroscope includes the X-axis corresponding to the second coordinate system. SP Y SP Z SP Angular rates in three directions; Accordingly, the attitude angular rate of the inner frame relative to the inertial space is calculated based on the attitude angular rate output by the three-axis gyroscope, including: According to the X-axis output of the triaxial gyroscope in the second coordinate system SP Y SP Z SP The angular velocities in the three directions are calculated using the following formula: Calculate the attitude angular rate of the inner frame relative to the inertial space; where, , , These are the attitude angular rates of the inner frame relative to the inertial space; , , These are the X values ​​output by the three-axis gyroscope in the second coordinate system. SP Y SP Z SP Angular rates in three directions.

7. The method according to claim 6, characterized in that, The attitude angle of the inner frame relative to the inertial space is calculated based on the initial value of the attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, including: Based on the initial attitude angle of the inner frame relative to the inertial space and the attitude angular rate of the inner frame relative to the inertial space, according to the formula: Calculate the attitude angle of the inner frame relative to the inertial space; wherein, , , Let be the attitude angle of the inner frame relative to the inertial space. , , The initial values ​​of the attitude angles of the inner frame relative to the inertial space are given. , , These are the attitude angular rates of the inner frame relative to the inertial space.

8. The method according to claim 7, characterized in that, S3. Calculate the angular motion information of the shock absorber based on the attitude angles of the outer frame and the inner frame, including: Based on the attitude angles of the outer frame and the inner frame, according to the formula: Calculate the attitude angle of the vibration damper relative to the inertial space; where, , , The attitude angle of the shock absorber relative to the inertial space; , , The attitude angle of the inner frame relative to the inertial space; , , The attitude angle of the outer frame relative to the inertial space; Based on the attitude angle of the damper relative to the inertial space and the third transformation matrix, according to the formula: Calculate the angular motion matrix of the vibration damper; where, Here is the angular motion matrix of the shock absorber. , , The attitude angle of the shock absorber relative to the inertial space. Let be the third transformation matrix.

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