Optical axis zero position calibration method, system, terminal device and storage medium

Abstract

The present application provides an optical axis zero position calibration method, system, terminal device and storage medium. The optical axis zero position calibration method includes: calculating the azimuth angle a of the target point relative to the turntable; an optical system is installed on the turntable; in a set coordinate system, according to the azimuth angle a, calculating the quadrant angle a' of the target point relative to the turntable; the set coordinate system takes the turntable as the origin and is obtained by translating the earth coordinate system; obtaining the azimuth angle b of the target point relative to the zero position of the turntable when the target point is at the center of the field of view of the optical system; calculating the deviation value m; according to the deviation value m, controlling the rotation of the turntable to make the optical axis of the optical system point to the due north direction. Through the above method, the existing technology that relies on experimental calibration targets and is affected by the environment and subjective factors is overcome, and the calibration accuracy is improved; at the same time, the quadrant angle a' is linked to the azimuth angle a, which further improves the calculation accuracy.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of zero position calibration, and particularly relates to an optical axis zero position calibration method, system, terminal device and storage medium. Background Art

[0002] With the mature application of infrared optoelectronic technology in various fields, such as infrared temperature measurement, infrared aiming and infrared reconnaissance, etc., functions such as searching, capturing, tracking, aiming, imaging and laser irradiation of targets can be completed. Compared with traditional technologies, the infrared system has higher resolution, better concealment, and is not easily affected by electronic interference. Compared with the visible light system, it has the advantages of being able to recognize camouflage and working day and night. Generally speaking, infrared optoelectronic technology uses the infrared optical system in the detection device to receive the infrared radiation emitted by the target, so as to aim at and detect the target. Before such an optical system is used, it often needs to be calibrated for the zero position of the optical axis.

[0003] Since the infrared band belongs to invisible light, the existing white light optical axis zero position corrector cannot be used in the infrared band. Therefore, at present, the calibration of the infrared optical axis zero position can only rely on actual test target calibration, but the test target calibration is greatly affected by the environment and subjectivity, resulting in low calibration accuracy. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an optical axis zero position calibration method, system, terminal device and storage medium that can solve the above-mentioned technical problems.

[0005] The first aspect of the present application provides an optical axis zero position calibration method, including:

[0006] Calculating the azimuth angle a of the target point relative to the turntable; an optical system is installed on the turntable;

[0007] In a set coordinate system, according to the azimuth angle a, calculating the quadrant angle a' of the target point relative to the turntable; the set coordinate system takes the turntable as the origin and is obtained by translating the earth coordinate system;

[0008] When obtaining the position of the target point at the center of the field of view of the optical system, the azimuth angle b of the target point relative to the zero position of the turntable;

[0009] Calculating the deviation value m according to formula (1);

[0010] m = a' - b (1);

[0011] According to the deviation value m, controlling the turntable to rotate so that the optical axis of the optical system points to the due north direction.

[0012] According to the technical solution provided by the embodiment of the present application, calculating the azimuth angle a of the target point relative to the turntable according to formula (2):

[0013]

[0014] The angle B is the difference between 90° and the latitude of the turntable; and Δlon is the difference between the longitude of the target point and the longitude of the turntable.

[0015] According to the technical solution provided in the embodiment of the present application, the quadrant angle a' of the target point relative to the turntable is calculated by the following sub-steps:

[0016] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, the azimuth angle a is used as the quadrant angle a';

[0017] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, the difference between 180° and the azimuth angle a is used as the quadrant angle a';

[0018] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, the sum of 180° and the azimuth angle a is used as the quadrant angle a';

[0019] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, the difference between 360° and the azimuth angle a is used as the quadrant angle a'.

[0020] According to the technical solution provided in the embodiment of the present application, the latitude and longitude of the target point and the turntable position are obtained through a real-time dynamic positioning system.

[0021] A second aspect of the present application provides an optical axis zero position calibration system, comprising:

[0022] a turntable, wherein an optical system is mounted on the turntable;

[0023] an acquisition module, configured to: acquire an azimuth angle b of the target point relative to a zero position of the turntable when the target point is located at a center of a field of view of the optical system;

[0024] a processing module, the input end of which is connected to the acquisition module, and configured to:

[0025] Calculate the azimuth angle a of the target point relative to the turntable;

[0026] In a set coordinate system, according to the azimuth angle a, the quadrant angle a' of the target point relative to the turntable is calculated; the set coordinate system has the turntable as its origin and is obtained by translating the earth coordinate system;

[0027] Calculate the deviation value m according to formula (1).

[0028] m = a' - b (1);

[0029] A control module, the input end of the control module is connected to the turntable, the output end of the control module is connected to the turntable, and the control module is configured to: control the rotation of the turntable according to the deviation value m so that the optical axis of the optical system points to the due north direction.

[0030] According to the technical solution provided by the embodiment of the present application, the processing module is further specifically configured to:

[0031] Calculate the azimuth angle a of the target point relative to the turntable according to formula (2):

[0032]

[0033] where the angle A is the difference between 90° and the latitude of the turntable; Δlon is the difference between the longitude of the target point and the longitude of the turntable.

[0034] According to the technical solution provided by the embodiment of the present application, the processing module is further specifically configured to:

[0035] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, use the azimuth angle a as the quadrant angle a';

[0036] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, use the difference between 180° and the azimuth angle a as the quadrant angle a';

[0037] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, use the sum of 180° and the azimuth angle a as the quadrant angle a';

[0038] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, use the difference between 360° and the azimuth angle a as the quadrant angle a'.

[0039] According to the technical solution provided by the embodiment of the present application, the optical axis zero position calibration system further includes: a real-time kinematic positioning system; the real-time kinematic positioning system is used to obtain the longitude and latitude of the target point and the turntable position.

[0040] A third aspect of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the steps of the optical axis zero position calibration method as described above.

[0041] A fourth aspect of the present application provides a computer-readable storage medium having a computer program. When the computer program is executed by a processor, the steps of the optical axis zero position calibration method as described above are implemented.

[0042] The beneficial effects of the present application are as follows: in the above steps, the set coordinate system with the turntable as the origin is obtained by translating the earth coordinate system, the quadrant angle a' of the target point relative to the turntable in the set coordinate system is calculated, and the azimuth angle b of the target point relative to the zero position of the turntable when the target point is at the center of the field of view of the optical system is obtained, and then the deviation value m is obtained by formula (1), and finally the turntable is adjusted according to the deviation value m to make the optical axis of the optical system point to the north direction. In the above steps, the influence of environmental, human and subjective factors is eliminated, the accuracy of the optical axis zero position calibration is greatly improved, the feasibility and reliability are improved, and it has important reference value and broad application prospects for improving the target positioning accuracy of the optoelectronic tracking system. At the same time, by linking the quadrant angle a' with the azimuth angle a, the calculation accuracy is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0044] Figure 1 This application provides a method for calibrating the zero position of an optical axis;

[0045] Figure 2 Schematic diagram of the position relationship between target point A and turntable position B;

[0046] Figure 3 Schematic diagram for setting the coordinate system;

[0047] Figure 4 An optical axis zero position calibration system provided by this application;

[0048] Figure 5 A terminal device provided for this application.

[0049] Numbers in the figure:

[0050] 1. Turntable; 11. Optical system; 2. Acquisition module; 3. Processing module; 4. Control module; 5. Real-time dynamic positioning system. DETAILED DESCRIPTION

[0051] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0052] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] Example 1

[0054] Please refer to Figure 1 A flowchart of a method for calibrating an optical axis zero position provided in this application includes:

[0055] S100: Calculating an azimuth angle a of a target point relative to a turntable; an optical system is mounted on the turntable;

[0056] Specifically, the optoelectronic system is an infrared optical system;

[0057] For ease of understanding, Figure 2 As shown in the figure, point A represents the target point position, and point B represents the turntable position; the azimuth angle of the target point position A relative to the turntable position B can be expressed as: the angle of the north direction of the target point A rotated clockwise to the line connecting the two points AB, that is, the angle of OO' rotated clockwise to the plane AOB in the earth coordinate system;

[0058] S200: Calculating a quadrant angle a' of the target point relative to the turntable based on the azimuth angle a in a set coordinate system; the set coordinate system has the turntable as its origin and is obtained by translating the earth coordinate system;

[0059] Specifically, such as Figure 3 As shown, the earth coordinate system O xyz The origin is O, the intersection of the center of the earth pointing to the equator and the 0° meridian is the Ox axis, the intersection of the center of the earth pointing to the equator and the 90° meridian is the Oy axis, and the intersection of the center of the earth pointing to the North Pole is the Oz axis.

[0060] Specifically, the setting coordinate system O' x’y’z’ Taking the turntable as the origin O', the O'x' axis passes through the origin O' and is parallel to the Ox axis, the O'y' axis passes through the origin O' and is parallel to the Oy axis, and the O'z' axis passes through the origin O' and is parallel to the Oz axis;

[0061] S300: Acquire an azimuth angle b of the target point relative to the zero position of the turntable when the target point is located at the center of the field of view of the optical system;

[0062] Specifically, the azimuth angle b is obtained by feedback from the turntable;

[0063] S400: Calculate the deviation value m according to formula (1);

[0064] m = a' - b (1);

[0065] Specifically, the deviation value m is used to represent the angle between the zero position of the turntable and the north direction;

[0066] S500: Control the turntable to rotate according to the deviation value m so that the optical axis of the optical system points to the due north direction.

[0067] For example, in some embodiments, the positive direction of the turntable is the clockwise rotation direction, and the deviation value is -a°; then drive the turntable to rotate forward by a° so that the optical axis of the optical system points to the due north direction.

[0068] This application aims to solve the technical problem that in the prior art, relying on the test for collimation of the optical axis zero position, the calibration accuracy is low due to environmental and subjective influences. In the above steps, by translating the earth coordinate system to obtain a set coordinate system with the turntable as the origin, calculating the quadrant angle a' of the target point relative to the turntable in the set coordinate system, and obtaining the azimuth angle b of the target point relative to the zero position of the turntable when the target point is at the center position of the field of view of the optical system; and then obtaining the deviation value m through formula (1), and finally adjusting the rotation of the turntable according to the deviation value m, the optical axis of the optical system can be made to point to the due north direction. In the above steps, the influences of the environment, human factors and subjective factors are excluded, the calibration accuracy of the optical axis zero position is greatly improved, the feasibility and reliability are improved, which has important reference value and broad application prospects for improving the target positioning accuracy of the optoelectronic tracking system. At the same time, by relating the quadrant angle a' to the azimuth angle a, the calculation accuracy is further improved.

[0069] In some embodiments, calculate the azimuth angle a of the target point relative to the turntable according to formula (2):

[0070]

[0071] where the angle A is the difference between 90° and the latitude of the turntable; Δlon is the difference between the longitude of the target point and the longitude of the turntable.

[0072] Specifically, formula (2) is obtained through the following steps:

[0073] 1. Obtain formula (3) from the spherical sine formula;

[0074]

[0075] 2. As Figure 2As shown, there is a trigonometric function relationship between angles A, B, and C, namely formula (4):

[0076]

[0077] 3. Substitute formula (4) into formula (3) to obtain formula (2).

[0078] In some embodiments, the quadrant angle a' of the target point relative to the turntable is calculated by the following sub-steps:

[0079] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, the azimuth angle a is used as the quadrant angle a';

[0080] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, the difference between 180° and the azimuth angle a is used as the quadrant angle a';

[0081] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, the sum of 180° and the azimuth angle a is used as the quadrant angle a';

[0082] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, the difference between 360° and the azimuth angle a is used as the quadrant angle a'.

[0083] In the above steps, the quadrant position of the target point relative to the reference point (ie, the position of the turntable) is determined, and then the quadrant angle a' is calculated according to different quadrant rules.

[0084] Taking the turntable position as the reference point, look at the position relationship of point A relative to point B. If the two compared locations are both in east longitude, the one with the larger longitude value is in the east and the one with the smaller longitude value is in the west; if the two compared locations are both in west longitude, the one with the smaller longitude value is in the east and the one with the larger longitude value is in the west; if both locations are in north latitude, the one with the larger longitude value is in the north and the one with the smaller longitude value is in the south; if both locations are in south latitude, the one with the smaller longitude value is due north and the one with the larger longitude value is in the south. Based on this, we can infer the quadrant in which point A is located relative to point B, and thus obtain:

[0085] When the target point is in the first quadrant relative to the turntable: the longitude of the target point is greater than the longitude of the turntable, and the latitude of the target point is greater than the latitude of the turntable;

[0086] When the target point is in the second quadrant relative to the turntable: the longitude of the target point is less than the longitude of the turntable, and the latitude of the target point is greater than the latitude of the turntable;

[0087] When the target point is in the third quadrant relative to the turntable position: the longitude of the target point is less than the longitude of the turntable, and the latitude of the target point is less than the latitude of the turntable;

[0088] When the target point is in the fourth quadrant relative to the turntable position: the longitude of the target point is greater than the longitude of the turntable, and the latitude of the target point is less than the latitude of the turntable.

[0089] In some embodiments, the longitude and latitude of the target point and the turntable position are obtained through a real-time kinematic (RTK) positioning system. Specifically, the RTK positioning system is used to measure the longitude and latitude of stationary targets and the infrared optical system device.

[0090] In some embodiments, multiple target points can be set to further improve the calibration accuracy.

[0091] In some embodiments, the adjustment of the optical axis zero position has been achieved through the above steps. When it is necessary to adjust the inertial navigation zero position, only the angle between the inertial navigation zero position and the optical axis zero position needs to be calculated, which improves the work efficiency and the pointing accuracy of the zero position adjustment.

[0092] Embodiment 2

[0093] Please refer to Figure 4 This embodiment provides an optical axis zero position calibration system, including:

[0094] A turntable 1, on which an optical system 11 is installed;

[0095] An acquisition module 2, configured to: acquire the azimuth angle b of the target point relative to the turntable zero position when the target point is at the center position of the field of view of the optical system; [[ID=z8]]

[0096] A processing module 3, the input end of the processing module 3 is connected to the acquisition module 2, and is configured to:

[0097] Calculate the azimuth angle a of the target point relative to the turntable;

[0098] In a set coordinate system, calculate the quadrant angle a' of the target point relative to the turntable; the set coordinate system takes the turntable 1 as the origin and is obtained by translating the earth coordinate system;

[0099] Calculate the deviation value m according to formula (1);

[0100] m = a' - b (1);

[0101] A control module 4, wherein the input end of the control module 4 is connected to the turntable 1, and the output end of the control module 4 is connected to the turntable 1. The control module 4 is configured to: control the rotation of the turntable 1 according to the deviation value m so that the optical axis of the optical system 11 points to the north direction.

[0102] Specifically, the azimuth angle b is obtained by feedback from the turntable;

[0103] In some embodiments, the processing module 3 is further configured to:

[0104] Calculate the azimuth angle a of the target point relative to turntable 1 according to formula (2):

[0105]

[0106] The angle A is the difference between 90° and the latitude of the turntable 1 ; and Δlon is the difference between the longitude of the target point and the longitude of the turntable 1 .

[0107] In some embodiments, the processing module 3 is further configured to:

[0108] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable 1, the azimuth angle a is used as the quadrant angle a';

[0109] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable 1, the difference between 180° and the azimuth angle a is used as the quadrant angle a';

[0110] When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable 1, the sum of 180° and the azimuth angle a is used as the quadrant angle a';

[0111] When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable 1 , the difference between 360° and the azimuth angle a is used as the quadrant angle a′.

[0112] In some embodiments, the optical axis zero position calibration system further includes: a real-time dynamic positioning system 5; the output end of the real-time dynamic positioning system 5 is connected to the input end of the processing module 3 for obtaining the longitude and latitude of the target point and the turntable 1 position.

[0113] Example 3

[0114] This embodiment provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the optical axis zero position calibration method as described above are implemented.

[0115] like Figure 5 As shown, the terminal device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part into the random access memory (RAM) 603. Various programs and data required for system operation are also stored in the random access memory (RAM) 603. The central processing unit (CPU) 601, the read-only memory (ROM) 602 and the random access memory (RAM) 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0116] The following components are connected to the input / output (I / O) interface 605: an input section 606 including a keyboard, a mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including a hard disk; and a communication section 609 including a network interface card such as a LAN card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive is also connected to the input / output (I / O) interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like, is installed in the drive 610 as needed, so that a computer program read therefrom can be installed into the storage section 608 as needed.

[0117] In particular, according to an embodiment of the present invention, the above reference process Figure 1 The described process can be implemented as a computer software program. For example, embodiment 1 of the present invention includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present application are performed.

[0118] Example 4

[0119] This embodiment provides a computer-readable storage medium having a computer program. When the computer program is executed by a processor, the steps of the optical axis zero position calibration method as described above are implemented.

[0120] It should be noted that the computer-readable medium described in the present 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 computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, 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, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present 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 the present 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. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The units involved in the embodiments of the present invention can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases. The described unit or module can also be provided in a processor. For example, a processor can be described as including an acquisition module and a processing module.

[0123] Among them, the names of these units or modules do not constitute a limitation to the unit or module itself in some cases;

[0124] On the other hand, the present application also provides a computer-readable medium, which can be included in the electronic device described in the above embodiments; or can exist alone without being assembled into the electronic device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by an electronic device, the electronic device implements the optical axis zero position calibration method as described in the above embodiments;

[0125] For example, the electronic device can implement as Figure 1 shown in

[0126] S100: Calculate the azimuth angle a of the target point relative to the turntable; an optical system is installed on the turntable;

[0127] S200: In a set coordinate system, calculate the quadrant angle a' of the target point relative to the turntable according to the azimuth angle a; the set coordinate system takes the turntable as the origin and is obtained by translating the earth coordinate system;

[0128] S300: When the target point is at the center position of the field of view of the optical system, obtain the azimuth angle b of the target point relative to the zero position of the turntable;

[0129] S400: Calculate the deviation value m according to formula (1);

[0130] m = a' - b (1);

[0131] S500: Control the turntable to rotate according to the deviation value m so that the optical axis of the optical system points to the due north direction.

[0132] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such a division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of the 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.

[0133] Furthermore, although the steps of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that the steps must be performed in this particular order, or that all steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0134] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by combining software with necessary hardware.

[0135] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. A method for calibrating an optical axis zero position, characterized in that: include: Calculate the azimuth of the target point relative to the turntable ; The turntable is equipped with an optical system; In the set coordinate system, according to the azimuth , calculate the quadrant angle of the target point relative to the turntable The set coordinate system takes the turntable as the origin and is obtained by translating the earth coordinate system; Obtain the azimuth angle of the target point relative to the zero position of the turntable when the target point is at the center of the field of view of the optical system b ; Calculate the deviation value according to formula (1) m ; (one); According to the deviation value m , controlling the turntable to rotate so that the optical axis of the optical system points to the north direction; Calculate the azimuth of the target point relative to the turntable according to formula (2) : (two); Among them, the angle A is the difference between 90° and the latitude of the turntable; Δ lon is the difference between the longitude of the target point and the longitude of the turntable.

2. The optical axis zero position calibration method according to claim 1, characterized in that: The quadrant angle of the target point relative to the turntable It is calculated through the following sub-steps: When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, the azimuth is As the quadrant angle ; When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable, 180° is added to the azimuth. The difference is the quadrant angle ; When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, 180° is added to the azimuth. The quadrant angle ; When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable, 360° is added to the azimuth. The difference is the quadrant angle .

3. The optical axis zero position calibration method according to claim 2, characterized in that: The latitude and longitude of the target point and turntable position are obtained through the real-time dynamic positioning system.

4. An optical axis zero position calibration system, characterized in that: include: A turntable (1), wherein an optical system (11) is mounted on the turntable (1); An acquisition module (2) is configured to: acquire an azimuth angle of a target point relative to a zero position of a turntable when the target point is at the center of the field of view of the optical system; b ; A processing module (3), the input end of which is connected to the acquisition module (2), and configured to: Calculate the azimuth of the target point relative to the turntable ; In the set coordinate system, according to the azimuth , calculate the quadrant angle of the target point relative to the turntable (1) The set coordinate system takes the turntable as the origin and is obtained by translating the earth coordinate system; Calculate the deviation value according to formula (1) m ; (one); A control module (4), wherein the input end of the control module (4) is connected to the turntable (1), the output end of the control module (4) is connected to the turntable (1), and the control module (4) is configured to: m , controlling the turntable (1) to rotate so that the optical axis of the optical system (11) points to the north direction; The processing module (3) is further specifically configured to: Calculate the azimuth of the target point relative to the turntable according to formula (2) : (two); Among them, the angle A is the difference between 90° and the latitude of the turntable (1); Δ lon is the difference between the longitude of the target point and the longitude of the turntable (1).

5. The optical axis zero position calibration system according to claim 4, characterized in that: The processing module (3) is further specifically configured to: When it is determined that the longitude of the target point is greater than the longitude of the turntable, and the latitude of the target point is greater than the latitude of the turntable (1), the azimuth As the quadrant angle ; When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is greater than the latitude of the turntable (1), 180° is added to the azimuth. The difference is the quadrant angle ; When it is determined that the longitude of the target point is less than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable (1), 180° is added to the azimuth. The quadrant angle ; When it is determined that the longitude of the target point is greater than the longitude of the turntable and the latitude of the target point is less than the latitude of the turntable (1), 360° is added to the azimuth. The difference is the quadrant angle .

6. The optical axis zero position calibration system according to claim 4, characterized in that: Also includes: A real-time dynamic positioning system (5); the real-time dynamic positioning system (5) is used to obtain the longitude and latitude of the target point and the position of the turntable (1).

7. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the optical axis zero position calibration method according to any one of claims 1 to 3 are implemented.

8. A computer-readable storage medium having a computer program, characterized in that: When the computer program is executed by a processor, the steps of the optical axis zero position calibration method according to any one of claims 1 to 3 are implemented.

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