A method and system for calibrating the down-angle error of a full-strapdown seeker

Abstract

The present application discloses a method and system for calibrating the down-angle error of a full-strapdown imaging seeker. The calibration is completed by using the posture of the full-strapdown imaging seeker and the imaging of the collimator light. The orthogonality of the full-strapdown imaging seeker's imaging coordinate system is utilized to coincide the vertical axis of the full-strapdown imaging seeker's imaging coordinates with the horizontal axis of the collimator light. This is used as a reference. The full-strapdown imaging seeker is rotated by a three-axis turntable. The relative inertia between the seeker and the reference is recorded. This method can directly calibrate the down-angle assembly error of the full-strapdown imaging seeker, which is of great significance for improving the guidance and hit accuracy of the full-strapdown imaging seeker. At the same time, the present invention is simple to operate, has no special requirements for the test site, and the system components are easy to build. It can simply and quickly calibrate the down-angle assembly error of the full-strapdown imaging seeker, and to a certain extent reduces the difficulty of optical and mechanical assembly and calibration of the full-strapdown imaging seeker. This has a significant impact on the low cost and large-scale production and use of the full-strapdown imaging seeker.

Description

Technical Field

[0001] The present application relates to the technical field of strapdown seekers, and more specifically, to a method and system for calibrating a down-angle error of a full-strapdown seeker. Background Art

[0002] Currently, for ground-seeking strapdown imaging seekers, due to their fixed total field of view, the optical lens is typically mounted downward relative to the missile axis to effectively search for ground targets. This means there is a certain downward angle between the optical axis and the missile axis. Due to machining and calibration errors, this actual downward angle has certain errors, which affects the accuracy of the target. To address these issues with ground-seeking strapdown seekers, a method and system for calibrating the downward angle error of ground-seeking strapdown seekers has been designed. This approach is of great significance for addressing the problem of reduced accuracy caused by the downward angle error of strapdown seekers. Summary of the Invention

[0003] In response to at least one defect or improvement need in the prior art, the present invention provides a method for calibrating the down-angle error of a full strapdown imaging seeker, which is characterized by comprising:

[0004] Controlling the movement of the three-axis turntable and calibrating the positional relationship between the three-axis turntable and the collimator, wherein the positional relationship is such that the central axis of the three-axis turntable is parallel to the optical axis of the collimator;

[0005] Controlling the three-axis turntable to move according to a first setting mode so that the horizontal axis of the full strapdown imaging seeker disposed on the three-axis turntable is parallel to the horizontal axis of the collimator; obtaining first position calibration information of the three-axis turntable;

[0006] Controlling the three-axis turntable to move according to a second setting mode so that the vertical axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator, and obtaining second position calibration information of the three-axis turntable;

[0007] The downward angle assembly error calibration information of the full strapdown imaging seeker is obtained by calculation based on the first position calibration information and the second position calibration information.

[0008] Furthermore, before controlling the movement of the three-axis turntable and calibrating the positional relationship between the three-axis turntable and the collimator, the steps include:

[0009] The collimator is mounted on an adjustment platform, and the state of the collimator is measured by an optical theodolite, and the adjustment platform is adjusted to keep the collimator in a horizontal state.

[0010] Furthermore, the first setting mode movement includes: controlling the three-axis turntable to rotate 90° along a first direction axis, where the first direction axis is a roll axis of the three-axis turntable.

[0011] Furthermore, the step of calculating and obtaining the downward angle assembly error calibration information of the full strapdown imaging seeker based on the first position calibration information and the second position calibration information comprises the following steps:

[0012] Acquiring theoretical down-angle data of the full strapdown imaging seeker;

[0013] The first position calibration information and the theoretical down-angle data are subtracted from the second position calibration information to obtain down-angle assembly error calibration information of the full strapdown imaging seeker.

[0014] Furthermore, the position calibration information is angular position data of a pitch frame on the pitch axis of the three-axis turntable.

[0015] According to a second aspect of the present invention, a full strapdown imaging seeker down-angle error calibration system is provided, characterized in that it comprises:

[0016] a three-axis turntable, a parallel beam launcher, and a processor;

[0017] The three-axis turntable is provided with a full strapdown imaging seeker on its body, and receives control to drive the full strapdown imaging seeker to adjust its position;

[0018] The parallel beam emitting device is used to generate an absolutely horizontal parallel beam, and the parallel beam is guided to the full strapdown imaging seeker;

[0019] The processor obtains an imaging video generated by the full strapdown imaging seeker according to the parallel light beam; analyzes the imaging video information to obtain first turntable information and second turntable information; and obtains an error calibration result using the calibration position information;

[0020] The first turntable information is angular position data of a pitch frame on the pitch axis of the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the collimator;

[0021] The second turntable information is angular position data of a pitch frame on the pitch axis of the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is aligned with the horizontal axis of the collimator.

[0022] Furthermore, the parallel light beam emitting device includes a parallel light tube, an optical theodolite and an adjustment platform;

[0023] The collimator is used to emit a parallel light beam;

[0024] The optical theodolite is used to measure the posture of the collimator;

[0025] The collimator and the optical theodolite are mounted on the adjustment platform;

[0026] The adjustment platform is used to control the movement of the collimator.

[0027] Furthermore, it also includes: a high-definition monitor connected to the full strapdown imaging seeker,

[0028] It is used to obtain the imaging video of the seeker and display the relative position relationship between the full strapdown imaging seeker and the collimator.

[0029] Furthermore, the high-definition monitor is connected to the full strapdown imaging seeker via a serial port.

[0030] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0031] The present invention provides a method and system for calibrating the down-angle error of a fully strapdown imaging seeker. These methods can calibrate the assembly error of the down-angle of a fully strapdown imaging seeker, significantly improving the guidance and hit accuracy of the fully strapdown imaging seeker. Furthermore, the present invention is simple to operate, requires no special testing site requirements, and is easy to construct. The system can quickly and easily calibrate the down-angle assembly error of a fully strapdown imaging seeker, while also reducing the difficulty of optical and mechanical calibration of the fully strapdown imaging seeker to a certain extent. This contributes to the low-cost and large-scale production of fully strapdown imaging seekers. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 This is a flow chart of a method for calibrating the down-angle error of a full strapdown imaging seeker provided in an embodiment of the present application;

[0034] Figure 2 The second flowchart of the method for calibrating the down-angle error of the full strapdown imaging seeker provided in the embodiment of the present application;

[0035] Figure 3 One of the ground-seeking full strapdown seeker down-angle error calibration systems provided in the embodiments of the present application;

[0036] Figure 4 This is a schematic diagram of a full strapdown imaging seeker down-angle error calibration system provided in an embodiment of the present application;

[0037] Figure 5 One of the imaging schematic diagrams of the full strapdown imaging seeker provided in an embodiment of the present application;

[0038] Figure 6 The second imaging diagram of the full strapdown imaging seeker provided in the embodiment of the present application;

[0039] Figure 7 This is the third imaging diagram of the full strapdown imaging seeker provided in the embodiment of the present application.

[0040] Figure 8 This is the fourth imaging diagram of the full strapdown imaging seeker provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0042] The terms "first," "second," "third," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0043] The present invention provides a method and system for calibrating the down-angle error of a full-strapdown imaging seeker. The calibration is performed using the posture of the full-strapdown imaging seeker and the imaging of collimator light. The orthogonality of the full-strapdown imaging seeker's imaging coordinate system is utilized to align the vertical axis of the full-strapdown imaging seeker's imaging coordinates with the horizontal axis of the collimator. Using this as a reference, the full-strapdown imaging seeker is rotated via a three-axis turntable. The relative inertia between the seeker and the reference is recorded, allowing the down-angle assembly error of the full-strapdown imaging seeker to be directly calibrated. This method is of great significance for improving the guidance and hit accuracy of the full-strapdown imaging seeker. The present invention is simple to operate, has no special requirements for a test site, and is easy to construct. It can simply and quickly calibrate the down-angle assembly error of the full-strapdown imaging seeker, and to a certain extent reduces the difficulty of optical and mechanical calibration of the full-strapdown imaging seeker. This method is of great significance for promoting the low cost and large-scale production of full-strapdown imaging seekers.

[0044] In one embodiment, Figure 1 This is a flow chart of a method for calibrating the down-angle error of a full strapdown imaging seeker provided in this embodiment. Figure 1As shown, including but not limited to the following steps:

[0045] S1: Control the movement of the three-axis turntable and calibrate the positional relationship between the three-axis turntable and the collimator, wherein the positional relationship is that the central axis of the three-axis turntable is parallel to the optical axis of the collimator.

[0046] The outer axis of the three-axis turntable in this embodiment is the azimuth axis, the middle axis is the roll axis, and the inner frame is the pitch axis, forming three degrees of freedom in space. The main performance indicators of the three-axis turntable are:

[0047] Corner range: inner frame ±120°, middle frame ±180°, outer frame ±180°;

[0048] Minimum angular velocity: 0.001° / s;

[0049] Maximum angular velocity: inner frame 1000° / s, middle frame 300° / s, outer frame 300° / s;

[0050] Angular position measurement accuracy: ±5″;

[0051] Angular position measurement repeatability: ±2.5″;

[0052] Angular position positioning resolution: 0.36″;

[0053] Angular position control accuracy: ±5″.

[0054] Specifically, the full strapdown imaging seeker is fixed on a three-axis turntable. The movement of the three-axis turntable drives the full strapdown imaging seeker to perform position control. The mechanical device itself and its automatic control system work together to achieve the purpose of accurately adjusting the position of the seeker. By controlling the three-axis turntable, the horizontal axis x of the full strapdown imaging seeker is c Axis y perpendicular to the parallel light tube d Coincident, the seeker vertical axis y c Horizontal axis x of the parallel light tube d Overlap; by aligning the coordinate axes of the full strapdown imaging seeker and the collimator, the central axis of the three-axis turntable, that is, the axis of the rolling frame, is parallel to the optical axis of the collimator.

[0055] S2: Controlling the three-axis turntable to move according to a first setting mode so that the horizontal axis of the full strapdown imaging seeker disposed on the three-axis turntable is parallel to the horizontal axis of the collimator; obtaining first position calibration information of the three-axis turntable.

[0056] In one embodiment, the first setting mode movement includes: controlling the three-axis turntable to rotate 90° along its rolling axis direction. Specifically, controlling the three-axis turntable to rotate 90° along its rolling axis direction so that the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the parallel light tube, and obtaining the first turntable information of the three-axis turntable at this time.

[0057] Furthermore, the first turntable information can be the pitch frame angle position information of the three-axis turntable at this time θ1 ;

[0058] Among them, the rotation of the turntable by 90° along the rolling frame is equivalent to the rotation of the guide head by 90° along the axis of the guide head, so that under the premise that the axis of the guide head is parallel to the horizontal axis of the collimator, the horizontal axis of the guide head is parallel to the horizontal axis of the collimator, which facilitates direct angle compensation.

[0059] S3: Controlling the three-axis turntable to move according to a second setting mode so that the vertical axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator, and obtaining second position calibration information of the three-axis turntable.

[0060] Specifically, by controlling the pitch frame movement of the three-axis turntable, the vertical axis of the full strapdown imaging seeker is finally made to coincide with the horizontal axis of the collimator, and the angle position information θ2 of the three-axis turntable pitch frame is read at the same time.

[0061] S4: Calculate and obtain downward angle assembly error calibration information of the full strapdown imaging seeker based on the first position calibration information and the second position calibration information.

[0062] Specifically, by performing difference calculation based on the obtained three-axis turntable pitch frame angle position information θ1 and the three-axis turntable pitch frame angle position information θ2, the full strapdown imaging seeker downward angle assembly error calibration information can be obtained.

[0063] Figure 2 The second flow chart of the method for calibrating the down-angle error of a full strapdown imaging seeker provided in this embodiment is as follows. Figure 2 And specific embodiments are provided to introduce the feasible solutions of the present invention.

[0064] In one embodiment, the method for calibrating the downward angle error of a full strapdown imaging seeker provided by the present invention, before controlling the movement of a three-axis turntable and calibrating the positional relationship between the three-axis turntable and the collimator, further includes: installing the collimator on an adjustment platform, measuring the state of the collimator by an optical theodolite, and adjusting the adjustment platform so that the collimator is in a horizontal state.

[0065] By repeatedly adjusting the platform and measuring the collimator's position with an optical theodolite, the collimator mounted on the platform is kept absolutely horizontal. It is understood that after adjustment by the platform, the collimator is in an absolutely horizontal position, emitting absolutely horizontal parallel infrared or white light rays, enabling the full strapdown imaging seeker to form an image.

[0066] In one embodiment, the present invention provides a method for calibrating the down-angle error of a full strapdown imaging seeker, which calculates and obtains down-angle assembly error calibration information of the full strapdown imaging seeker based on first position calibration information and second position calibration information, including the steps of: obtaining theoretical down-angle data of the full strapdown imaging seeker;

[0067] The first position calibration information and the theoretical down-angle data are subtracted from the second position calibration information to obtain the down-angle assembly error calibration information of the full strapdown imaging seeker.

[0068] Specifically, by reading the three-axis turntable pitch frame angle position information θ1 The three-axis turntable pitch frame angle position information θ2, as well as the full strapdown imaging seeker theoretical down-angle θ, can be used to calculate the down-angle assembly error of the full strapdown imaging seeker as θ2-θ1-θ.

[0069] The three-axis turntable has high angular position measurement accuracy, angular position positioning resolution, and angular position control accuracy. The error caused by the three-axis turntable control can basically be ignored. The manual identification of the imaging position of the parallel light tube axis has only a single-pixel error. Therefore, it can be understood that the calibration error of the method of the present invention is no greater than the spatial resolution of a single pixel.

[0070] In one embodiment, Figure 3 This embodiment provides a ground-seeking full strapdown seeker down-angle error calibration system, such as Figure 3 As shown, a ground-seeking full-strapdown seeker downward angle error calibration system includes a three-axis turntable, a parallel beam emitting device and a processor;

[0071] The outer axis of the three-axis turntable is the azimuth axis, the middle axis is the roll axis, and the inner frame is the pitch axis, which constitute the three degrees of freedom in space. The main performance indicators of the three-axis turntable are:

[0072] Corner range: inner frame ±120°, middle frame ±180°, outer frame ±180°;

[0073] Minimum angular velocity: 0.001° / s;

[0074] Maximum angular velocity: inner frame 1000° / s, middle frame 300° / s, outer frame 300° / s;

[0075] Angular position measurement accuracy: ±5″;

[0076] Angular position measurement repeatability: ±2.5″;

[0077] Angular position positioning resolution: 0.36″;

[0078] Angular position control accuracy: ±5″;

[0079] The full strapdown imaging seeker is fixedly installed on the three-axis turntable body through tooling to ensure that the position and posture of the seeker are consistent with the body.

[0080] Specifically, the three-axis turntable is connected to the processor via a connecting cable. It receives command signals from the processor and operates accordingly, thus adjusting the seeker's position through control signals. The movement of the three-axis turntable drives the position of the fully strapdown imaging seeker, with the mechanical device and its automatic control system working in tandem to precisely adjust the seeker's position.

[0081] The parallel beam emitter generates an absolutely horizontal parallel beam, which is then directed to the full-strapdown imaging seeker. It should be noted that the parallel beam emitter and the full-strapdown imaging seeker are at the same height, ensuring that the parallel beam emitter is within the full-strapdown imaging seeker's field of view and near the center of its optical axis.

[0082] Optionally, the parallel light beam emitting device is a device capable of emitting an absolutely horizontal parallel light beam. Those skilled in the art may select the device according to actual needs, and the present invention is not limited thereto.

[0083] The processor controls the movement and data recording of the three-axis turntable. By running the three-axis turntable control program, the processor acquires the turntable's attitude information and simultaneously controls the turntable's rotation via control commands. Specifically, the processor acquires the imaging video generated by the full strapdown imaging seeker in a parallel beam as it follows the turntable's rotation according to the control commands. The processor then analyzes the imaging video information to obtain first and second turntable information. The calibration position information is then used to obtain an error calibration result.

[0084] Among them, the first turntable information is the angular position information of the pitch axis in the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the collimator; the second turntable information is the angular position information of the pitch axis in the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is made to coincide with the horizontal axis of the collimator.

[0085] In one embodiment, the parallel light beam emitting device includes a parallel light tube, an optical theodolite and an adjustment platform;

[0086] The collimator emits parallel infrared or white light, enabling the full-strapdown imaging seeker to form an image. An optical theodolite measures the collimator's attitude. The adjustment platform supports the collimator and maintains its absolute levelness through self-adjustment.

[0087] In one embodiment, Figure 4 This is one of the schematic diagrams of a full strapdown imaging seeker down-angle error calibration system provided in this embodiment, as shown in FIG. Figure 4As shown, it also includes: a high-definition monitor connected to the full-strap imaging seeker; used to obtain the imaging video of the seeker and display the relative position relationship between the full-strap imaging seeker and the collimator.

[0088] Specifically, the processor uses the corresponding control program to make the full strapdown imaging seeker and the three-axis turntable work. At the same time, the full strapdown imaging seeker transmits the observation video to the high-definition monitor through the connecting cable. According to the initial relative position relationship between the full seeker and the collimator, the picture displayed on the high-definition monitor is as follows: Figure 5 As shown, where the axis x d , axis y d are the horizontal and vertical axes of the parallel light tube, and the axis x c , axis y c They are the horizontal and vertical axes of the imaging of the full strapdown imaging seeker respectively.

[0089] The three-axis turntable is controlled by the processor to rotate, and finally the axis x c With axis y d Coincident, axis y c With axis x d Overlap, such as Figure 6 shown.

[0090] The processor is used to control the three-axis turntable to rotate the scroll frame 90 degrees. Due to the existence of the down-angle, the picture displayed on the high-definition monitor is as follows: Figure 7 As shown, the computer reads the angle position information of the three-axis turntable pitch frame at this time θ1 ;

[0091] The pitch frame movement of the three-axis turntable is controlled by a computer, and the axis is finally x c With axis x d Overlap, the HD monitor displays the following image: Figure 8 As shown, by reading the angle position information θ2 of the three-axis turntable pitch frame at this time by the computer, the down-angle assembly error of the full strapdown imaging seeker can be calculated as θ2-θ1-θ, where θ is the theoretical down-angle of the full strapdown imaging seeker.

[0092] Optionally, the full strapdown imaging seeker is connected via a serial port using a connecting cable to transmit the imaging video to a high-definition display, which displays the image in real time.

[0093] The present invention provides a method and system for calibrating the down-angle error of a fully strapdown imaging seeker. These methods can calibrate the assembly error of the down-angle of a fully strapdown imaging seeker, significantly improving the guidance and hit accuracy of the fully strapdown imaging seeker. Furthermore, the present invention is simple to operate, requires no special testing site requirements, and is easy to construct. The system can quickly and easily calibrate the down-angle assembly error of a fully strapdown imaging seeker, while also reducing the difficulty of optical and mechanical calibration of the fully strapdown imaging seeker to a certain extent. This contributes to the low-cost and large-scale production of fully strapdown imaging seekers.

[0094] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for calibrating the downward angle error of the full strapdown imaging seeker provided in the above embodiments, the method including: controlling the movement of a three-axis turntable to calibrate the positional relationship between the three-axis turntable and the collimator, wherein the positional relationship is that the central axis of the three-axis turntable is parallel to the axis of the collimator; controlling the three-axis turntable to move according to a first setting method so that the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the collimator; obtaining first turntable information of the three-axis turntable; controlling the three-axis turntable to move according to a second setting method so that the vertical axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator, and obtaining second turntable information of the three-axis turntable; and calculating and obtaining the downward angle assembly error calibration information of the full strapdown imaging seeker based on the first turntable information and the second turntable information.

[0095] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the method for calibrating the downward angle error of the full strapdown imaging seeker provided in the above-mentioned embodiments, the method comprising: controlling the movement of a three-axis turntable to calibrate the positional relationship between the three-axis turntable and the collimator, wherein the positional relationship is that the central axis of the three-axis turntable is parallel to the axis of the collimator; controlling the three-axis turntable to move according to a first setting method so that the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the collimator; obtaining first turntable information of the three-axis turntable; controlling the three-axis turntable to move according to a second setting method so that the vertical axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator, and obtaining second turntable information of the three-axis turntable; and calculating and obtaining downward angle assembly error calibration information of the full strapdown imaging seeker based on the first turntable information and the second turntable information.

[0096] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0097] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0099] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure herein, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not recorded in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0100] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for calibrating the down-angle error of a full strapdown imaging seeker, characterized in that: include: Controlling the movement of the three-axis turntable and calibrating the positional relationship between the three-axis turntable and the collimator, wherein the positional relationship is such that the central axis of the three-axis turntable is parallel to the optical axis of the collimator; controlling the three-axis turntable so that the horizontal axis of the full strapdown imaging seeker coincides with the vertical axis of the collimator, and the vertical axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator; and aligning the coordinate axes of the full strapdown imaging seeker and the collimator so that the central axis of the three-axis turntable, i.e., the axis of the rolling frame, is parallel to the optical axis of the collimator; Controlling the three-axis turntable to move according to a first setting mode so that the horizontal axis of the full strapdown imaging seeker disposed on the three-axis turntable is parallel to the horizontal axis of the collimator; obtaining first position calibration information of the three-axis turntable; Controlling the three-axis turntable to move according to a second setting mode so that the horizontal axis of the full strapdown imaging seeker coincides with the horizontal axis of the collimator, and obtaining second position calibration information of the three-axis turntable; The downward angle assembly error calibration information of the full strapdown imaging seeker is obtained by calculation based on the first position calibration information and the second position calibration information.

2. The method for calibrating the down-angle error of a full strapdown imaging seeker according to claim 1, wherein: Before controlling the movement of the three-axis turntable and calibrating the positional relationship between the three-axis turntable and the collimator, the method includes the following steps: The collimator is mounted on an adjustment platform, and the state of the collimator is measured by an optical theodolite, and the adjustment platform is adjusted to keep the collimator in a horizontal state.

3. The method for calibrating the down-angle error of a full strapdown imaging seeker according to claim 1, wherein: The first setting mode movement includes: controlling the three-axis turntable to rotate 90° along a first direction axis, where the first direction axis is a roll axis of the three-axis turntable.

4. The method for calibrating the down-angle error of a full strapdown imaging seeker according to claim 1, wherein: The method of calculating and obtaining the downward angle assembly error calibration information of the full strapdown imaging seeker based on the first position calibration information and the second position calibration information comprises the following steps: Acquiring theoretical down-angle data of the full strapdown imaging seeker; The first position calibration information and the theoretical down-angle data are subtracted from the second position calibration information to obtain down-angle assembly error calibration information of the full strapdown imaging seeker.

5. The method for calibrating the down-angle error of a full strapdown imaging seeker according to claim 1, wherein: The position calibration information is the angular position data of the pitch frame on the pitch axis of the three-axis turntable.

6. A full strapdown imaging seeker down-angle error calibration system, characterized in that: The full strapdown imaging seeker downward angle error calibration system is used to execute the full strapdown imaging seeker downward angle error calibration method according to any one of claims 1 to 5, and the system comprises: a three-axis turntable, a parallel beam launcher, and a processor; The three-axis turntable is provided with a full strapdown imaging seeker on its body, and receives control to drive the full strapdown imaging seeker to adjust its position; The parallel beam emitting device is used to generate an absolutely horizontal parallel beam, and the parallel beam is guided to the full strapdown imaging seeker; The processor obtains an imaging video generated by the full strapdown imaging seeker according to the parallel light beam; analyzes the imaging video information to obtain first turntable information and second turntable information; and obtains an error calibration result using the first turntable information and the second turntable information; The first turntable information is angular position data of a pitch frame on the pitch axis of the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is parallel to the horizontal axis of the collimator; The second turntable information is angular position data of a pitch frame on the pitch axis of the three-axis turntable when the horizontal axis of the full strapdown imaging seeker is aligned with the horizontal axis of the collimator.

7. A full strapdown imaging seeker down-angle error calibration system as claimed in claim 6, characterized in that: The parallel light beam emitting device includes a parallel light tube, an optical theodolite and an adjustment platform; The collimator is used to emit a parallel light beam; The optical theodolite is used to measure the posture of the collimator; The collimator and the optical theodolite are mounted on the adjustment platform; The adjustment platform is used to control the movement of the collimator.

8. The full strapdown imaging seeker down-angle error calibration system according to claim 6, characterized in that: Also included: a high-definition monitor connected to the full strapdown imaging seeker, It is used to obtain the imaging video of the seeker and display the relative position relationship between the full strapdown imaging seeker and the collimator.

9. A full strapdown imaging seeker down-angle error calibration system as claimed in claim 8, characterized in that: The high-definition monitor is connected to the full strapdown imaging seeker via a serial port.

Images