Airborne photoelectric load installation error ground static rapid calibration method

Abstract

The invention provides an airborne photoelectric load installation error ground static rapid calibration method, and the method comprises the steps: taking an installation error between a photoelectric load and a tool installation reference surface, and an installation error between a photoelectric load frame angle zero position and a corresponding optical axis aiming line zero position as factors which affect the photoelectric target positioning precision; the method comprises the following steps: establishing an influence model of an installation error on a target positioning error, calculating a target geographic coordinate by the model, testing based on different photoelectric frame angle combinations under a ground static condition, establishing a target optimization equation by combining a model calculation result and a test result, and performing target optimization in a set installation error angle range. Calibration and compensation of five installation errors of the photoelectric load are realized, and the target positioning precision of the photoelectric load is effectively improved. The method is simple in process, easy to implement, low in economic cost and suitable for photoelectric loads of various structural forms, and the problems that an existing calibration method is tedious in process and high in cost are solved.

Description

Technical Field

[0001] The invention belongs to the field of optoelectronic technology, and in particular relates to a ground static rapid calibration method for installation errors of airborne optoelectronic loads. Background Art

[0002] An important function of airborne optoelectronic payloads is to geolocate targets through laser ranging. However, during the positioning process, optoelectronic payloads will produce two kinds of installation errors: on the one hand, during the assembly stage, there will be installation errors between the zero position of the frame angle of each rotating axis of the optoelectronic payload and the zero position of the optical axis sighting line of the optoelectronic payload. When the frame angle is at zero position, the sighting line is not necessarily at zero position. On the other hand, in order to improve the impact and vibration resistance and stability of the optoelectronic payload, the optoelectronic payload and the tooling are often connected through a vibration absorber. In addition, the influence of assembly errors causes the optoelectronic body coordinate system and the carrier body coordinate system to not coincide. The existence of the above installation errors will have a great impact on the accuracy of target positioning. Therefore, it is necessary to calibrate the installation errors and compensate them through algorithms to improve the accuracy of target positioning.

[0003] There are currently two main methods for calibrating installation errors. One is to use precision optical instruments to perform repeated testing, adjustment, and calibration under laboratory conditions. This method takes a long time and has high requirements for the environment and personnel. The other method is to mount the optoelectronic payload on the carrier aircraft, set a specific flight route for target positioning, and calibrate the installation error by recording and analyzing data. Since this method requires actual flight, the calibration cost is relatively high. Especially in actual application scenarios, optoelectronic payloads may be repeatedly disassembled and reassembled. After each disassembly and reassembly, the installation error needs to be recalibrated, which requires a lot of manpower and material resources. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing airborne optoelectronic load installation error calibration method, which has the disadvantages of complex calibration process, low efficiency and waste of manpower and material resources, and provides a ground static rapid calibration method for the airborne optoelectronic load installation error. The method of the present invention takes the azimuth, pitch and roll installation errors of the optoelectronic load and the carrier tooling installation reference plane, and the installation errors of the optoelectronic load frame angle zero position and the optical axis aiming line zero position as factors affecting the optoelectronic target positioning accuracy, establishes a model for the influence of installation error on target positioning error, and realizes rapid calibration of the airborne optoelectronic load installation error under ground static conditions through ground testing and data analysis, which has high efficiency and low cost, and effectively improves the accuracy of optoelectronic load target positioning.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A method for rapid static ground calibration of airborne optoelectronic load installation error is special in that it includes the following steps:

[0007] Step 1, considering the installation errors of the azimuth, pitch and roll of the optoelectronic load and the installation reference plane of the carrier tooling, as well as the installation errors of the optoelectronic load azimuth frame angle zero position and the pitch frame angle zero position and the corresponding optical axis sighting line zero position, a mathematical model of the influence of the installation error on the target positioning error is established, and the mathematical model is used to calculate the target 84 ellipsoid geographic coordinates;

[0008] In the process of establishing the mathematical model, the northeast sky geographic coordinate system and the right front upper body coordinate system are uniformly used, and the optoelectronic azimuth angle corresponds to the Z axis of the right front upper body coordinate system of the optoelectronic carrier, the optoelectronic roll angle corresponds to the Y axis of the right front upper body coordinate system of the optoelectronic carrier, and the optoelectronic pitch angle corresponds to the X axis of the right front upper body coordinate system of the optoelectronic carrier;

[0009] Step 2: determine a fixed cooperation target, and select a position higher than the cooperation target by a predetermined height as the photoelectric load observation point;

[0010] Step 3, obtain the target 84 ellipsoid geographic coordinates through inertial navigation source measurement;

[0011] Step 4: Perform ranging sampling under different photoelectric frame angle combinations to obtain laser ranging data, inertial navigation data and photoelectric frame angle data;

[0012] Step 5: Design the positioning error optimization index of the photoelectric load installation error angle combination:

[0013] Step 5.1, calculate the target 84 ellipsoid geographic coordinates according to the mathematical model established in step 1 and the laser ranging data;

[0014] Step 5.2: Using the ranging sampling results obtained in step 4, calculate the root mean square of the positioning error of each group of photoelectric frame angle combinations according to the following formula:

[0015]

[0016] In the formula, Δ L , Δ B and Δ H are the distance differences in longitude, latitude and altitude between the target 84 ellipsoid geographic coordinates calculated by step 5.1 and the target 84 ellipsoid geographic coordinates measured by the inertial navigation source, respectively; n is the number of photoelectric frame angle combinations, i = 1, 2, 3, ..., n;

[0017] Step 5.3, add the root mean square of the positioning errors of different groups of photoelectric frame angle combinations, and use the following index as the positioning error optimization index of the photoelectric load installation error angle combination:

[0018]

[0019] Step 6: Set a value range for each installation error in the mathematical model, and perform uniform discretization within the corresponding value range using the set discrete scale. After discretization, perform optimization calculation with the positioning error optimization index designed in step 5 as the target to obtain the corresponding installation error angle.

[0020] Furthermore, the step 1 comprises the following steps:

[0021] Step 1.1, consider the installation error between the zero position of each frame angle and the zero position of the corresponding optical axis sight line, and convert the photoelectric sight line coordinate system A s Rotate the azimuth and elevation frame angles to the photoelectric payload body coordinate system A b , get the coordinate rotation matrix T bs :T bs =T z (q A +Δ A )T x (q E +Δ E );

[0022] Where, T z and T x are the coordinate rotation matrices around the Z axis and the X axis, respectively, A and q E are the photoelectric azimuth and elevation angles, Δ A and Δ E They are the installation errors of the zero position of the azimuth frame angle and the zero position of the elevation frame angle of the photoelectric load and the corresponding zero position of the optical axis sighting line;

[0023] Step 1.2: Connect the photoelectric load to the coordinate system A b Rotated to the aircraft body coordinate system A through roll, pitch and azimuth angles p , the roll, pitch and azimuth angles are the roll, pitch and azimuth installation errors of the optoelectronic load and the aircraft tooling installation reference plane respectively; then the coordinate rotation matrix T is obtained pb =T pb =T z (Δ AZ )T x (Δ EL )T y (Δ RO );

[0024] Where, T y is the coordinate rotation matrix around the Y axis, Δ RO , Δ EL and Δ AZThey are the roll, pitch and azimuth installation errors of the optoelectronic load and the installation reference plane of the carrier tooling respectively;

[0025] Step 1.3: Set the coordinate system A of the aircraft p The aircraft is rotated to the local geographic coordinate system A through the roll attitude angle γ, pitch attitude angle β and azimuth attitude angle α g , then we get the coordinate rotation matrix T gp =T z (α)T x (β)T y (γ);

[0026] Step 1.4: Set the local geographic coordinate system A g Latitude and longitude B and longitude L are rotated to the Earth-centered Earth-fixed coordinate system A e , get the coordinate rotation matrix

[0027] Step 1.5, establish the transformation equation from the 84 ellipsoidal coordinate system to the Earth-centered Earth-fixed coordinate system:

[0028]

[0029] Among them, H is the height, e is the first eccentricity of the ellipse, and a is the major semi-axis of the earth ellipsoid;

[0030] Step 1.6, establish the transformation equation from the Earth-centered Earth-fixed coordinate system to the 84-elliptical coordinate system:

[0031]

[0032] Step 1.7, set the initial aiming line vector to L0 = [0,0,-1] T , use the coordinate rotation matrix obtained in steps 1.1 to 1.4 to transform the sighting line vector to the Earth-centered Earth-fixed coordinate system, and get L e =T eg T gp T pb T bs L0;

[0033] Step 1.8: Use the conversion equation established in step 1.5 to convert the geographic coordinates of the photoelectric payload measured by inertial navigation into the Earth-centered Earth-fixed coordinates C of the photoelectric payload. pe ; Assuming that the distance between the photoelectric load and the target is a straight-line distance, the target coordinate calculation formula in the Earth-centered Earth-fixed coordinate system is: C te =C pe +L e ;

[0034] Step 1.9: Use the conversion equation established in step 1.6 and the calculation formula obtained in step 1.8 to convert the target 84 ellipsoid geographic coordinates into the calculation formula C.tg .

[0035] Furthermore, in step 4, the specific steps of performing ranging sampling under different photoelectric frame angle combinations to obtain laser ranging data, inertial navigation data and photoelectric frame angle data include:

[0036] Step 4.1, setting a number of azimuth angles and elevation angles of the photoelectric load, and obtaining a plurality of photoelectric frame angle combinations according to the set photoelectric load azimuth angles and elevation angle combinations;

[0037] Step 4.2, the photoelectric load, the laser rangefinder and the inertial navigation are set up at the photoelectric load observation point, and the photoelectric load is rotated so that when the photoelectric load is near a group of photoelectric frame angle combination positions, its sighting line is aligned with the fixed target point determined in step 2, and laser ranging sampling is performed within a set time period under the target tracking state to obtain the laser ranging data, inertial navigation data and photoelectric rotation axis angle data under the group of photoelectric frame angle combination;

[0038] Step 4.3: Rotate and adjust the photoelectric load, and obtain the laser ranging data, inertial navigation data and photoelectric rotation axis angle data under other photoelectric frame angle combinations according to step 4.2.

[0039] Furthermore, in step 4.1, the azimuth angle of the photoelectric load is set to -80°, 0° and 80°, and the pitch angle of the photoelectric load is set to -80°, 0° and 20°. According to the set photoelectric load azimuth angle and pitch angle combination, 9 groups of photoelectric frame angle combinations are obtained.

[0040] Furthermore, in step 4.2, laser ranging sampling is performed for 1 minute in the target tracking state.

[0041] Furthermore, in step 6, the value ranges set for each installation error are:

[0042] Rolling installation error Δ between the photoelectric load and the carrier tooling installation reference surface RO ∈[-2°,2°];

[0043] The pitch installation error Δ between the optoelectronic load and the installation reference plane of the carrier tooling EL ∈[-4°,4°];

[0044] The azimuth installation error Δ between the photoelectric load and the carrier tooling installation reference surface AZ ∈[-2°,2°];

[0045] Installation error Δ between the zero position of the photoelectric load azimuth frame angle and the zero position of the corresponding optical axis sighting line A ∈[-4°,4°];

[0046] The installation error Δ between the zero position of the elevation frame angle and the zero position of the corresponding optical axis sighting line E ∈[-4°,4°].

[0047] Furthermore, in step 6, the discrete scale is set to 0.1° when performing uniform discretization.

[0048] Furthermore, in step 6, a genetic algorithm is used to perform optimization calculations with the optimization index designed in step 5 as the target.

[0049] The advantages of the present invention are:

[0050] 1. The method of the present invention takes the installation error between the photoelectric load and the tooling installation reference plane and the installation error between the zero position of the photoelectric load frame angle and the corresponding optical axis aiming line zero position as factors affecting the photoelectric target positioning accuracy, establishes a mathematical model of the influence of the installation error on the target positioning error, and calculates the target geographic coordinates based on the mathematical model. Then, by testing based on different photoelectric frame angle combinations under static conditions on the ground, combining the model calculation results and the test results, a target optimization equation is established, and the target is optimized within the set installation error angle range. The calibration and compensation of five types of installation errors of the photoelectric load are realized, and the accuracy of photoelectric load target positioning is effectively improved.

[0051] 2. The calibration process of the present invention is simple and efficient, and there is no need for hanging and flying. The calibration cost is low, which saves a lot of manpower, material and financial resources and has obvious economic benefits.

[0052] 3. The method of the present invention is applicable to the calibration of installation errors of photoelectric loads of various structural forms, and is particularly applicable to the calibration of installation errors of airborne photoelectric loads that need to be repeatedly disassembled and assembled.

[0053] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0055] Figure 1 It is a schematic diagram of the process of the static rapid calibration of the installation error of the airborne optoelectronic load on the ground of the present invention;

[0056] Figure 2 It is a schematic diagram of a modeling process for constructing a model of the impact of installation error on target positioning in the present invention;

[0057] Figure 3 It is a comparison chart of the positioning error of the ground test target before and after the correction of the installation error of the airborne optoelectronic payload;

[0058] Figure 4 It is a comparison chart of the actual flying target positioning error before and after the error correction of the airborne optoelectronic payload. DETAILED DESCRIPTION

[0059] Embodiments of the present invention are described in detail below. The embodiments are exemplary and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0060] Reference Figure 1 Taking an azimuth-elevation two-axis airborne optoelectronic payload as an example, its azimuth displacement range is [-100°, 100°], and its elevation displacement range is [-100°, 25°]. The process of ground static calibration of installation error using the method of the present invention is as follows:

[0061] Step 1: Consider the installation error Δ of the photoelectric load in azimuth, pitch and roll between the fixture installation reference surface RO , Δ EL and Δ AZ , and the installation error Δ between the zero position of the azimuth and elevation frame angle of the photoelectric load and the zero position of the corresponding optical axis sighting line A and Δ E , establish the mathematical model of the influence of 5 installation errors on the target positioning error; uniformly use the northeast sky geographic coordinate system and the right front upper body coordinate system, then the coordinate rotation matrix around the X, Y, and Z axes can be expressed as

[0062]

[0063] The specific modeling process is as follows:

[0064] Step 1.1, establish the photoelectric sighting line coordinate system A s To the photoelectric body coordinate system A b The photoelectric sighting line coordinate system is rotated to the body coordinate system through two frame angles by coordinate transformation, wherein each frame angle needs to be added with the installation error between the angle zero position and the corresponding optical axis sighting line zero position.

[0065] The photoelectric azimuth and elevation angles are defined as q A and q E , where the roll angle corresponds to the Y axis of the photoelectric carrier's right front upper body coordinate system, and the pitch angle corresponds to the X axis of the photoelectric carrier's right front upper body coordinate system. Considering the installation error between the zero position of each frame angle and the zero position of the corresponding optical axis sighting line, the coordinate rotation matrix T can be obtained. bs for:

[0066] T bs =T z (q A +Δ A )T x (q E +ΔE ) (2)

[0067] Step 1.2, coordinate conversion from the optoelectronic body coordinate system to the carrier body coordinate system. The optoelectronic body coordinate system is rotated to the carrier body coordinate system through the roll, pitch and azimuth angles, where the roll, pitch and azimuth angles are the installation errors between the optoelectronic load and the fixture installation reference surface.

[0068] The photoelectric load connected coordinate system is adjusted by the roll, pitch and azimuth installation error angle Δ RO , Δ EL and Δ AZ Rotate to the carrier body coordinate system, its coordinate rotation matrix T pb for:

[0069] T pb =T z (Δ AZ )T x (Δ EL )T y (Δ RO ) (3)

[0070] Step 1.3, coordinate conversion from the carrier body coordinate system to the local geographic coordinate system. The carrier body coordinate system is rotated to the local geographic coordinate system through the roll, pitch and azimuth angles, where the roll, pitch and azimuth angles are the attitude angles of the carrier.

[0071] Aircraft body coordinate system A p To the local geographic coordinate system A g Coordinate transformation. The aircraft body coordinate system is rotated to the local northeast sky geographic coordinate system through the aircraft roll attitude angle γ, pitch attitude angle β and azimuth attitude angle α. Its coordinate rotation matrix T gp for:

[0072] T gp =T z (α)T x (β)T y (γ) (4)

[0073] Step 1.4, local geographic coordinate system A g To the Earth-centered Earth-fixed coordinate system A e Coordinate transformation. Rotate the local geographic coordinate system through latitude B and longitude L to the Earth-centered Earth-fixed coordinate system, and its rotation matrix is:

[0074]

[0075] Step 1.5, establish the conversion formula from the 84 ellipsoidal coordinate system to the Earth-centered Earth-fixed coordinate system:

[0076]

[0077] Where H is the height, e is the first eccentricity of the ellipse, and a is the major semi-axis of the Earth ellipsoid.

[0078] Step 1.6, establish the conversion formula from the Earth-centered Earth-fixed coordinate system to the 8-ellipsoidal coordinate system:

[0079]

[0080] Step 1.7, define the initial aiming line vector as L0 = [0,0,-1] T , use equations (2) to (5) to transform the line of sight vector to the Earth-centered Earth-fixed coordinate system:

[0081] L e =T eg T gp T pb T bs L0 (8)

[0082] Step 1.8: Use the conversion formula established in step 1.5 to convert the geographic coordinates of the photoelectric payload measured by the inertial navigation system into the Earth-centered Earth-fixed coordinates C pe Assuming that the distance between the photoelectric payload and the target is a straight-line distance, the target coordinate calculation formula in the Earth-centered Earth-fixed coordinate system can be derived: te for:

[0083] C te =C pe +L e (9)

[0084] Step 1.9, using the conversion formula established in step 1.6 and the calculation formula obtained in step 1.8, the target 84 ellipsoid coordinate calculation formula C is obtained. tg .

[0085] Step 2: Select a building with higher terrain as the observation point of the photoelectric load, and select a fixed target with lower terrain at a suitable distance from the observation point as the target point.

[0086] Step 3: Use inertial navigation GPS to measure the 84 ellipsoid geographic coordinates of the target point.

[0087] Step 4, install the optoelectronic payload and inertial navigation on the fixture. Select the following three angles for the azimuth angle of the optoelectronic payload: [-80°, 0°, 80°], and the following three angles for the pitch angle [-80°, 0°, 20°], and combine them into 9 groups of angles. For each group of frame angle combinations, adjust the optoelectronic payload and the fixture by rotating it so that the sighting line is aligned with the target point selected in step 2 when the optoelectronics is near the angle combination position. Turn on the laser ranging in the target tracking state for 1 minute sampling, and record the laser ranging data, inertial navigation data, and optoelectronic frame angle data.

[0088] Step 5: Design optimization indicators.

[0089] For a set of installation error angle combinations, use the data recorded in step 4 to calculate the corresponding target geographic coordinates according to the mathematical model established in step 1, and first calculate the root mean square value of the positioning error of each set of frame angle combination data according to the following formula:

[0090]

[0091] Where Δ L , Δ B and Δ H The calculated target geographic coordinates are the distance differences in longitude, latitude and altitude between the target geographic coordinates measured by inertial navigation. Then the calculated errors of the 9 different frame angle combinations are added together, and the following indicators are used to judge the positioning error of the installation error angle combination.

[0092]

[0093] Step 6: Set the following value range for each installation error angle: Δ RO ∈[-2°,2°],Δ EL ∈[-4°,4°],Δ AZ ∈[-2°,2°],Δ A ∈[-4°,4°],Δ E ∈[-4°,4°]. With 0.1° as the discrete scale, it is evenly discretized within the above range, and then the genetic algorithm is used to optimize the minimum index shown in formula (11) to identify the installation error angle as: Δ RO =0.2°, Δ EL =-1°, Δ AZ =-0.3°, Δ A =0.4°, Δ E =-1.4°.

[0094] After the installation error calibration is completed using the above method, when actually calculating the target geographic coordinates, the installation error identified in step 6 is used for compensation correction.

[0095] In order to verify the improvement effect of the method of the present invention on the target positioning accuracy, Figure 3 A comparison of target positioning accuracy under ground static test conditions without installation error correction and after installation error correction using the method of the present invention is given. It can be seen from the figure that after correction using the method of the present invention, the target positioning accuracy in the north-south direction, east-west direction and height direction is significantly improved.

[0096] In order to further verify the calibration effect of the installation error, an actual flight test was carried out on the optoelectronic payload. Figure 4 The figure shows a comparison of the positioning error before installation error correction and the positioning error after correction using the method of the present invention. It can be seen from the figure that after correction using the method of the present invention, the target positioning accuracy in the north-south direction, east-west direction and height direction is significantly improved.

[0097] In summary, the ground static rapid calibration method of the airborne optoelectronic payload installation error of the present invention can not only quickly identify the installation error, but also greatly improve the target positioning accuracy of the optoelectronic payload. The operation process is simple, easy to implement, and has low economic cost.

[0098] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A method for rapid static calibration of airborne optoelectronic payload installation error on the ground, characterized in that: The following steps are involved: Step 1, considering the installation errors of the azimuth, pitch and roll of the optoelectronic load and the installation reference plane of the carrier tooling, as well as the installation errors of the optoelectronic load azimuth frame angle zero position and the pitch frame angle zero position and the corresponding optical axis sighting line zero position, a mathematical model of the influence of the installation error on the target positioning error is established, and the mathematical model is used to calculate the target 84 ellipsoid geographic coordinates; In the process of establishing the mathematical model, the northeast sky geographic coordinate system and the right front upper body coordinate system are uniformly used, and the optoelectronic azimuth angle corresponds to the Z axis of the right front upper body coordinate system of the optoelectronic carrier, the optoelectronic roll angle corresponds to the Y axis of the right front upper body coordinate system of the optoelectronic carrier, and the optoelectronic pitch angle corresponds to the X axis of the right front upper body coordinate system of the optoelectronic carrier; Step 2: determine a fixed cooperation target, and select a position higher than the cooperation target by a predetermined height as the photoelectric load observation point; Step 3, obtain the target 84 ellipsoid geographic coordinates through inertial navigation source measurement; Step 4: Perform ranging sampling under different photoelectric frame angle combinations to obtain laser ranging data, inertial navigation data and photoelectric frame angle data; Step 5: Design the positioning error optimization index of the photoelectric load installation error angle combination: Step 5.1, calculate the target 84 ellipsoid geographic coordinates according to the mathematical model established in step 1 and the laser ranging data; Step 5.2: Using the ranging sampling results obtained in step 4, calculate the root mean square of the positioning error of each group of photoelectric frame angle combinations according to the following formula: In the formula, Δ L , Δ B and Δ H are the distance differences in longitude, latitude and altitude between the target 84 ellipsoid geographic coordinates calculated by step 5.1 and the target 84 ellipsoid geographic coordinates measured by the inertial navigation source, respectively; n is the number of photoelectric frame angle combinations, i = 1, 2, 3, ..., n; Step 5.3, add the root mean square of the positioning errors of different groups of photoelectric frame angle combinations, and use the following index as the positioning error optimization index of the photoelectric load installation error angle combination: Step 6: Set a value range for each installation error in the mathematical model, and perform uniform discretization within the corresponding value range using the set discrete scale. After discretization, perform optimization calculation with the positioning error optimization index designed in step 5 as the target to obtain the corresponding installation error angle.

2. According to the method for rapid static calibration of airborne optoelectronic load installation error on the ground according to claim 1, it is characterized in that: The step 1 comprises the following steps: Step 1.1, consider the installation error between the zero position of each frame angle and the zero position of the corresponding optical axis sight line, and convert the photoelectric sight line coordinate system A s Rotate the azimuth and elevation frame angles to the photoelectric payload body coordinate system A b , get the coordinate rotation matrix T bs :T bs =T z (q A +Δ A )T x (q E +Δ E ); Where, T z and T x are the coordinate rotation matrices around the Z axis and the X axis, respectively, A and q E are the photoelectric azimuth and elevation angles, Δ A and Δ E They are the installation errors of the zero position of the azimuth frame angle and the zero position of the elevation frame angle of the photoelectric load and the corresponding zero position of the optical axis sighting line; Step 1.2: Connect the photoelectric load to the coordinate system A b Rotated to the aircraft body coordinate system A through roll, pitch and azimuth angles p , the roll, pitch and azimuth angles are the roll, pitch and azimuth installation errors of the optoelectronic load and the aircraft tooling installation reference plane respectively; then the coordinate rotation matrix T is obtained pb =T pb =T z (Δ AZ )T x (Δ EL )T y (Δ RO ); Where, T y is the coordinate rotation matrix around the Y axis, Δ RO , Δ EL and Δ AZ They are the roll, pitch and azimuth installation errors of the optoelectronic load and the installation reference plane of the carrier tooling respectively; Step 1.3: Set the coordinate system A of the aircraft p The aircraft is rotated to the local geographic coordinate system A through the roll attitude angle γ, pitch attitude angle β and azimuth attitude angle α g , then we get the coordinate rotation matrix T gp =T z (α)T x (β)T y (γ); Step 1.4: Set the local geographic coordinate system A g Latitude and longitude B and longitude L are rotated to the Earth-centered Earth-fixed coordinate system A e , get the coordinate rotation matrix Step 1.5, establish the transformation equation from the 84 ellipsoidal coordinate system to the Earth-centered Earth-fixed coordinate system: Among them, H is the height, e is the first eccentricity of the ellipse, and a is the major semi-axis of the earth ellipsoid; Step 1.6, establish the transformation equation from the Earth-centered Earth-fixed coordinate system to the 84-elliptical coordinate system: Step 1.7, set the initial aiming line vector to L0 = [0,0,-1] T , use the coordinate rotation matrix obtained in steps 1.1 to 1.4 to transform the sighting line vector to the Earth-centered Earth-fixed coordinate system, and get L e =T eg T gp T pb T bs L0; Step 1.8: Use the conversion equation established in step 1.5 to convert the geographic coordinates of the photoelectric payload measured by inertial navigation into the Earth-centered Earth-fixed coordinates C of the photoelectric payload. pe ; Assuming that the distance between the photoelectric load and the target is a straight-line distance, the target coordinate calculation formula in the Earth-centered Earth-fixed coordinate system is: C te =C pe +L e ; Step 1.9: Use the conversion equation established in step 1.6 and the calculation formula obtained in step 1.8 to convert the target 84 ellipsoid geographic coordinates into the calculation formula C. tg .

3. According to the method for rapid static calibration of airborne optoelectronic load installation error on the ground of claim 1, it is characterized in that: In step 4, the specific steps of performing ranging sampling under different photoelectric frame angle combinations to obtain laser ranging data, inertial navigation data and photoelectric frame angle data include: Step 4.1, setting a number of azimuth angles and elevation angles of the photoelectric load, and obtaining a plurality of photoelectric frame angle combinations according to the set photoelectric load azimuth angles and elevation angle combinations; Step 4.2, the photoelectric load, the laser rangefinder and the inertial navigation are set up at the photoelectric load observation point, and the photoelectric load is rotated so that when the photoelectric load is near a group of photoelectric frame angle combination positions, its sighting line is aligned with the fixed target point determined in step 2, and laser ranging sampling is performed within a set time period under the target tracking state to obtain the laser ranging data, inertial navigation data and photoelectric rotation axis angle data under the group of photoelectric frame angle combination; Step 4.3: Rotate and adjust the photoelectric load, and obtain the laser ranging data, inertial navigation data and photoelectric rotation axis angle data under other photoelectric frame angle combinations according to step 4.

2.

4. According to the method for rapid static calibration of airborne optoelectronic load installation error on the ground of claim 3, it is characterized in that: In step 4.1, the azimuth angle of the photoelectric load is set to -80°, 0° and 80°, and the pitch angle of the photoelectric load is set to -80°, 0° and 20°. According to the set photoelectric load azimuth angle and pitch angle combination, 9 groups of photoelectric frame angle combinations are obtained.

5. According to the method for rapid static calibration of airborne optoelectronic load installation error on the ground of claim 4, it is characterized in that: In step 4.2, laser ranging sampling is performed for 1 minute in the target tracking state.

6. The method for rapid static ground calibration of airborne optoelectronic load installation error according to claim 1 or 5, characterized in that: In step 6, the value ranges set for each installation error are: Rolling installation error Δ between the photoelectric load and the carrier tooling installation reference surface RO ∈[-2°,2°]; The pitch installation error Δ between the optoelectronic load and the installation reference plane of the carrier tooling EL ∈[-4°,4°]; The azimuth installation error Δ between the photoelectric load and the carrier tooling installation reference surface AZ ∈[-2°,2°]; Installation error Δ between the zero position of the photoelectric load azimuth frame angle and the zero position of the corresponding optical axis sighting line A ∈[-4°,4°]; The installation error Δ between the zero position of the elevation frame angle and the zero position of the corresponding optical axis sighting line E ∈[-4°,4°].

7. According to claim 6, the method for rapid static calibration of airborne optoelectronic load installation error is characterized in that: In step 6, the discrete scale is set to 0.1° when performing uniform discretization.

8. According to the method for rapid static calibration of airborne optoelectronic payload installation error on the ground of claim 1, it is characterized by: In step 6, taking the optimization index designed in step 5 as the target, a genetic algorithm is used to perform optimization calculation.

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