A ground static rapid calibration method for airborne optoelectronic payload installation errors

Abstract

The present invention provides a method for rapid, ground-based static calibration of installation errors for airborne optoelectronic payloads. This method considers the installation errors between the optoelectronic payload and the tooling installation reference plane, as well as the installation errors between the zero position of the optoelectronic payload frame angle and the zero position of the corresponding optical axis sighting line, as factors affecting optoelectronic target positioning accuracy. A model for the impact of installation errors on target positioning errors is established. This model calculates the target's geographic coordinates, which are then tested under static ground conditions based on different optoelectronic frame angle combinations. Combining the model calculation results with the test results, a target optimization equation is established, and target optimization is performed within a set installation error angle range. This method calibrates and compensates for five types of optoelectronic payload installation errors, effectively improving the accuracy of optoelectronic payload target positioning. The method is simple, easy to implement, and economical, applicable to optoelectronic payloads of various structural forms, and addresses the cumbersome and costly nature of existing calibration methods.

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 payloads. Background Art

[0002] An important function of airborne electro-optical payloads is to geolocate targets through laser ranging. However, during the positioning process, electro-optical payloads can incur two types of installation errors: First, during assembly, there is an installation error between the zero position of the frame angle of each rotating axis of the electro-optical payload and the zero position of the optical axis sight line of the electro-optical payload. When the frame angle is at zero, the sight line is not necessarily at zero. Second, to improve the electro-optical payload's resistance to shock and vibration and its stability, the electro-optical payload and tooling are often connected via vibration dampers. This, combined with the influence of assembly errors, causes the electro-optical body coordinate system and the carrier aircraft body coordinate system to be inconsistent. The existence of these installation errors can have a significant impact on the accuracy of target positioning. Therefore, the installation errors need to be calibrated and compensated through algorithms to improve target positioning accuracy.

[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 the data. Since this method requires actual flight, the calibration cost is relatively high. Especially in actual application scenarios, the optoelectronic payload may be repeatedly disassembled and assembled. 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 payload installation error calibration method, which has the disadvantages of complex calibration process, low efficiency and consumption of manpower and material resources, and provides a ground static rapid calibration method for airborne optoelectronic payload installation error. The method of the present invention takes the azimuth, pitch and roll installation errors of the optoelectronic payload and the carrier tooling installation reference plane, as well as the installation errors of the optoelectronic payload 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 payload installation error under ground static conditions through ground testing and data analysis. The method has high efficiency and low cost, and effectively improves the accuracy of optoelectronic payload target positioning.

[0005] To achieve the above objectives, the technical solutions provided by the present invention are:

[0006] A method for rapid static ground calibration of airborne optoelectronic payload installation errors is characterized in that it includes the following steps:

[0007] Step 1: Considering the installation errors of the azimuth, pitch, and roll between the optoelectronic payload and the mounting reference plane of the carrier aircraft tooling, as well as the installation errors between the azimuth frame angle zero position and the pitch frame angle zero position of the optoelectronic payload and the corresponding optical axis sighting line zero position, a mathematical model of the influence of the installation errors on the target positioning error is established. 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 photoelectric azimuth angle corresponds to the Z axis of the right front upper body coordinate system of the photoelectric carrier, the photoelectric roll angle corresponds to the Y axis of the right front upper body coordinate system of the photoelectric carrier, and the photoelectric pitch angle corresponds to the X axis of the right front upper body coordinate system of the photoelectric carrier;

[0009] Step 2: Determine a fixed cooperation target and select a position at a predetermined height higher than the cooperation target as the photoelectric payload 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 based on 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 error of the positioning of each photoelectric frame angle combination according to the following formula:

[0015]

[0016] Where, Δ L , Δ B and Δ H are the distance differences in longitude, latitude, and altitude between the target 84-degree ellipsoid geographic coordinates calculated in step 5.1 and the target 84-degree 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 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 based on the positioning error optimization index designed in step 5 to obtain the corresponding installation error angle.

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

[0021] Step 1.1, consider the installation error between each frame angle zero position and the corresponding optical axis sight line zero position, and set the photoelectric sight line coordinate system A s Rotate the azimuth and elevation frame angles to the optoelectronic payload's 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 X axis, q A and q E are the photoelectric azimuth and elevation angles, Δ A and Δ E They are the installation errors between the zero position of the azimuth frame angle and the zero position of the elevation frame angle of the photoelectric payload 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 photoelectric load and the carrier tooling installation reference plane respectively; 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 payload and the installation reference plane of the carrier aircraft tooling;

[0025] Step 1.3, the aircraft body coordinate system A 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-dimensional ellipsoidal coordinate system to the Earth-centered Earth-fixed coordinate system:

[0028]

[0029] Where 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-degree ellipsoidal 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 1.1-1.4 to transform the line of sight vector into 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 payload 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 photoelectric load azimuth angles and pitch angles, and obtaining a plurality of photoelectric frame angle combinations based on the set photoelectric load azimuth angles and pitch angle combinations;

[0037] Step 4.2: Install the photoelectric payload, laser rangefinder, and inertial navigation system at the photoelectric payload observation point. Rotate the photoelectric payload so that its sight line is aligned with the fixed target point determined in step 2 when the photoelectric payload is near a combination of photoelectric frame angles. Perform laser ranging sampling within a set time period under target tracking to obtain laser ranging data, inertial navigation data, and photoelectric rotation axis angle data for the combination of photoelectric frame angles.

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

[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] Pitch installation error Δ between the optoelectronic payload and the carrier tooling installation reference plane EL ∈[-4°,4°];

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

[0045] Installation error Δ between the zero position of the photoelectric payload 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 photoelectric load frame angle zero position 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 under static conditions on the ground based on different photoelectric frame angle combinations, combining the model calculation results and the test results, a target optimization equation is established, and target optimization is performed within the set installation error angle range. The calibration and compensation of the five installation errors of the photoelectric load are realized, and the accuracy of the 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 installation error calibration of photoelectric loads of various structural forms, and is particularly applicable to the installation error calibration of airborne photoelectric loads that need to be repeatedly disassembled and assembled.

[0053] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by 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 readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

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

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

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

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

[0059] The following describes in detail embodiments of the present invention. The embodiments are exemplary and intended to explain the present invention, but are not to 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 with 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 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 coordinate transformation is to rotate the photoelectric sighting line coordinate system through two frame angles to the body coordinate system, where each frame angle needs to add 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. Rotate the optoelectronic body coordinate system to the carrier body coordinate system using the roll, pitch, and azimuth angles, where the roll, pitch, and azimuth angles represent the installation error between the optoelectronic payload and the fixture installation reference surface.

[0068] The photoelectric payload 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 aircraft body coordinate system to the local geographic coordinate system. Rotate the aircraft body coordinate system to the local geographic coordinate system using the roll, pitch, and azimuth angles, where the roll, pitch, and azimuth angles represent the aircraft's attitude angles.

[0071] Aircraft body coordinate system A p To the local geographic coordinate system A g Coordinate transformation. The carrier body coordinate system is rotated to the local northeast sky geographic coordinate system through the carrier 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. The 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's ellipsoid.

[0078] Step 1.6: Establish the conversion formula from the Earth-centered Earth-fixed coordinate system to the 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: Use the conversion formula established in step 1.6 and the calculation formula obtained in step 1.8 to convert the target 84 ellipsoid coordinate calculation formula C 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 GPS to measure the 84-degree ellipsoid geographic coordinates of the target point.

[0087] Step 4: Install the optoelectronic payload and inertial navigation system on the fixture. Select the following three angles for the optoelectronic payload in azimuth: [-80°, 0°, 80°], and the following three angles for elevation: [-80°, 0°, 20°], combining these into nine angle groups. For each frame angle combination, adjust the optoelectronic payload and fixture so that the line of sight is aligned with the target point selected in Step 2 when the optoelectronic system is near that angle combination. Enable laser ranging in the target tracking state and sample for 1 minute, recording 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 and calculate the corresponding target geographic coordinates according to the mathematical model established in step 1. Then, first calculate the root mean square value of the positioning error for 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 groups of 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, the values ​​are evenly discretized within the above range. Then, the genetic algorithm is used to optimize the minimum index shown in formula (11) and the installation error angle is identified 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 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. As can be seen from the figure, 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 airborne optoelectronic payload installation error of the present invention can not only quickly identify installation errors, but also greatly improve the target positioning accuracy of the optoelectronic payload. The operation process is simple, easy to implement, and low in economic cost.

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

Claims

1. A method for rapid static ground calibration of airborne optoelectronic payload installation errors, characterized in that: The following steps are involved: Step 1: Considering the installation errors of the azimuth, pitch, and roll between the optoelectronic payload and the mounting reference plane of the carrier aircraft tooling, as well as the installation errors between the azimuth frame angle zero position and the pitch frame angle zero position of the optoelectronic payload and the corresponding optical axis sighting line zero position, a mathematical model of the influence of the installation errors on the target positioning error is established. 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 photoelectric azimuth angle corresponds to the Z axis of the right front upper body coordinate system of the photoelectric carrier, the photoelectric roll angle corresponds to the Y axis of the right front upper body coordinate system of the photoelectric carrier, and the photoelectric pitch angle corresponds to the X axis of the right front upper body coordinate system of the photoelectric carrier; Step 2: Determine a fixed cooperation target and select a position at a predetermined height higher than the cooperation target as the photoelectric payload 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 based on 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 error of the positioning of each photoelectric frame angle combination according to the following formula: Where, Δ L , Δ B and Δ H are the distance differences in longitude, latitude, and altitude between the target 84-degree ellipsoid geographic coordinates calculated in step 5.1 and the target 84-degree 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 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 based on the positioning error optimization index designed in step 5 to obtain the corresponding installation error angle.

2. The method for rapid static calibration of airborne optoelectronic payload installation error according to claim 1 is characterized in that: The step 1 comprises the following steps: Step 1.1, consider the installation error between each frame angle zero position and the corresponding optical axis sight line zero position, and set the photoelectric sight line coordinate system A s Rotate the azimuth and elevation frame angles to the optoelectronic payload's 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 X axis, q A and q E are the photoelectric azimuth and elevation angles, Δ A and Δ E They are the installation errors between the zero position of the azimuth frame angle and the zero position of the elevation frame angle of the photoelectric payload 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 photoelectric load and the carrier tooling installation reference plane respectively; 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 payload and the installation reference plane of the carrier aircraft tooling; Step 1.3, the aircraft body coordinate system A 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-dimensional ellipsoidal coordinate system to the Earth-centered Earth-fixed coordinate system: Where 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-degree ellipsoidal 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 into 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 payload 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. The method for rapid static calibration of airborne optoelectronic payload installation error according to claim 1 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 photoelectric load azimuth angles and pitch angles, and obtaining a plurality of photoelectric frame angle combinations based on the set photoelectric load azimuth angles and pitch angle combinations; Step 4.2: Install the photoelectric payload, laser rangefinder, and inertial navigation system at the photoelectric payload observation point. Rotate the photoelectric payload so that its sight line is aligned with the fixed target point determined in step 2 when the photoelectric payload is near a combination of photoelectric frame angles. Perform laser ranging sampling within a set time period under target tracking to obtain laser ranging data, inertial navigation data, and photoelectric rotation axis angle data for the combination of photoelectric frame angles. Step 4.3: Rotate and adjust the photoelectric load, and follow step 4.2 to obtain laser ranging data, inertial navigation data, and photoelectric rotation axis angle data under other photoelectric frame angle combinations.

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

5. The method for rapid static ground calibration of airborne optoelectronic payload installation error according to claim 4 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 payload 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°]; Pitch installation error Δ between the optoelectronic payload and the carrier tooling installation reference plane EL ∈[-4°,4°]; Azimuth installation error Δ between the photoelectric payload and the carrier tooling installation reference surface AZ ∈[-2°,2°]; Installation error Δ between the zero position of the photoelectric payload 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. The method for rapid static ground calibration of airborne optoelectronic payload installation error according to claim 6 is characterized in that: In step 6, the discrete scale is set to 0.1° when performing uniform discretization.

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

Images