IMU (Inertial Measurement Unit) installation deviation angle correction method based on photoelectric pod geographic tracking mode

Abstract

The invention belongs to the technical field of photoelectric control. The invention provides an IMU (Inertial Measurement Unit) installation deviation angle correction method based on a photoelectric pod geographic tracking mode. According to the embodiment of the invention, online calibration is carried out by converting the visual axis angle into the image and continuously correcting the target geographical tracking result, so that the positioning and geographical tracking of the photoelectric pod on the target in the calibration sortie flight are more accurate; the target positioning and geographical tracking effects of subsequent flight sorties are ensured, and the execution efficiency of flight tasks is greatly improved.

Description

Technical Field

[0001] The disclosed embodiments relate to the field of optoelectronic control technology, and more particularly to a method for correcting an IMU installation deviation angle in an optoelectronic pod geographic tracking mode. Background Art

[0002] The optoelectronic pod is a multi-spectral airborne optoelectronic detection system that integrates infrared, visible light, and laser. It is the main optoelectronic reconnaissance equipment for aircraft platforms. The key component for achieving high-precision positioning and geographic tracking in the optoelectronic pod is the positioning and orientation system (POS), which consists of an inertial measurement unit (IMU) and a navigation solution (PCS) board. The POS is provided with GNSS signals by an external GPS, and the POS outputs the combined navigation information to the optoelectronic pod controller to realize the optoelectronic pod's positioning of the target and obtain the target's geographic location. At the same time, combined with the bound target geographic location information, the optoelectronic pod controller calculates the required rotation deviation angle, drives the optoelectronic pod's aiming line to quickly point to the target, and completes the gaze tracking of the target.

[0003] In the actual assembly process, due to the installation error between the IMU and the optical pod’s boresight, the frame will not be orthogonal, affecting the target positioning and geographic tracking accuracy. Therefore, in order to obtain higher-precision target positioning and geographic tracking accuracy, it is necessary to calibrate the installation error between the IMU and the optical pod’s boresight.

[0004] The traditional installation error calibration method needs to be carried out through multiple flights or fixed routes, which has specific requirements for time and routes, and compresses the time for effective execution of tasks. The present invention performs online calibration by continuously correcting the target geographic tracking results through image conversion line of sight angle, which not only makes the optoelectronic pod more accurate in the target positioning and geographic tracking during the flight, but also ensures the target positioning and geographic tracking effect of subsequent flights by storing the calibrated installation deviation angle, greatly improving the execution efficiency of flight missions.

[0005] Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.

[0006] It should be noted that this section is intended to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art by virtue of being included in this section. Summary of the invention

[0007] The purpose of the embodiments of the present disclosure is to provide an IMU installation deviation angle correction method based on an optoelectronic pod in geographic tracking mode, thereby overcoming one or more problems caused by limitations and defects of related technologies at least to a certain extent.

[0008] According to an embodiment of the present disclosure, a method for correcting an IMU installation deviation angle in an optoelectronic pod geographic tracking mode is provided, the method comprising: Acquire the real geographic location of the target so that the optoelectronic pod can geographically track the target; Adjust the photoelectric sensor to a large field of view, perform a coarse adjustment on the photoelectric pod, press the sight line of the photoelectric pod onto the target, and calculate in real time the coarse adjustment angle corresponding to the sight line under the current field of view; wherein the coarse adjustment angle includes a coarse adjustment angle of azimuth and a coarse adjustment angle of pitch; Writing the coarse adjustment angle into the geographic tracking function as the initial IMU installation deviation angle; Adjust the photoelectric sensor to a small field of view, perform fine adjustment on the photoelectric pod, press the sight line of the photoelectric pod onto the target, and calculate in real time the fine adjustment angle corresponding to the sight line under the current field of view; wherein the fine adjustment angle includes an azimuth fine adjustment angle and a pitch fine adjustment angle; The fine-tuning angle is written into the geographic tracking function as the final IMU installation deviation angle and saved to the storage chip.

[0009] Furthermore, the step of obtaining the real geographical location of the target and enabling the optoelectronic pod to geographically track the target includes: Binding the predetermined geographic location of the target to obtain the location coordinates of the target; The position coordinates of the target are converted into an optoelectronic geographic coordinate system, and combined with the attitude information of the optoelectronic pod to obtain the target space pointing angle of the optoelectronic pod; wherein the target space pointing angle of the optoelectronic pod includes the pointing azimuth angle and the pointing pitch angle; The optoelectronic pod is directed toward the target according to the target space pointing angle of the optoelectronic pod.

[0010] Furthermore, the step of converting the position coordinates of the target into an optoelectronic geographic coordinate system and combining the attitude information of the optoelectronic pod to obtain the target space pointing angle of the optoelectronic pod includes: The coordinates of the optoelectronic pod and the target are converted from the geodetic coordinate system to the optoelectronic geographic coordinate system; wherein, The coordinates of the optoelectronic pod in the geographic coordinate system are , the coordinates of the target in the geographic coordinate system are , then the position difference of the target relative to the optoelectronic pod is:

[0011] The coordinates of the target in the photoelectric coordinate system are ;in, The matrix for converting geographic coordinate system to photoelectric coordinate system; According to the coordinates of the target in the photoelectric coordinate system, the target space pointing azimuth of the photoelectric pod rotation is obtained. and pointing pitch angle .

[0012] Further, the steps of adjusting the photoelectric sensor to a large field of view, roughly adjusting the photoelectric pod, pressing the sighting line of the photoelectric pod to hit the target, and calculating the coarse adjustment angle corresponding to the sighting line in the current field of view in real time include: Adjust the photoelectric sensor to the large field of view, divide the image into groups of 10 pixels, and move the aiming line toward the target in the geographic tracking position until it presses on the target; The coarse adjustment azimuth movement pixels, the coarse adjustment elevation movement pixels and the photoelectric sensor parameters of the sighting line movement are obtained, and the azimuth coarse adjustment angle and the elevation coarse adjustment angle are calculated.

[0013] Furthermore, the expression of the azimuth rough adjustment angle is:

[0014] The expression of the pitch coarse adjustment angle is:

[0015] in, The coarse azimuth movement pixel for the aiming line, is the coarse pitch movement pixel of the aiming line, is the horizontal dimension, , is the size of the photoelectric sensor, is the focal length of the photoelectric sensor.

[0016] Further, the steps of adjusting the photoelectric sensor to a small field of view, fine-tuning the photoelectric pod, pressing the sighting line of the photoelectric pod onto the target, and calculating in real time the azimuth fine adjustment angle and the elevation fine adjustment angle corresponding to the sighting line in the current field of view include: reducing the field of view of the photoelectric sensor, adjusting the photoelectric sensor to the small field of view, and moving the aiming line toward the target in the geographic tracking position until the aiming line coincides with the center of the target; The fine-tuning azimuth movement pixels, the fine-tuning elevation movement pixels and the photoelectric sensor parameters of the sighting line movement are obtained, and the azimuth fine-adjusting angle and the elevation fine-adjusting angle are calculated.

[0017] Furthermore, the expression of the azimuth fine adjustment angle is:

[0018] The expression of the pitch coarse adjustment angle is:

[0019] in, Move pixels in the azimuth direction to fine-tune the aiming line. Fine-tuning the elevation movement of the aiming line in pixels, is the horizontal dimension, , is the size of the photoelectric sensor, is the focal length of the photoelectric sensor.

[0020] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: In the embodiment of the present disclosure, through the above-mentioned IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode, on the one hand, before takeoff, the ground checks that the zero position of the optoelectronic pod visual axis is basically consistent with the nose direction. After the aircraft takes off and enters the route, the optoelectronic pod performs geographic tracking according to the bound target position, and the optoelectronic pod calculates the rotation azimuth and rotation pitch angle in real time according to the relative position of the aircraft and the target to achieve gaze tracking of the target. Adjust the optoelectronic pod sensor to the appropriate field of view where the target appears in the picture, divide the picture into groups of 10 pixels, move the aiming line toward the target in the geographic tracking position until it is pressed on the target, and complete the rough calibration of the IMU installation deviation angle. Adjust the optoelectronic pod sensor to the minimum field of view to further correct the geographic tracking position. When the center of the moving aiming line is coincident with the center of the target, the moving field of view angle is written into the optoelectronic pod storage chip as the IMU installation deviation angle, and the precise calibration of the IMU installation deviation angle is completed. On the other hand, online calibration is performed by continuously correcting the target's geographic tracking results through image conversion of the line of sight angle. This not only makes the electro-optical pod's positioning and geographic tracking of the target more accurate during the calibration flight, but also ensures the target positioning and geographic tracking effects of subsequent flights by storing the calibrated installation deviation angle, greatly improving the execution efficiency of the flight mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0022] Figure 1 A step diagram showing a method for correcting an IMU installation deviation angle in a geographic tracking mode based on an optoelectronic pod in an exemplary embodiment of the present disclosure; Figure 2 A specific flow chart showing a method for correcting an IMU installation deviation angle in a geographic tracking mode based on an optoelectronic pod in an exemplary embodiment of the present disclosure is shown; Figure 3 A schematic diagram showing a method for correcting an IMU installation deviation angle in a geographic tracking mode of an optoelectronic pod in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] In addition, the accompanying drawings are only schematic illustrations of the embodiments of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0025] This example embodiment provides an IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode. Figure 1 As shown in , the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode may include: steps S101 to S105.

[0026] Step S101: Acquire the real geographical location of the target, so that the optoelectronic pod performs geographical tracking on the target; Step S102: adjusting the photoelectric sensor to a large field of view, roughly adjusting the photoelectric pod, pressing the sighting line of the photoelectric pod to hit the target, and calculating the coarse adjustment angle corresponding to the sighting line under the current field of view in real time; Step S103: writing the coarse adjustment angle as the initial IMU installation deviation angle into the geographic tracking function; wherein the coarse adjustment angle includes an azimuth coarse adjustment angle and a pitch coarse adjustment angle; Step S104: adjusting the photoelectric sensor to a small field of view, fine-tuning the photoelectric pod, pressing the sighting line of the photoelectric pod to hit the target, and calculating in real time the fine adjustment angle corresponding to the sighting line under the current field of view; wherein the fine adjustment angle includes an azimuth fine adjustment angle and a pitch fine adjustment angle; Step S105: writing the fine-tuning angle into the geographic tracking function as the final IMU installation deviation angle and saving it to the storage chip.

[0027] Through the above-mentioned IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode, on the one hand, before takeoff, the ground checks that the zero position of the optoelectronic pod visual axis is basically consistent with the nose direction. After the aircraft takes off and enters the route, the optoelectronic pod performs geographic tracking according to the bound target position. The optoelectronic pod calculates the rotation azimuth and rotation pitch angle in real time according to the relative position of the aircraft and the target to achieve gaze tracking of the target. Adjust the optoelectronic pod sensor to the appropriate field of view where the target appears in the picture, divide the picture into groups of 10 pixels, move the aiming line toward the target in the geographic tracking position until it is pressed on the target, and complete the rough calibration of the IMU installation deviation angle. Adjust the optoelectronic pod sensor to the minimum field of view to further correct the geographic tracking position. When the center of the moving aiming line coincides with the center of the target, write the moving field of view angle into the optoelectronic pod storage chip as the IMU installation deviation angle to complete the precise calibration of the IMU installation deviation angle. On the other hand, online calibration is performed by continuously correcting the target's geographic tracking results through image conversion of the line of sight angle. This not only makes the electro-optical pod's positioning and geographic tracking of the target more accurate during the calibration flight, but also ensures the target positioning and geographic tracking effects of subsequent flights by storing the calibrated installation deviation angle, greatly improving the execution efficiency of the flight mission.

[0028] Next, we will refer to Figures 1 to 3 The various steps of the above-mentioned IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode in this example implementation are described in more detail.

[0029] In step S101, the aircraft flies in a hovering flight after takeoff, and the optoelectronic pod receives the PPS signal sent by the aircraft GPS to the internal inertial navigation component, waits for the inertial navigation data to output attitude information, and converges the data through aircraft maneuvers.

[0030] Binding target T1 geographic location P T (lon T ,lat T , H T). To geographically track the target T1, the input data required for the entire solution process include: a) Photoelectric internal inertial navigation information: aircraft ellipsoid height , optoelectronic pod heading angle , electro-optical pod pitch angle , roll angle of optoelectronic pod , aircraft longitude , aircraft latitude ; b) Target real position: longitude lon T , latitude lat T , height H T ; The output data are: the optical axis rotation angle of the optoelectronic pod: azimuth and pitch.

[0031] First, the coordinates of the photoelectric and target points are converted from the geodetic coordinates to the photoelectric geographic coordinate system. Let the coordinates in the photoelectric geographic coordinate system be , the coordinates in the target geographic coordinate system are , the position difference of the target relative to the photoelectric is:

[0032] The coordinates of the target in the photoelectric coordinate system are .in It is the matrix for converting geographic coordinate system to photoelectric coordinate system.

[0033] The target space pointing angle of the geographic tracking rotation is obtained: the azimuth is ; Pitch angle .

[0034] In step S102 and step S103, the sensor is adjusted to a suitable field of view in which the target T1 can be found, the aiming line is roughly adjusted toward the target so that the aiming line hits the target, and the azimuth adjustment angle corresponding to the aiming line movement under the current field of view is calculated in real time. and pitch adjustment angle , update the initial IMU installation deviation angle in the optoelectronic pod positioning algorithm in real time.

[0035] Among them, the calculation formula for the field of view angle under each field of view is:

[0036] Then the azimuth adjustment angle is:

[0037] Pitch adjustment angle: .

[0038] In step S104 and step S105, the sensor is adjusted to the minimum field of view, the aiming line is fine-tuned so that the center of the aiming line coincides with the center of the target, and the azimuth adjustment angle corresponding to the amount of movement of the aiming line in the current field of view is calculated in real time. and pitch adjustment angle , and update the final IMU installation deviation angle in the optoelectronic pod positioning algorithm in real time.

[0039] Furthermore, the final IMU installation deviation angle is written into the optoelectronic pod storage chip.

[0040] In a specific embodiment, the optoelectronic pod is carried on an aircraft.

[0041] The optoelectronic pod includes an optical sensor, POS, controller and memory. The optical sensor realizes target imaging; the POS realizes the measurement of the heading angle, pitch angle, roll angle of the optoelectronic pod and the position measurement of the optoelectronic pod in the earth coordinate system. The controller realizes target search and tracking, target positioning and geographic tracking algorithm solution; the memory realizes the storage of the calibrated IMU installation deviation angle.

[0042] In one embodiment, Figure 2 As shown, it is a specific flow chart of the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode.

[0043] Before takeoff, the ground checks that the zero-position direction of the optical axis of the optoelectronic pod is basically consistent with the direction of the nose. After the aircraft takes off and enters the route, the optoelectronic pod performs geographic tracking according to the bound target position. The optoelectronic pod calculates the rotation azimuth and rotation pitch angle in real time according to the relative position of the aircraft and the target to achieve gaze tracking of the target. Adjust the optoelectronic pod sensor to the appropriate field of view where the target appears in the picture, divide the picture into groups of 10 pixels, move the aiming line toward the target in the geographic tracking position until it presses on the target, and complete the rough calibration of the IMU installation deviation angle. Adjust the optoelectronic pod sensor to the minimum field of view to further correct the geographic tracking position. When the center of the aiming line is moved to coincide with the center of the target, the moving field of view angle is written into the optoelectronic pod storage chip as the IMU installation deviation angle to complete the precise calibration of the IMU installation deviation angle.

[0044] like Figure 3 As shown, it is a schematic diagram of controlling the optoelectronic pod based on the IMU installation deviation angle correction method in the optoelectronic pod geographic tracking mode.

[0045] In a specific embodiment, the input is: the inertial navigation information of the aircraft: longitude: 122.1576959°, latitude 37.93841°; altitude: 2000m, heading: 10.89°; pitch: -9.10°; roll: 0.23°; Target location: Longitude: 122.155234°, Latitude 37.93091°; Altitude: 100m.

[0046] The angles that the optoelectronic pod needs to rotate for geographic tracking are: azimuth: -178.45°, pitch: -74.98°.

[0047] At this time, the crosshairs of the optoelectronic pod cannot completely hit the target after it rotates. Assuming that in a 1920×1080 pixel screen, the horizontal field of view angle is 1.87°, and the pitch field of view angle is 1.5°, the pixel deviation is 20. Based on geographic tracking, the horizontal angle is adjusted by 0.019° and the pitch angle is adjusted by 0.028°. At this time, the crosshairs in the center of the optoelectronic pod screen can completely hit the target.

[0048] Through the above-mentioned IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode, on the one hand, before takeoff, the ground checks that the zero position of the optoelectronic pod visual axis is basically consistent with the nose direction. After the aircraft takes off and enters the route, the optoelectronic pod performs geographic tracking according to the bound target position. The optoelectronic pod calculates the rotation azimuth and rotation pitch angle in real time according to the relative position of the aircraft and the target to achieve gaze tracking of the target. Adjust the optoelectronic pod sensor to the appropriate field of view where the target appears in the picture, divide the picture into groups of 10 pixels, move the aiming line toward the target in the geographic tracking position until it is pressed on the target, and complete the rough calibration of the IMU installation deviation angle. Adjust the optoelectronic pod sensor to the minimum field of view to further correct the geographic tracking position. When the center of the moving aiming line coincides with the center of the target, write the moving field of view angle into the optoelectronic pod storage chip as the IMU installation deviation angle to complete the precise calibration of the IMU installation deviation angle. On the other hand, online calibration is performed by continuously correcting the target's geographic tracking results through image conversion of the line of sight angle. This not only makes the electro-optical pod's positioning and geographic tracking of the target more accurate during the calibration flight, but also ensures the target positioning and geographic tracking effects of subsequent flights by storing the calibrated installation deviation angle, greatly improving the execution efficiency of the flight mission.

[0049] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. in the above description indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present disclosure.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0052] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0054] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A method for correcting the IMU installation deviation angle in the optoelectronic pod geographic tracking mode, characterized in that: The method includes: Acquire the real geographic location of the target so that the optoelectronic pod can geographically track the target; Adjust the photoelectric sensor to a large field of view, perform a coarse adjustment on the photoelectric pod, press the sight line of the photoelectric pod onto the target, and calculate in real time the coarse adjustment angle corresponding to the sight line under the current field of view; wherein the coarse adjustment angle includes a coarse adjustment angle of azimuth and a coarse adjustment angle of pitch; Writing the coarse adjustment angle into the geographic tracking function as the initial IMU installation deviation angle; Adjust the photoelectric sensor to a small field of view, perform fine adjustment on the photoelectric pod, press the sight line of the photoelectric pod onto the target, and calculate in real time the fine adjustment angle corresponding to the sight line under the current field of view; wherein the fine adjustment angle includes an azimuth fine adjustment angle and a pitch fine adjustment angle; The fine-tuning angle is written into the geographic tracking function as the final IMU installation deviation angle and saved to the storage chip.

2. According to claim 1, the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode is characterized in that: The step of obtaining the real geographical location of the target and enabling the optoelectronic pod to geographically track the target includes: Binding the predetermined geographic location of the target to obtain the location coordinates of the target; The position coordinates of the target are converted into an optoelectronic geographic coordinate system, and combined with the attitude information of the optoelectronic pod to obtain the target space pointing angle of the optoelectronic pod; wherein the target space pointing angle of the optoelectronic pod includes the pointing azimuth angle and the pointing pitch angle; The optoelectronic pod is directed toward the target according to the target space pointing angle of the optoelectronic pod.

3. According to claim 2, the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode is characterized in that: The step of converting the position coordinates of the target into an optoelectronic geographic coordinate system and combining the attitude information of the optoelectronic pod to obtain the target space pointing angle of the optoelectronic pod includes: The coordinates of the optoelectronic pod and the target are converted from the geodetic coordinate system to the optoelectronic geographic coordinate system; wherein, The coordinates of the optoelectronic pod in the geographic coordinate system are , the coordinates of the target in the geographic coordinate system are , then the position difference of the target relative to the optoelectronic pod is: The coordinates of the target in the photoelectric coordinate system are ;in, The matrix for converting geographic coordinate system to photoelectric coordinate system; According to the coordinates of the target in the photoelectric coordinate system, the target space pointing azimuth of the photoelectric pod rotation is obtained. and pointing pitch angle .

4. According to claim 1, the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode is characterized in that: The steps of adjusting the photoelectric sensor to a large field of view, roughly adjusting the photoelectric pod, pressing the sighting line of the photoelectric pod to the target, and calculating the coarse adjustment angle corresponding to the sighting line under the current field of view in real time include: Adjust the photoelectric sensor to the large field of view, divide the image into groups of 10 pixels, and move the aiming line toward the target in the geographic tracking position until it presses on the target; The coarse adjustment azimuth movement pixels, the coarse adjustment elevation movement pixels and the photoelectric sensor parameters of the sighting line movement are obtained, and the azimuth coarse adjustment angle and the elevation coarse adjustment angle are calculated.

5. According to claim 4, the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode is characterized in that: The expression of the azimuth rough adjustment angle is: The expression of the pitch coarse adjustment angle is: in, is the first azimuth movement pixel of the aiming line, is the first elevation movement pixel of the aiming line, is the horizontal dimension, , is the size of the photoelectric sensor, is the focal length of the photoelectric sensor.

6. According to claim 1, the IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode is characterized in that: The steps of adjusting the photoelectric sensor to a small field of view, fine-tuning the photoelectric pod, pressing the sighting line of the photoelectric pod onto the target, and calculating in real time the fine adjustment angle corresponding to the sighting line under the current field of view include: reducing the field of view of the photoelectric sensor, adjusting the photoelectric sensor to the small field of view, and moving the aiming line toward the target in the geographic tracking position until the aiming line coincides with the center of the target; The fine-tuning azimuth movement pixels and the fine-tuning pitch movement pixels of the sighting line movement are obtained, and the azimuth fine adjustment angle and the pitch fine adjustment angle are calculated in combination with the optoelectronic pod sensor parameters.

7. The IMU installation deviation angle correction method based on the optoelectronic pod geographic tracking mode according to claim 6 is characterized in that: The expression of the azimuth fine adjustment angle is: The expression of the pitch coarse adjustment angle is: in, Move pixels in the azimuth direction to fine-tune the aiming line. Fine-tuning the elevation movement of the aiming line in pixels, is the horizontal dimension, , is the size of the photoelectric sensor, is the focal length of the photoelectric sensor.

Images