Target correcting method and system for photoelectric detection equipment

Abstract

The invention relates to the technical field of aerospace measurement and control, in particular to a photoelectric detection equipment boresight method and system. The method comprises the following steps: acquiring measurement data of a measurement device; determining a pose relation between a measuring device coordinate system and an aircraft coordinate system and a pose relation between the measuring device coordinate system and a target plate coordinate system; determining a pose relationship between an optical axis coordinate system of the target simulator and an aircraft coordinate system; determining a pose deviation between an optical axis emitted by the target simulator and an aerial carrier axis under an aircraft coordinate system; the target simulator is adjusted according to the pose deviation, so that the optical axis emitted by the target simulator is parallel to the axis of the aerial carrier; and adjusting the photoelectric detection equipment to be bounded so as to enable the optical axis of the aiming line emitted by the photoelectric detection equipment to be parallel to or coincide with the optical axis emitted by the target simulator. Target correction of the photoelectric detection equipment can be completed under the condition that the horizontal position of an airplane is not adjusted, measurement is more convenient, and precision is high.

Description

Technical Field

[0001] The present invention relates to the field of aerospace measurement and control technology. More specifically, the present invention relates to a method and system for calibrating a photoelectric detection device. Background Art

[0002] Photoelectric detection equipment is an important detection and aiming device for aircraft weapon systems. It is a high-precision optomechanical and electrical integrated equipment, mainly used for searching, aiming, tracking and ranging targets, etc., and has strict requirements on the relevant optical parameters and angle control accuracy. The accuracy parameters of the photoelectric detection equipment system are generally tested before leaving the factory, but since it is installed behind the fuselage, there may be installation errors between it and the fuselage, affecting the accuracy parameters. At the same time, with the extension of the use cycle, the influence of the storage environment and repeated disassembly and maintenance, the accuracy indicators of the photoelectric detection equipment will gradually decay, resulting in the following problems: Figure 1 The optical axis of the aiming line emitted by the optoelectronic detection equipment shown is not parallel to the axis of the carrier aircraft. Therefore, it is necessary to calibrate the optoelectronic detection equipment regularly to ensure that the optoelectronic detection equipment meets the requirements of relevant technical indicators and meets the accuracy requirements for combat and training use.

[0003] The existing airborne platform stabilized photoelectric detection equipment needs to use a level measuring instrument and set up multiple jacks to adjust the overall level of the aircraft to form the aircraft reference horizontal plane when calibrating the detection optical axis after installation, and then align and adjust the measuring instrument and the target plate to achieve the target calibration of the photoelectric detection equipment. However, this method requires the aircraft to be adjusted to a level, which increases the difficulty of the work, the demand for manpower, the slow efficiency of target calibration, and the poor accuracy. Summary of the invention

[0004] In order to solve the technical problems of the difficulty in target calibration and poor accuracy of the above-mentioned existing photoelectric detection equipment, the present invention provides solutions in the following aspects.

[0005] In a first aspect, the present invention provides a method for calibrating a photoelectric detection device, comprising: acquiring measurement data of a measuring device, wherein the measuring device is used to measure a plurality of reference points arranged on an aircraft and a plurality of identification points arranged on a target board; determining a posture relationship between a measuring device coordinate system and an aircraft coordinate system and a posture relationship between a measuring device coordinate system and a target board coordinate system according to the measurement data; calculating the posture relationship between the measuring device coordinate system and the aircraft coordinate system and the posture relationship between the measuring device coordinate system and the target board coordinate system to determine a posture relationship between an optical axis coordinate system of a target simulator and an aircraft coordinate system; determining a posture deviation between an optical axis emitted by the target simulator and an aircraft axis in the aircraft coordinate system according to the posture relationship between the optical axis coordinate system and the aircraft coordinate system; adjusting the target simulator according to the posture deviation so that the optical axis emitted by the target simulator is parallel to the aircraft axis; and adjusting the photoelectric detection device to be calibrated so that the aiming line optical axis emitted by the photoelectric detection device is parallel to or coincides with the optical axis emitted by the target simulator.

[0006] Furthermore, the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system are determined according to the measurement data, including: determining the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system based on an SVD conversion algorithm.

[0007] Furthermore, based on the SVD conversion algorithm, the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system are determined, including: inputting the three-dimensional coordinates of the reference point in the measuring device coordinate system and the three-dimensional coordinates in the aircraft coordinate system into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix from the aircraft coordinate system to the measuring device coordinate system; inputting the three-dimensional coordinates of the identification point in the target plate coordinate system and the three-dimensional coordinates in the measuring device coordinate system into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix from the target plate coordinate system to the measuring device coordinate system.

[0008] Furthermore, the pose relationship between the optical axis coordinate system and the aircraft coordinate system of the target simulator is determined, including: determining the pose relationship between the target plate coordinate system and the aircraft coordinate system according to the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system; determining the pose relationship between the optical axis coordinate system and the aircraft coordinate system according to the pose relationship between the target plate coordinate system and the aircraft coordinate system and the preset pose relationship between the target plate coordinate system and the optical axis coordinate system.

[0009] Furthermore, the posture relationship includes a rotation matrix; determining the posture relationship between the optical axis coordinate system and the aircraft coordinate system includes:

[0010]

[0011] In the formula, is the rotation matrix from the aircraft coordinate system J to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the aircraft coordinate system J.

[0012] Further, the measuring device includes a first measuring station and a second measuring station;

[0013] Inputting the three-dimensional coordinates of the reference points in the measuring device coordinate system and the three-dimensional coordinates in the aircraft coordinate system into the SVD conversion algorithm model, including: determining the posture relationship between the first measuring station coordinate system and the second measuring station coordinate system according to the SVD conversion algorithm; converting the coordinates of the reference points measured by the first measuring station into the coordinates in the second measuring station coordinate system according to the posture relationship between the first measuring station coordinate system and the second measuring station coordinate system, so as to obtain the three-dimensional coordinates of all the reference points in the measuring device coordinate system; inputting the three-dimensional coordinates of the reference points in the second measuring station coordinate system and the three-dimensional coordinates in the aircraft coordinate system into the SVD conversion algorithm model.

[0014] Further, the measurement data also includes measurement data of at least four global points set around the aircraft;

[0015] Determine the posture relationship between the first station coordinate system and the second station coordinate system according to the SVD algorithm, including: inputting the three-dimensional coordinates of the global point in the first station coordinate system and the three-dimensional coordinates of the second station coordinate system into the SVD conversion algorithm model, and obtaining the rotation matrix and translation matrix from the first station coordinate system to the second station coordinate system.

[0016] Furthermore, the posture deviation of the optical axis emitted by the target simulator and the axis of the carrier aircraft in the aircraft coordinate system is determined according to the posture relationship between the optical axis coordinate system and the aircraft coordinate system, including: based on the rotation matrix from the aircraft coordinate system to the optical axis coordinate system, in accordance with the azimuth-pitch-roll rotation order, determining the azimuth and pitch angles of the optical axis in the aircraft coordinate system.

[0017] Furthermore, the measuring device is a total station or a laser tracker.

[0018] In a second aspect, the present invention provides a target calibration system for a photoelectric detection device, wherein the photoelectric detection device is arranged on an aircraft, and the target calibration system comprises:

[0019] A measuring device, used for measuring reference points set on the target aircraft, global points set around the target aircraft, and marking points set on the target board, the measuring device comprising a first measuring station and a second measuring station;

[0020] A target simulator, wherein the target simulator is used to simulate infrared and visible light infinitely distant targets;

[0021] A target plate, the target plate is rigidly connected to the target simulator, and a plurality of marking points are arranged on the target plate;

[0022] A calibration terminal is communicatively connected with the measuring device, the target simulator, and the target board to implement a calibration method for a photoelectric detection device as described in any one of the first aspects.

[0023] The beneficial effect of the present invention is that the present invention can complete the calibration of the photoelectric detection equipment without adjusting the horizontal position of the aircraft, saving manpower and material resources. Furthermore, compared with the traditional calibration technology, the present invention has a wider range of applications and can be applied to various types of carrier aircraft. In addition, since the total station is less affected by light, the method of the present invention has better environmental adaptability and does not rely on software processing such as image recognition, so it has stronger anti-interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0025] Figure 1 is a schematic diagram schematically illustrating the existence of deviation in a photoelectric detection device according to an embodiment of the present invention;

[0026] Figure 2 is a flow chart schematically illustrating a method for calibrating a photoelectric detection device according to an embodiment of the present invention;

[0027] Figure 3 is a flow chart schematically illustrating a method for calibrating a photoelectric detection device according to another embodiment of the present invention;

[0028] Figure 4 is a schematic diagram schematically illustrating setting a plurality of reference points according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram schematically illustrating setting a plurality of global points according to an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram schematically showing the distribution of crosshairs before target calibration according to an embodiment of the present invention;

[0031] Figure 7 is a schematic diagram schematically showing the distribution of crosshairs after target calibration according to an embodiment of the present invention;

[0032] Figure 8 Schematic diagram schematically showing the optical axis of the simulator and the optical axis of the photodetector after calibration according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0034] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0035] Since it is necessary to calibrate the photoelectric detection equipment without leveling the aircraft, it is necessary to determine the relationship between the optical axis of the photoelectric detection equipment and the aircraft coordinate system in order to calibrate the photoelectric detection equipment. Specifically, in the first aspect, the present invention provides a method for calibrating a photoelectric detection device, which is implemented based on a measuring device, a target simulator, and a target plate. Among them, the measuring device is a standard instrument for ranging and angle measurement, which can output the slant distance, azimuth and pitch angle values ​​of the target point, that is, the measuring device is used to measure the azimuth, pitch angle and distance of the target point relative to the measuring device. In one embodiment, the measuring device is a total station or a laser tracker. In this embodiment, the measuring device is a total station; the target simulator is used to simulate infrared and visible light infinite targets, and implement target excitation for optoelectronic products, thereby realizing short-distance simulation of infinite targets. Compared with the traditional calibration method, the demand for the site is reduced; the target plate is rigidly connected to the target simulator, and a plurality of identification points are arranged on the target plate.

[0036] Specifically, Figure 2 As shown, the method of the present invention comprises:

[0037] S101, obtaining measurement data of a measurement device.

[0038] In this embodiment, the measuring device is used to measure a plurality of reference points arranged on the aircraft and a plurality of marking points arranged on the target plate, thereby obtaining measurement data.

[0039] In one embodiment, in order to ensure that the relative positions and symmetry between the various aircraft components and the positions and postures of the various aircraft components themselves have sufficient accuracy, such as Figure 4 As shown ( Figure 4The right 1 in the figure indicates the first reference point on the right side of the carrier, and similarly, the left 1 indicates the first reference point on the left side of the carrier). Multiple horizontal reference measurement points (i.e., reference points) are arranged at locations with greater structural rigidity on both sides of the aircraft body. It should be noted that the three-dimensional coordinates of these reference points in the aircraft coordinate system are known information.

[0040] Furthermore, since the reference points are distributed on both sides of the carrier aircraft, and a single station can only measure the reference points on one side that can be seen, if the theoretical deviation of the coordinates of the reference points on the left and right sides is large due to reasons such as aircraft manufacturing and assembly accuracy, and the aircraft attitude is only solved through the distribution of reference points on one side of the aircraft, it will lead to the problem of inconsistent aircraft attitudes measured on both sides of the aircraft, and ultimately lead to an increase in the calibration error between the airborne equipment on both sides of the aircraft relative to the aircraft benchmark, thereby affecting the accuracy of the calibration of the entire aircraft.

[0041] In order to ensure the accuracy of the target calibration, the reference points on both sides of the aircraft can be measured by the transfer station measurement method. It can be understood that the transfer station measurement method is a method of completing the measurement by setting multiple measurement stations when one measurement station cannot complete all measurement tasks due to a large measurement area, obstacles blocking the line of sight, or other reasons. Specifically, in this embodiment, two measurement stations (i.e., two measurement devices, the first measurement station and the second measurement station) are selected to measure the reference points on both sides of the aircraft respectively.

[0042] By solving the aircraft attitude with reference points distributed on both sides of the aircraft, the accuracy of the subsequent determination of the position and attitude relationship between the measuring device coordinate system and the aircraft coordinate system is improved, thereby improving the accuracy of the target calibration of the photoelectric detection equipment.

[0043] Furthermore, in order to achieve the unification of measurement data between different measuring stations, at least four transfer station target balls can be set around the target carrier (used to provide global points, and the first measuring station and the second measuring station can both measure all global points). By obtaining the measurement data of these global points, the posture relationship between the two measuring stations can be determined, and then the coordinates in different coordinate systems can be converted into coordinates in the same coordinate system according to the posture relationship, thereby achieving the unification of measurement data from different measuring stations.

[0044] Since the spatial scale of the transfer station will affect the accuracy of the transfer station measurement (the larger the scale, the higher the transfer station measurement accuracy), in order to ensure the accuracy of the transfer station measurement, the global point setting principle is: to envelop the benchmark points and the calibration target as much as possible in terms of spatial scale; to have a line of sight to the measurement stations on both sides. Specifically, the global points can be arranged around the aircraft according to the actual conditions such as the site, aircraft size, and benchmark point distribution. In one embodiment, it can be as follows Figure 5 Set the global point as shown.

[0045] In summary, through the first measuring station, the three-dimensional coordinates of the four global points in the coordinate system of the first measuring station can be obtained; through the second measuring station, the three-dimensional coordinates of the four global points in the coordinate system of the second measuring station can be obtained.

[0046] S102, determining the position and posture relationship between the measuring device coordinate system and the aircraft coordinate system.

[0047] In one embodiment, the position and posture relationship between the first station coordinate system and the second station coordinate system can be determined according to the SVD conversion algorithm. Specifically, the three-dimensional coordinates of the four global points in the first station coordinate system and the three-dimensional coordinates in the second station coordinate system are input into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix of the first station coordinate system converted into the second station coordinate system.

[0048] In the SVD conversion algorithm model, it is known that the coordinates of n points in coordinate system A and coordinate system B are point sets P and A and point set P B , according to the two point set data, solve the transformation relationship (i.e., posture relationship) of the two coordinate systems, which includes the rotation matrix and the translation matrix. The specific steps are as follows.

[0049] First, determine the centroid of these n points in coordinate system A. A and the center point centroid in coordinate system B B Specifically, centroid A and centroid B The calculation expression is as follows:

[0050]

[0051] Where P Ai Represents the point set P A The i-th point in P Bi Represents the point set P B The i-th point in .

[0052] Next, define the matrix W. Specifically, the expression of the matrix W is:

[0053]

[0054] Where P Ai Represents the point set P A The i-th point in P Bi Represents the point set P B The i-th point in .

[0055] Perform SVD decomposition (singular value decomposition) on the matrix W. U and V are both orthogonal matrices.

[0056] [U, S, V] = SVD(W);

[0057] Then the rotation matrix from coordinate system A to coordinate system B is for:

[0058]

[0059] Translation matrix from coordinate system A to coordinate system B for:

[0060]

[0061] Since a measuring station can only measure the coordinates of the reference points on the same side of the measuring station, the three-dimensional coordinates of the reference points on the carrier aircraft include the three-dimensional coordinates in the first measuring station coordinate system and the three-dimensional coordinates in the second measuring station coordinate system. Therefore, it is necessary to convert the three-dimensional coordinates of all reference points into three-dimensional coordinates in the same coordinate system to determine the position and posture relationship between the measuring device coordinate system and the aircraft coordinate system.

[0062] Specifically, the three-dimensional coordinates of the reference points on the same side of the first survey station (the three-dimensional coordinates are the coordinates in the first survey station coordinate system) can be converted into three-dimensional coordinates in the second survey station coordinate system according to the rotation matrix and translation matrix from the first survey station coordinate system to the second survey station coordinate system, thereby obtaining the three-dimensional coordinates of all reference points in the second survey station coordinate system, thereby obtaining the three-dimensional coordinates of the reference points in the measuring device coordinate system (i.e., the second survey station coordinate system), thereby realizing the unification of data from different survey stations.

[0063] Specifically, the calculation expression for converting the coordinates in the first station coordinate system into the coordinates in the second station coordinate system is:

[0064]

[0065] Where P L is the three-dimensional coordinate of the reference point in the coordinate system of the second measuring station, P R is the three-dimensional coordinate of the reference point in the first station coordinate system, is the rotation matrix from the first station coordinate system to the second station coordinate system, is the translation matrix from the first station coordinate system to the second station coordinate system.

[0066] It can be understood that after the above conversion, the three-dimensional coordinates of the reference point are all transformed into three-dimensional coordinates in the coordinate system of the second measuring station, thereby obtaining the three-dimensional coordinates in the coordinate system of the reference point measuring device.

[0067] In one embodiment, the position and posture relationship between the measuring device coordinate system and the aircraft coordinate system can be determined according to the SVD conversion algorithm. Specifically, the three-dimensional coordinates of four reference points (it should be noted that three points that are not collinear in space can be selected, and four or more points can be selected to improve accuracy) in the measuring device coordinate system (i.e., the second measuring station coordinate system) and the three-dimensional coordinates in the aircraft coordinate system are input into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix from the aircraft coordinate system to the measuring device coordinate system.

[0068] S103, determining the position and posture relationship between the measuring device coordinate system and the target plate coordinate system.

[0069] It is understandable that a plurality of cooperative identification points (ie identification points) are arranged on the target plate, and the measuring device can measure these identification points, that is, the three-dimensional coordinates of the identification points in the coordinate system of the measuring device can be obtained through the measuring device.

[0070] Furthermore, the position and posture relationship between the measuring device coordinate system and the target plate coordinate system is determined according to the SVD conversion algorithm. Specifically, the three-dimensional coordinates of the four identification points in the measuring device coordinate system and the three-dimensional coordinates in the target plate coordinate system (known information) are input into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix of the target plate coordinate system converted into the measuring device coordinate system.

[0071] It should be noted that, from the above, it can be seen that the measuring device coordinate system referred to is the second measuring station coordinate system.

[0072] S104, determining the position and posture relationship between the optical axis coordinate system of the target simulator and the aircraft coordinate system.

[0073] In one embodiment, the pose relationship between the target board coordinate system and the aircraft coordinate system is determined according to the pose relationship between the measuring device coordinate system and the aircraft coordinate system obtained in S102 and the pose relationship between the measuring device coordinate system and the target board coordinate system obtained in S103.

[0074] It should be noted that when calibrating the photoelectric detection device, the target simulator can be placed about 0.5m away from the photoelectric detection device, and then the bracket of the target simulator can be adjusted to make the light window of the target simulator roughly aligned with the light window of the photoelectric detection device.

[0075] Specifically, the calculation expression of the rotation matrix in the position and posture relationship between the target coordinate system and the aircraft coordinate system is:

[0076]

[0077] In the formula, is the rotation matrix from the target coordinate system B to the aircraft coordinate system J, is the rotation matrix from the aircraft coordinate system J to the measuring device coordinate system L, is the rotation matrix from the target plate coordinate system B to the measuring device coordinate system L.

[0078] Furthermore, the position and posture relationship between the target plate coordinate system and the aircraft coordinate system is determined according to the position and posture relationship between the target plate coordinate system and the aircraft coordinate system and the preset position and posture relationship between the target plate coordinate system and the optical axis coordinate system.

[0079] It can be understood that since the target plate is fixed on the target simulator, the position and posture relationship between the target plate coordinate system corresponding to the target plate installed on the target simulator and the optical axis coordinate system corresponding to the internal optical axis of the target simulator (i.e., the position and posture relationship between the target plate coordinate system and the optical axis coordinate system) can be pre-calibrated.

[0080] Specifically, the calculation expression of the rotation matrix in the position relationship between the optical axis coordinate system and the aircraft coordinate system is:

[0081]

[0082] In the formula, is the rotation matrix from the aircraft coordinate system J to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the aircraft coordinate system J.

[0083] In one embodiment, the conversion process of various coordinate systems is as follows: Figure 3 shown.

[0084] S105, determining the posture deviation between the optical axis emitted by the target simulator and the axis of the carrier aircraft in the aircraft coordinate system according to the posture relationship between the optical axis coordinate system and the aircraft coordinate system.

[0085] In one embodiment, the azimuth and pitch angles of the optical axis in the aircraft coordinate system may be determined based on a rotation matrix from the aircraft coordinate system to the optical axis coordinate system in the azimuth-pitch-roll rotation sequence.

[0086] It should be noted that the aircraft axis is also the longitudinal axis of the aircraft coordinate system.

[0087] Specifically, assuming that in a certain coordinate system, x, y, and z are the rotation angles around the x-axis, y-axis, and z-axis respectively, C is used here. x Represents cosx, using S x Represents sinx; uses C y Represents cosy, with S y Represents siny; uses C z Represents cosz, using S z represents sinz. Then the rotation matrix can be obtained in the order of YZX:

[0088]

[0089]

[0090] Assume that in a certain coordinate system, x, y, and z are the rotation angles around the x-axis, y-axis, and z-axis respectively, and the rotation matrix obtained in the order of YZX is R, then the Euler angles around the three coordinate axes can be calculated by the following formula.

[0091] z=sin -1 (R(1,2));

[0092]

[0093] In the formula, R(i,j) represents the element in the i-th row and j-th column of the matrix R.

[0094] S106, calibrating the photoelectric detection equipment of the target to be calibrated according to the posture deviation.

[0095] Specifically, the target simulator is adjusted according to the posture deviation so that the optical axis emitted by the target simulator is parallel to the axis of the carrier aircraft.

[0096] In one embodiment, the support of the target simulator is adjusted according to the posture deviation value, thereby adjusting the azimuth and pitch angles of the optical axis emitted by the target simulator, and the posture deviation value is measured again. The direction of the target simulator is repeatedly adjusted so that the optical axis emitted by the target simulator is parallel to the axis of the carrier aircraft.

[0097] Furthermore, the photoelectric detection device of the target to be calibrated is adjusted so that the optical axis of the aiming line emitted by the photoelectric detection device is parallel to or coincides with the optical axis emitted by the target simulator. Figure 6 As shown, the photoelectric detection device enters the target calibration mode. By clicking the button on the target calibration operation interface, the "aiming crosshair" on the moving screen coincides with the center of the "crosshair" of the target simulator (as shown in Figure 7 As shown), the optical axis of the sighting line emitted by the photoelectric detection device is parallel to or coincides with the optical axis emitted by the target simulator (as shown Figure 8 As shown), the target calibration of the photoelectric detection equipment is then completed.

[0098] In summary, the present invention can realize the calibration of photoelectric detection equipment without adjusting the position of the aircraft, saving manpower and material resources. Furthermore, compared with the traditional calibration technology, the method of the present invention has a larger and wider application range and can adapt to more aircraft models, including various large transport aircraft, large early warning aircraft, etc. At the same time, it is also suitable for environments with strong winds and carrier-based aircraft. Furthermore, compared with the visual calibration technology, the total station is less affected by light conditions. Even in the case of insufficient light or low contrast, the total station can still work normally, while the visual system may require good lighting conditions to ensure the accuracy of visual measurement. Therefore, the method of the present invention has better environmental adaptability. In addition, since it does not rely on software processing processes such as image recognition, the total station has stronger adaptability and stability for situations where the background is cluttered or the target features are not obvious, and in the presence of obstructions, the total station can still complete the task by selecting a suitable observation point, while the visual method may fail due to the presence of obstructions. Therefore, the method of the present invention has stronger anti-interference ability. Since the operation process of the total station is relatively simple and intuitive, it is easy to train operators in the later stage. Total stations have higher measurement accuracy. By using total stations, the three-dimensional coordinate information of the measured object can be directly obtained, thereby improving the accuracy of target calibration. In contrast, the process of calculating three-dimensional information from two-dimensional images is more complicated and more susceptible to errors.

[0099] In the second aspect, the present invention also provides a photoelectric detection equipment calibration system, which includes: a measuring device, a target simulator, a target board and a calibration terminal. The measuring device is used to measure the reference points set on the target aircraft, the global points set around the target aircraft and the identification points set on the target board, and the measuring device includes a first measuring station and a second measuring station; the target simulator is used to simulate infrared and visible light infinitely far targets; the target board, the target board is rigidly connected to the target simulator; the calibration terminal, the calibration terminal is communicatively connected with the measuring device, the target simulator and the target board, and is used to implement a photoelectric detection equipment calibration method described in the first aspect. The calibration terminal can send control instructions to the target simulator according to the posture deviation to adjust the optical axis direction of the target simulator, thereby realizing calibration.

[0100] In one embodiment, the positions of the various devices in the photoelectric detection device calibration system are as follows: Figure 8 shown.

[0101] In the description of this specification, “plurality” means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0102] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

Claims

1. A method for calibrating a photoelectric detection device, characterized in that: include: Acquiring measurement data of a measuring device, wherein the measuring device is used to measure a plurality of reference points set on the aircraft and a plurality of identification points set on a target plate; Determining the position and posture relationship between the measuring device coordinate system and the aircraft coordinate system and the position and posture relationship between the measuring device coordinate system and the target plate coordinate system according to the measuring data; Calculate the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system to determine the pose relationship between the optical axis coordinate system of the target simulator and the aircraft coordinate system; Determining the posture deviation between the optical axis emitted by the target simulator and the axis of the carrier aircraft in the aircraft coordinate system according to the posture relationship between the optical axis coordinate system and the aircraft coordinate system; Adjust the target simulator according to the posture deviation so that the optical axis emitted by the target simulator is parallel to the axis of the carrier aircraft; The photoelectric detection device of the target to be calibrated is adjusted so that the optical axis of the aiming line emitted by the photoelectric detection device is parallel to or coincides with the optical axis emitted by the target simulator.

2. The method for calibrating a photoelectric detection device according to claim 1, characterized in that: Determining the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system according to the measuring data, including: determining the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system based on an SVD conversion algorithm.

3. The method for calibrating a photoelectric detection device according to claim 2, characterized in that: Based on the SVD conversion algorithm, the pose relationship between the measuring device coordinate system and the aircraft coordinate system and the pose relationship between the measuring device coordinate system and the target plate coordinate system are determined, including: Input the three-dimensional coordinates of the reference point in the measuring device coordinate system and the three-dimensional coordinates in the aircraft coordinate system into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix from the aircraft coordinate system to the measuring device coordinate system; The three-dimensional coordinates of the identification point in the target plate coordinate system and the three-dimensional coordinates in the measuring device coordinate system are input into the SVD conversion algorithm model to obtain the rotation matrix and translation matrix from the target plate coordinate system to the measuring device coordinate system.

4. The method for calibrating a photoelectric detection device according to claim 1, characterized in that: Determine the position and posture relationship between the optical axis coordinate system of the target simulator and the aircraft coordinate system, including: Determine the position and posture relationship between the target plate coordinate system and the aircraft coordinate system according to the position and posture relationship between the measuring device coordinate system and the aircraft coordinate system and the position and posture relationship between the measuring device coordinate system and the target plate coordinate system; According to the pose relationship between the target plate coordinate system and the aircraft coordinate system and the preset pose relationship between the target plate coordinate system and the optical axis coordinate system, the pose relationship between the optical axis coordinate system and the aircraft coordinate system is determined.

5. The method for calibrating a photoelectric detection device according to claim 4, characterized in that: The pose relationship includes the rotation matrix; Determine the position and posture relationship between the optical axis coordinate system and the aircraft coordinate system, including: In the formula, is the rotation matrix from the aircraft coordinate system J to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the optical axis coordinate system G, is the rotation matrix from the target coordinate system B to the aircraft coordinate system J.

6. The method for calibrating a photoelectric detection device according to claim 1, characterized in that: The measuring device comprises a first measuring station and a second measuring station; Input the three-dimensional coordinates of the reference point in the measuring device coordinate system and the three-dimensional coordinates in the aircraft coordinate system into the SVD conversion algorithm model, including: Determine the position and posture relationship between the first measuring station coordinate system and the second measuring station coordinate system according to the SVD conversion algorithm; The coordinates of the reference points measured by the first measuring station are converted into coordinates in the second measuring station coordinate system according to the position and posture relationship between the first measuring station coordinate system and the second measuring station coordinate system, so as to obtain the three-dimensional coordinates of all the reference points in the measuring device coordinate system; The three-dimensional coordinates of the reference point in the second station coordinate system and the three-dimensional coordinates in the aircraft coordinate system are input into the SVD conversion algorithm model.

7. The method for calibrating a photoelectric detection device according to claim 6, characterized in that: The measurement data also includes measurement data of at least four global points arranged around the aircraft; Determine the posture relationship between the first station coordinate system and the second station coordinate system according to the SVD algorithm, including: inputting the three-dimensional coordinates of the global point in the first station coordinate system and the three-dimensional coordinates of the second station coordinate system into the SVD conversion algorithm model, and obtaining the rotation matrix and translation matrix from the first station coordinate system to the second station coordinate system.

8. The method for calibrating a photoelectric detection device according to claim 1, characterized in that: The posture deviation of the optical axis emitted by the target simulator and the axis of the carrier aircraft in the aircraft coordinate system is determined according to the posture relationship between the optical axis coordinate system and the aircraft coordinate system, including: based on the rotation matrix from the aircraft coordinate system to the optical axis coordinate system, in accordance with the azimuth-pitch-roll rotation sequence, determining the azimuth and pitch angles of the optical axis in the aircraft coordinate system.

9. The method for calibrating a photoelectric detection device according to claim 1, characterized in that: The measuring device is a total station or a laser tracker.

10. A photoelectric detection equipment calibration system, characterized in that: The photoelectric detection equipment is arranged on the aircraft, and the target calibration system includes: A measuring device, used for measuring reference points set on the target aircraft, global points set around the target aircraft, and marking points set on the target board, the measuring device comprising a first measuring station and a second measuring station; A target simulator, wherein the target simulator is used to simulate infrared and visible light infinitely distant targets; A target plate, the target plate is rigidly connected to the target simulator, and a plurality of marking points are arranged on the target plate; A calibration terminal is communicatively connected with the measuring device, the target simulator and the target board to implement a calibration method for a photoelectric detection device according to any one of claims 1 to 9.

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