Linear velocity compensation method and system for shipborne indicator

Abstract

The invention discloses a linear velocity compensation method and system for a shipborne indicator, and relates to the technical field of navigation and control. The method comprises the following steps: calculating a first coordinate transformation matrix based on the real-time speed and attitude data of a ship body, and converting the real-time speed of the ship body under a geographic coordinate system into the axial linear speed of the ship body under a ship body coordinate system according to the first coordinate transformation matrix; calculating a second coordinate transformation matrix based on the attitude data of the shipborne indicator, and converting the axial linear velocity of the ship body under the ship body coordinate system into the axial linear velocity of the ship body under the visual axis coordinate system according to the second coordinate transformation matrix; the angular velocity of the visual axis of the shipborne indicator relative to the ship body is calculated and obtained based on the axial linear velocity of the ship body and the target squint distance under the visual axis coordinate system; and compensating the angular velocity of the visual axis relative to the ship body to the angular velocity of the shipborne indicator in the gyro state mode. According to the invention, the influence of the forward displacement of the ship body on the shipborne indicator is eliminated.

Description

Technical Field

[0001] The invention relates to the field of navigation and control technology, and in particular to a linear velocity compensation method and system for a shipborne indicator. Background Art

[0002] In weather with low visibility, it is impossible to complete continuous reconnaissance of the target of interest through the cooperation of the tracker and the servo system. At this time, the ship-borne indicator needs to complete the reconnaissance task only in the gyro state of the servo system. However, since the hull is in the forward motion state, the gyro device of the ship-borne indicator that measures and feedbacks the speed information cannot be sensitive to the forward motion speed information of the hull. The ship-borne indicator cannot compensate for the forward motion of the hull in real time, nor can it eliminate the forward motion of the ship-borne indicator's visual axis in the inertial space. Therefore, it is necessary to study a method to compensate for the forward motion of the ship-borne indicator's visual axis in the inertial space with the hull. Summary of the invention

[0003] In view of the above problems, the present invention proposes a linear velocity compensation method and system for a shipborne indicator, which are used to eliminate the forward movement of the shipborne indicator's visual axis with the hull, so that the shipborne indicator's visual axis always points to the same position on the sea surface, so as to facilitate the shipborne indicator to detect targets of interest in the gyroscopic mode.

[0004] According to one aspect of the present invention, a linear velocity compensation method for a shipborne indicator is provided, the method comprising the following steps:

[0005] Obtain the real-time sailing speed and attitude data of the ship;

[0006] Acquire attitude data of a shipborne indicator and a target squint distance; the target squint distance is the distance from the visual axis of the shipborne indicator to the reconnaissance target;

[0007] Calculating a first coordinate transformation matrix based on the real-time sailing speed and attitude data of the hull, and converting the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix;

[0008] Calculating a second coordinate transformation matrix based on the attitude data of the shipborne indicator, and converting the axial linear velocity of the hull in the hull coordinate system into the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system according to the second coordinate transformation matrix;

[0009] The angular velocity of the sight axis of the shipborne indicator relative to the hull is calculated based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the oblique sight distance of the target;

[0010] The angular velocity of the visual axis relative to the hull is compensated to the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

[0011] Further, the calculating of the first coordinate transformation matrix based on the real-time speed and attitude data of the hull includes:

[0012] The geographic coordinate system is translated and rotated, and each coordinate axis is translated according to the following lengths: -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 It represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time;

[0013] The translated coordinate system is rotated around the X-axis and the Y-axis according to the ship's posture data to obtain the first coordinate transformation matrix as follows:

[0014]

[0015] Where, χ represents the roll angle of the ship's attitude angle; η represents the pitch angle; α represents the heading angle.

[0016] Furthermore, the calculation formula of the axial linear velocity V of the hull in the hull coordinate system is:

[0017] V=A×V g

[0018] Where V g Indicates the real-time speed of the ship.

[0019] Furthermore, the second coordinate transformation matrix is ​​calculated based on the attitude data of the shipborne indicator as follows:

[0020]

[0021] Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator.

[0022] Furthermore, the axial velocity V of the visual axis of the shipborne indicator in the visual axis coordinate system is LOS The calculation formula is:

[0023] V LOS =A LOS ×V.

[0024] Furthermore, the calculation formula for the angular velocity ω of the visual axis of the shipborne indicator relative to the hull is:

[0025] ω=arctan(V LOS / L)

[0026] Where L represents the target squint distance.

[0027] According to another aspect of the present invention, a linear velocity compensation system for a shipborne indicator is provided, the system comprising:

[0028] A data acquisition module is configured to acquire the real-time navigation speed and attitude data of the ship; acquire the attitude data of the ship-borne indicator and the target squint distance; the target squint distance is the distance from the visual axis of the ship-borne indicator to the reconnaissance target;

[0029] A coordinate transformation module is configured to calculate a first coordinate transformation matrix based on the real-time navigation speed and attitude data of the hull, and transform the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix; calculate a second coordinate transformation matrix based on the attitude data of the ship-borne indicator, and transform the axial linear speed of the hull in the hull coordinate system into the axial speed of the visual axis of the ship-borne indicator in the visual axis coordinate system according to the second coordinate transformation matrix;

[0030] A linear velocity conversion module, configured to calculate and obtain an angular velocity of the sight axis of the shipborne indicator relative to the hull based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the target oblique sight distance;

[0031] The linear velocity compensation module is configured to compensate the angular velocity of the visual axis relative to the hull into the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

[0032] Furthermore, the calculation of the first coordinate transformation matrix based on the real-time speed and attitude data of the ship in the coordinate transformation module includes: translating and rotating the geographic coordinate system, and translating each coordinate axis according to the following lengths: -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time; the translated coordinate system is rotated around the X-axis and the Y-axis according to the attitude data of the ship, and the first coordinate transformation matrix is ​​obtained as follows:

[0033]

[0034] Where, χ represents the roll angle of the ship's attitude angle; η represents the pitch angle; α represents the heading angle;

[0035] The calculation formula of the axial linear velocity V of the hull in the hull coordinate system is:

[0036] V=A×V g

[0037] Where V g Indicates the real-time speed of the ship.

[0038] Furthermore, the coordinate transformation module calculates the second coordinate transformation matrix based on the attitude data of the shipborne indicator as follows:

[0039]

[0040] Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator;

[0041] The axial velocity V of the visual axis of the shipborne indicator in the visual axis coordinate system LOS The calculation formula is:

[0042] V LOS =A LOS ×V.

[0043] Furthermore, the calculation formula of the angular velocity ω of the visual axis of the shipborne indicator relative to the hull in the linear velocity conversion module is:

[0044] ω=arctan(V LOS / L)

[0045] Where L represents the target squint distance.

[0046] The beneficial technical effects of the present invention are:

[0047] The present invention proposes a linear velocity compensation method and system for a shipborne indicator. First, the real-time speed and attitude data of the ship are obtained; the attitude data of the shipborne indicator and the target oblique distance are obtained; the first coordinate transformation matrix is ​​calculated based on the real-time speed and attitude data of the shipborne indicator, and the real-time speed of the shipborne indicator in the geographic coordinate system is converted into the axial linear velocity of the shipborne indicator in the shipborne coordinate system according to the first coordinate transformation matrix; the second coordinate transformation matrix is ​​calculated based on the attitude data of the shipborne indicator, and the axial linear velocity of the shipborne indicator in the shipborne coordinate system is converted into the axial linear velocity of the shipborne indicator in the visual axis coordinate system according to the second coordinate transformation matrix; the angular velocity of the visual axis of the shipborne indicator relative to the shipborne indicator is calculated based on the axial linear velocity of the shipborne indicator in the visual axis coordinate system and the target oblique distance; the angular velocity of the visual axis relative to the shipborne indicator is compensated to the angular velocity in the gyroscopic mode of the shipborne indicator to obtain the compensated angular velocity. The shipborne linear velocity compensation method provided by the present invention can convert the linear velocity of the shipborne indicator into the axial angular velocity of the visual axis of the shipborne indicator through two coordinate transformations, and the oblique distance of the target is obtained according to the laser ranging to calculate the linear velocity of the shipborne indicator relative to the visual axis. The present invention eliminates the influence of the forward displacement of the hull on the shipborne indicator, so that the shipborne indicator can continuously and stably point to the same target position when the visual axis is in the gyroscopic mode under the condition of low visibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention can be better understood by referring to the description given below in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification, and are used to further illustrate the preferred embodiments of the present invention and explain the principles and advantages of the present invention.

[0049] Figure 1 The present invention is a flowchart of a linear velocity compensation method for a shipborne indicator according to an embodiment of the present invention.

[0050] Figure 2 It is a schematic diagram of the compensation process of a linear velocity compensation method of a shipborne indicator according to an embodiment of the present invention.

[0051] Figure 3 Schematic diagram of coordinate conversion of a shipborne indicator in an embodiment of the present invention.

[0052] Figure 4 It is a structural schematic diagram of a linear velocity compensation system of a shipborne indicator according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the scheme of the present invention, exemplary implementations or embodiments of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described implementations or embodiments are only implementations or embodiments of a part of the present invention, not all of them. Based on the implementations or embodiments of the present invention, all other implementations or embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0054] The present invention provides a linear velocity compensation method and system for a shipborne indicator. The present invention can convert the linear velocity of the ship into the axial angular velocity of the visual axis of the shipborne indicator through two coordinate transformations according to the linear velocity of the ship, and obtain the oblique distance of the target according to laser ranging to calculate the linear velocity of the ship relative to the visual axis. The present invention eliminates the influence of the forward displacement of the ship on the shipborne indicator, so that the shipborne indicator can continuously and stably point to the same target position when the visual axis is in the gyroscopic mode under low visibility conditions.

[0055] The embodiment of the present invention provides a linear velocity compensation method for a shipborne indicator, such as Figures 1-2 As shown, the method comprises the following steps:

[0056] S1. Obtain the real-time navigation speed and attitude data of the ship;

[0057] S2, acquiring the attitude data of the shipborne indicator and the target squint distance; the target squint distance is the distance from the visual axis of the shipborne indicator to the reconnaissance target;

[0058] S3, calculating a first coordinate transformation matrix based on the real-time sailing speed and attitude data of the hull, and converting the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix;

[0059] S4, calculating a second coordinate transformation matrix based on the attitude data of the shipborne indicator, and converting the axial linear velocity of the hull in the hull coordinate system into the axial velocity of the visual axis of the shipborne indicator in the visual axis coordinate system according to the second coordinate transformation matrix;

[0060] S5, calculating and obtaining the angular velocity of the sight axis of the shipborne indicator relative to the hull based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the target oblique sight distance;

[0061] S6. Compensate the angular velocity of the visual axis relative to the hull into the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

[0062] The present invention is described in detail below.

[0063] First, in S1 and S2, the real-time navigation speed and attitude data of the ship, the attitude data of the ship-borne indicator and the target squint distance are obtained respectively; the target squint distance is the distance from the visual axis of the ship-borne indicator to the reconnaissance target.

[0064] According to an embodiment of the present invention, the hull attitude data and speed information can be obtained by measuring the ship-borne ship attitude measurement component; the attitude data of the ship-borne indicator can be obtained by measuring the ship-borne inertial navigation equipment; the target oblique sight distance is obtained by continuously measuring the distance L from the visual axis of the ship-borne indicator to the reconnaissance target through a laser rangefinder.

[0065] Then in S3, a first coordinate transformation matrix is ​​calculated based on the real-time sailing speed and attitude data of the hull, and the real-time speed of the hull in the geographic coordinate system is converted into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix.

[0066] According to an embodiment of the present invention, based on the ship attitude measurement component on board, the ship attitude data and speed information are measured, such as Figure 3 As shown, the geographic coordinate system X S Y S Z S (Coordinate axis is defined as the north-east coordinate system) according to -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time; and the translated coordinate system is rotated around the X-axis and the Y-axis by a certain angle according to the roll and pitch angle values ​​given by the ship to obtain the first coordinate transformation matrix, and then the geographic coordinate system X S Y S Z S The linear speed V g After the first coordinate transformation, it is converted into the linear velocity of the axial direction of the hull: V = A × V g .

[0067] Among them, the first coordinate transformation matrix A is obtained by rotating according to the roll angle χ, pitch angle η and heading angle α information given by the shipborne indicator inertial navigation as follows:

[0068]

[0069] Then in S4, a second coordinate transformation matrix is ​​calculated based on the attitude data of the shipborne indicator, and the axial linear velocity of the hull in the hull coordinate system is converted into the axial velocity of the visual axis of the shipborne indicator in the visual axis coordinate system according to the second coordinate transformation matrix.

[0070] According to an embodiment of the present invention, Figure 3 As shown, according to the axial linear velocity V of the hull, and the hull coordinate system X A Y A Z A (The coordinate axis is defined as the front lower right coordinate system) After rotating around the Z axis and X axis by a certain angle, the second coordinate transformation matrix A is obtained LOS Combining the above speed and coordinate transformation matrix information, we can obtain the visual axis coordinate system X b Y b Z b (The coordinate axis is defined as the front lower right coordinate system) The linear velocity of the lower axis is: V LOS =A LOS ×V. Among them, the second coordinate transformation matrix A LOS as follows:

[0071]

[0072] Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator.

[0073] Then in S5, the angular velocity of the sight axis of the shipborne indicator relative to the hull is calculated based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the target oblique sight distance.

[0074] According to an embodiment of the present invention, the laser rangefinder continuously measures the distance L from the indicator sight axis to the reconnaissance target, and then calculates the speed of the angular motion of the indicator sight axis relative to the hull:

[0075] ω=arctan(V LOS / L)

[0076] According to the principle of the above-mentioned coordinate transformation and laser ranging, the angular velocity of the hull indicator is calculated in real time, which can maximize the accuracy of the conversion of the hull's navigation speed to the indicator's line of sight angular velocity.

[0077] Then in S6, the angular velocity of the visual axis relative to the hull is compensated to the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

[0078] According to an embodiment of the present invention, the angular velocity of the visual axis relative to the hull is compensated to the speed of the indicator rotation in the gyro state, so that the visual axis always points to the same target position.

[0079] Another embodiment of the present invention provides a linear velocity compensation system for a shipborne indicator, such as Figure 4 As shown, the system includes:

[0080] The data acquisition module 410 is configured to acquire the real-time navigation speed and attitude data of the ship; acquire the attitude data of the ship-borne indicator and the target oblique distance; the target oblique distance is the distance from the visual axis of the ship-borne indicator to the reconnaissance target;

[0081] A coordinate transformation module 420 is configured to calculate a first coordinate transformation matrix based on the real-time navigation speed and attitude data of the hull, and transform the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix; calculate a second coordinate transformation matrix based on the attitude data of the ship-borne indicator, and transform the axial linear speed of the hull in the hull coordinate system into the axial speed of the visual axis of the ship-borne indicator in the visual axis coordinate system according to the second coordinate transformation matrix;

[0082] A linear velocity conversion module 430, configured to calculate and obtain an angular velocity of the sight axis of the shipborne indicator relative to the hull based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the target oblique sight distance;

[0083] The linear velocity compensation module 440 is configured to compensate the angular velocity of the visual axis relative to the hull into the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

[0084] In this embodiment, preferably, the calculation of the first coordinate transformation matrix based on the real-time speed and attitude data of the ship in the coordinate transformation module 420 includes: translating and rotating the geographic coordinate system, and each coordinate axis is translated according to the following lengths: -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time; the translated coordinate system is rotated around the X-axis and the Y-axis according to the attitude data of the ship, and the first coordinate transformation matrix is ​​obtained as follows:

[0085]

[0086] In the formula, χ represents the roll angle of the ship's attitude angle; η represents the pitch angle; α represents the heading angle;

[0087] The calculation formula of the axial linear velocity V of the hull in the hull coordinate system is:

[0088] V=A×V g

[0089] Where V g Indicates the real-time speed of the ship.

[0090] In this embodiment, preferably, the calculation of the second coordinate transformation matrix based on the attitude data of the shipborne indicator in the coordinate transformation module 420 is as follows:

[0091]

[0092] Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator;

[0093] The axial velocity V of the visual axis of the shipborne indicator in the visual axis coordinate system LOS The calculation formula is:

[0094] V LOS =A LOS ×V.

[0095] In this embodiment, preferably, the calculation formula of the angular velocity ω of the visual axis of the shipborne indicator relative to the hull in the linear velocity conversion module 430 is:

[0096] ω=arctan(V LOS / L)

[0097] Where L represents the target squint distance.

[0098] The functions of the linear velocity compensation system of a shipborne indicator in an embodiment of the present invention can be described by the linear velocity compensation method of the shipborne indicator described above. Therefore, for the parts not described in detail in the system embodiment, please refer to the above method embodiment and will not be repeated here.

[0099] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments are contemplated within the scope of the invention thus described. The disclosure of the present invention is intended to be illustrative rather than restrictive of the scope of the invention, which is defined by the appended claims.

Claims

1. A linear velocity compensation method for a shipborne indicator, characterized in that: The following steps are involved: Obtain the real-time sailing speed and attitude data of the ship; Acquire attitude data of a shipborne indicator and a target squint distance; the target squint distance is the distance from the visual axis of the shipborne indicator to the reconnaissance target; Calculating a first coordinate transformation matrix based on the real-time sailing speed and attitude data of the hull, and converting the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix; Calculating a second coordinate transformation matrix based on the attitude data of the shipborne indicator, and converting the axial linear velocity of the hull in the hull coordinate system into the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system according to the second coordinate transformation matrix; The angular velocity of the sight axis of the shipborne indicator relative to the hull is calculated based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the oblique sight distance of the target; The angular velocity of the visual axis relative to the hull is compensated to the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

2. The linear velocity compensation method of a shipborne indicator according to claim 1, characterized in that: The calculation of the first coordinate transformation matrix based on the real-time speed and attitude data of the hull comprises: The geographic coordinate system is translated and rotated, and each coordinate axis is translated according to the following lengths: -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 It represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time; The translated coordinate system is rotated around the X-axis and the Y-axis according to the ship's posture data to obtain the first coordinate transformation matrix as follows: Where, χ represents the roll angle of the ship's attitude angle; η represents the pitch angle; α represents the heading angle.

3. The linear velocity compensation method of a shipborne indicator according to claim 2, characterized in that: The calculation formula of the axial linear velocity V of the hull in the hull coordinate system is: V=A×V g Where V g Indicates the real-time speed of the ship.

4. The linear velocity compensation method of a shipborne indicator according to claim 3, characterized in that: The second coordinate transformation matrix is ​​calculated based on the attitude data of the shipborne indicator as follows: Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator.

5. The linear velocity compensation method of a shipborne indicator according to claim 4, characterized in that: The axial velocity V of the visual axis of the shipborne indicator in the visual axis coordinate system LOS The calculation formula is: In LOS =A LOS ×V.

6. The linear velocity compensation method of a shipborne indicator according to claim 5, characterized in that: The calculation formula of the angular velocity ω of the visual axis of the shipborne indicator relative to the hull is: ω=arctan(V LOS / L) Where L represents the target squint distance.

7. A linear velocity compensation system for a shipborne indicator, characterized in that: include: A data acquisition module is configured to acquire real-time navigation speed and attitude data of the ship; acquire attitude data of a ship-borne indicator and a target squint distance; the target squint distance is the distance from the visual axis of the ship-borne indicator to the reconnaissance target; A coordinate transformation module is configured to calculate a first coordinate transformation matrix based on the real-time navigation speed and attitude data of the hull, and transform the real-time speed of the hull in the geographic coordinate system into the axial linear speed of the hull in the hull coordinate system according to the first coordinate transformation matrix; calculate a second coordinate transformation matrix based on the attitude data of the ship-borne indicator, and transform the axial linear speed of the hull in the hull coordinate system into the axial speed of the visual axis of the ship-borne indicator in the visual axis coordinate system according to the second coordinate transformation matrix; A linear velocity conversion module, configured to calculate and obtain an angular velocity of the sight axis of the shipborne indicator relative to the hull based on the axial velocity of the sight axis of the shipborne indicator in the sight axis coordinate system and the target oblique sight distance; The linear velocity compensation module is configured to compensate the angular velocity of the visual axis relative to the hull into the angular velocity of the shipborne indicator in the gyroscopic mode to obtain the compensated angular velocity.

8. The linear velocity compensation system of a shipborne indicator according to claim 7, characterized in that: The calculation of the first coordinate transformation matrix based on the real-time speed and attitude data of the ship in the coordinate transformation module includes: translating and rotating the geographic coordinate system, and each coordinate axis is translated according to the following lengths: -m+V s1 t, -M+V s2 t, H, where m represents the x-axis static distance from the geographic coordinate system to the hull coordinate system, M represents the y-axis static distance from the geographic coordinate system to the hull coordinate system, H represents the z-axis static distance from the geographic coordinate system to the hull coordinate system, and V s1 The x-axis component of the ship's real-time velocity in the geographic coordinate system; V s2 represents the y-axis component of the real-time speed of the ship in the geographic coordinate system; t represents time; the translated coordinate system is rotated around the X-axis and the Y-axis according to the attitude data of the ship, and the first coordinate transformation matrix is ​​obtained as follows: Where, χ represents the roll angle of the ship's attitude angle; η represents the pitch angle; α represents the heading angle; The calculation formula of the axial linear velocity V of the hull in the hull coordinate system is: V=A×V g Where V g Indicates the real-time speed of the ship.

9. The linear velocity compensation system of a shipborne indicator according to claim 8, characterized in that: The coordinate transformation module calculates the second coordinate transformation matrix based on the attitude data of the shipborne indicator as follows: Where, R represents the azimuth angle of the shipborne indicator; E represents the pitch angle of the shipborne indicator; The axial velocity V of the visual axis of the shipborne indicator in the visual axis coordinate system LOS The calculation formula is: In LOS =A LOS ×V.

10. The linear velocity compensation system of a shipborne indicator according to claim 9, characterized in that: The calculation formula of the angular velocity ω of the visual axis of the shipborne indicator relative to the hull in the linear velocity conversion module is: ω=arctan(V LOS / L) Where L represents the target squint distance.

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