Positioning error correction method and device for unmanned aerial vehicle optoelectronic pod

Abstract

The present invention discloses a method and device for correcting the positioning error of an optoelectronic pod of an unmanned aerial vehicle. The method comprises: correcting the installation error of the optoelectronic pod based on ground target calibration; and correcting the positioning error of the optoelectronic pod based on aerial target calibration. The present invention corrects the installation error of the optoelectronic pod through ground target calibration, thereby avoiding a series of complicated preparations such as drone leveling and target calibration. It only requires a few simple devices to achieve the desired result, and the installation operation is simple, which can save a lot of time. Then, the positioning error of the optoelectronic pod is corrected through aerial target calibration, thereby achieving the positioning error correction of the optoelectronic pod of the unmanned aerial vehicle and improving the positioning accuracy of the optoelectronic pod.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and more specifically, relates to a positioning error correction method and device for an optoelectronic pod of an unmanned aerial vehicle. Background Art

[0002] The optoelectronic pods of large and medium-sized UAVs can provide target positioning capabilities, which are mainly used for ground reconnaissance and tracking, performing out-of-area reconnaissance / surveillance missions, illuminating enemy targets in the air and guiding laser-guided weapons for precision strikes. The accuracy of optoelectronic pod target positioning is directly related to the efficiency and success rate of typical combat missions such as intelligence reconnaissance, illumination guidance, etc. The error of target positioning is mainly caused by systematic error and random error. In actual use, the systematic error is generally reduced by correcting and compensating known control points (referred to as target calibration), and the random error is reduced by collecting a large amount of data through statistical means.

[0003] The traditional target positioning error correction method has the following limitations: the wings of the drone need to be disassembled before ground calibration, which is difficult to operate; special tooling such as laser radar is required, which is complex and costly; calibration takes a long time and consumes manpower, and does not have the ability to operate quickly; the traditional calibration method cannot compensate for the azimuth and pitch angle error values ​​of the optoelectronic pod itself. Therefore, it is urgent to find a new method to correct the target positioning error of the optoelectronic pod and improve the target positioning accuracy of the optoelectronic pod.

[0004] The target positioning error mainly comes from the following aspects: In order to save costs, the optoelectronic pod usually does not integrate high-precision inertial navigation internally, and uses the position information of the airborne inertial navigation system and GNSS (Global Navigation Satellite System) for target positioning solution; the installation attitude error angle caused by the angular deviation between the installation plane of the optoelectronic pod and the UAV's heading and attitude system; the installation error caused by the position deviation between the installation plane of the optoelectronic pod and the UAV's GNSS antenna.

[0005] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to propose a positioning error correction method and device for an unmanned aerial vehicle optoelectronic pod, so as to solve the problems that the traditional target positioning error correction method is difficult to operate, takes a long time to calibrate the target, consumes manpower costs, has the ability to operate quickly, and cannot compensate for the azimuth and pitch angle error values ​​of the optoelectronic pod itself, so as to realize the positioning error correction of the unmanned aerial vehicle optoelectronic pod and improve the positioning accuracy of the optoelectronic pod.

[0007] To achieve the above-mentioned purpose, the present invention proposes a positioning error correction method and device for an optoelectronic pod of an unmanned aerial vehicle.

[0008] According to a first aspect of the present invention, a positioning error correction method for an unmanned aerial vehicle optoelectronic pod is proposed, comprising:

[0009] Correct the installation error of the optoelectronic pod based on ground calibration;

[0010] The positioning error of the optoelectronic pod is corrected based on aerial target calibration.

[0011] Optionally, the ground target calibration includes:

[0012] Ground coarse calibration target and ground fine calibration target.

[0013] Optionally, the ground rough calibration target includes:

[0014] A laser emission module is arranged at the exact center of the inertial measurement device of the UAV, and the laser emission module is arranged in parallel with the inertial measurement device;

[0015] Setting a target in front of the UAV, controlling the laser emission module to emit laser, and marking the laser position of the laser on the target;

[0016] Controlling the optoelectronic pod to be in a zero position facing forward of the nose of the aircraft, and marking the center position of the crosshairs marking the optoelectronic pod at the actual position of the target;

[0017] Determining the theoretical position of the center position of the crosshairs on the target based on the installation positions of the laser emission module and the optoelectronic pod and the laser position;

[0018] Measuring the straight-line distance between the actual position and the theoretical position;

[0019] Calculate the vertical distance and the horizontal distance between the actual position and the theoretical position by trigonometric function based on the straight-line distance;

[0020] Based on the vertical distance and the horizontal distance, the installation error of the optoelectronic pod is preliminarily compensated by the zero position correction function of the optoelectronic pod, so that the center position of the crosshairs is at the theoretical position at the actual position of the target.

[0021] Optionally, the ground precision calibration target includes:

[0022] Collecting the longitude, latitude and absolute altitude of a first position, where the first position is a set distance from the drone and is within the field of view of the optoelectronic pod;

[0023] Locating the longitude, latitude and absolute altitude of a second location of the drone based on the global navigation satellite system of the drone;

[0024] Measuring a heading angle and a first pitch angle of the UAV based on an inertial navigation system of the UAV;

[0025] Obtaining a horizontal angle between the first position and the longitudinal axis of the UAV based on the longitude and latitude of the first position and the second position and the heading angle;

[0026] Obtaining a vertical angle between the first position and the longitudinal axis of the drone based on the absolute heights of the first position and the second position and the first pitch angle;

[0027] Controlling the optoelectronic pod to point to the first position to obtain an azimuth angle and a second pitch angle of the optoelectronic pod;

[0028] Obtaining an azimuth installation error angle of the optoelectronic pod based on the horizontal angle and the azimuth angle;

[0029] Obtaining a pitch installation error angle of the optoelectronic pod based on the vertical angle and the second pitch angle;

[0030] The installation error of the optoelectronic pod is further corrected based on the azimuth installation error angle and the elevation installation error angle.

[0031] Optionally, the correcting the installation error of the optoelectronic pod includes:

[0032] Acquire multiple groups of the azimuth installation error angles and the elevation installation error angles, and calculate an average value of the azimuth installation error angles and an average value of the elevation installation error angles;

[0033] The installation error of the optoelectronic pod is corrected based on the installation error angle average value and the pitch installation error angle average value.

[0034] Optionally, the aerial target calibration includes:

[0035] Collect the actual position information of ground reference points;

[0036] Controlling the UAV to hover around the ground reference point in the air, and controlling the optoelectronic pod to point to the ground reference point;

[0037] The UAV locates the ground reference point by using the optoelectronic pod at different distances and in different postures to obtain position information of the ground reference point;

[0038] The positioning error of the optoelectronic pod is corrected based on the position information and the actual position information of the target.

[0039] Optionally, the location information and actual location information include:

[0040] Longitude, latitude and absolute altitude.

[0041] Optionally, the correcting the positioning error of the optoelectronic pod based on the position information and the actual position information of the target includes:

[0042] Obtaining multiple sets of location information of the targets;

[0043] Determine a set of optimal calibration parameters using an optimization algorithm based on the position information and the actual position information;

[0044] The output data of the optoelectronic pod is corrected based on the target calibration parameters to correct the positioning error of the optoelectronic pod.

[0045] Optionally, the set distance is 10 km.

[0046] According to a second aspect of the present invention, a positioning error correction device for an optoelectronic pod is provided, comprising:

[0047] UAVs equipped with electro-optical pods, inertial navigation systems and global navigation satellite systems;

[0048] A laser emission module is arranged at the exact center of the inertial measurement device of the inertial navigation system of the UAV;

[0049] Target;

[0050] Performing ground calibration using the UAV, laser emission module and target to correct installation errors of the optoelectronic pod;

[0051] The positioning error of the optoelectronic pod is corrected by performing aerial targeting on the unmanned aerial vehicle that has completed ground targeting.

[0052] The beneficial effects of the present invention are as follows: the present invention corrects the installation error of the optoelectronic pod through ground target calibration, thereby avoiding a series of complicated preparation work such as drone leveling and target calibration, and only requires a few simple devices to achieve it. The installation operation is simple and can save a lot of time; then the positioning error of the optoelectronic pod is corrected through aerial target calibration, thereby realizing the positioning error correction of the optoelectronic pod of the drone and improving the positioning accuracy of the optoelectronic pod.

[0053] The system of the present invention has other characteristics and advantages, which will be apparent from the drawings incorporated herein and the following detailed description, or will be described in detail in the drawings incorporated herein and the following detailed description, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which like reference numerals generally represent like components.

[0055] Figure 1 A flow chart showing the steps of a method for correcting positioning errors of an optoelectronic pod according to the present invention is shown.

[0056] Figure 2 A flow chart showing the steps of a method for correcting positioning errors of an optoelectronic pod according to a first embodiment of the present invention is shown.

[0057] Figure 3 A schematic diagram of the system composition of a method for correcting positioning errors of an optoelectronic pod according to Embodiment 1 of the present invention is shown.

[0058] Figure 4 A schematic diagram of a ground coarse calibration target according to the first embodiment of the present invention is shown.

[0059] Figure 5 A schematic diagram of a ground precision calibration target according to the first embodiment of the present invention is shown. DETAILED DESCRIPTION

[0060] The present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0061] like Figure 1 As shown, a positioning error correction method for an unmanned aerial vehicle optoelectronic pod according to the present invention includes:

[0062] Correct the installation error of the optoelectronic pod based on ground calibration;

[0063] Correct the positioning error of the optoelectronic pod based on aerial target calibration.

[0064] Specifically, the purpose of positioning error correction is to correct the angular error between optoelectronics and inertial navigation. From the principle of target positioning, it can be seen that there are two groups of main calculation parameters for the positioning problem, and the rest are coordinate system conversion processes: the angular position relationship between the pod and the target: including the carrier attitude (provided by the attitude measurement component) and the pitch and azimuth angles of the stabilized aiming line (calculated by the azimuth pitch angles and pixel deviation angles of the pod); the distance R between the pod and the target, provided by the laser light finder.

[0065] The positioning error correction method has two premise assumptions: the time-invariant assumption: that is, the measurement values ​​of each sensor include true value, fixed error, random error, and do not drift with time; the rigidity assumption: that is, after the pod is installed on the carrier, its position relationship is determined, the fuselage has no deformation, and the sensor measurement value does not change with the carrier's attitude.

[0066] By correcting the installation error of the optoelectronic pod through ground calibration, a series of complicated preparations such as drone leveling and target adjustment can be avoided. It can be achieved with just a few simple devices, and the installation and operation are simple, which can save a lot of time. Then, by correcting the positioning error of the optoelectronic pod through aerial calibration, the positioning error correction of the optoelectronic pod of the drone can be realized, thereby improving the positioning accuracy of the optoelectronic pod.

[0067] In one example, ground calibration includes:

[0068] Ground coarse calibration target and ground fine calibration target.

[0069] In one example, the ground coarse calibration target includes:

[0070] A laser emission module is arranged at the exact center of the inertial measurement device of the UAV, and the laser emission module is arranged in parallel with the inertial measurement device;

[0071] Set a target in front of the drone, control the laser emission module to emit laser, and mark the laser position on the target;

[0072] Control the optoelectronic pod to be in the zero position facing the front of the aircraft nose, and mark the center position of the crosshairs on the optoelectronic pod at the actual position of the target;

[0073] Determine the theoretical position of the center of the crosshairs on the target based on the installation position of the laser launch module and the optoelectronic pod and the laser position;

[0074] Measure the straight-line distance between the actual position and the theoretical position;

[0075] Calculate the vertical and horizontal distances between the actual and theoretical positions by trigonometric functions based on the straight-line distance;

[0076] Based on the vertical distance and horizontal distance, the installation error of the optoelectronic pod is preliminarily compensated through the zero position correction function of the optoelectronic pod, so that the center position of the crosshairs is in the theoretical position at the actual position of the target.

[0077] Specifically, the ground rough calibration target includes a laser or laser level, a UAV inertial navigation, a laser fixture and a dark target. The installation plane deformation between the optoelectronic pod and the UAV is ignored. At the same time, it is assumed that the inertial navigation of the UAV is installed in the center of the fuselage, which can represent the axis of the UAV. At this time, a laser fixture is installed at the inertial navigation of the UAV, and the laser or laser level is fixed in the center of the inertial navigation and parallel to the inertial navigation. It is assumed that the laser emitted by the laser is completely parallel to the inertial navigation azimuth, which represents the direction of the machine axis, and the pitch position difference is the fixed value of the installation of the two. The UAV does not need to be leveled to keep it stable and without shaking. A dark target is set in front of the UAV, and the laser is continuously illuminated. The center position of the cross-marked line of the optoelectronic pod imaging is observed, and its corresponding position on the target is marked; the deviation distance between the actual zero position of the optoelectronics and the theoretical zero position on the target can be measured, and the zero position error between the two can be solved by trigonometric functions. The zero position correction function of the optoelectronics is used to make preliminary compensation for the errors in the horizontal and vertical directions.

[0078] In one example, the ground calibration target includes:

[0079] Collecting the longitude, latitude and absolute altitude of a first location, where the first location is a set distance from the UAV and is within the field of view of the optoelectronic pod;

[0080] The longitude, latitude and absolute altitude of the second position of the drone based on the drone's global navigation satellite system positioning;

[0081] The heading angle and the first pitch angle of the UAV are measured based on the inertial navigation system of the UAV;

[0082] Obtaining a horizontal angle between the first position and the longitudinal axis of the UAV based on the longitude, latitude, and heading angle of the first position and the second position;

[0083] Obtaining a vertical angle between the first position and the longitudinal axis of the drone based on the absolute heights of the first position and the second position and the first pitch angle;

[0084] Controlling the optoelectronic pod to point to a first position, and obtaining an azimuth angle and a second pitch angle of the optoelectronic pod;

[0085] The azimuth installation error angle of the optoelectronic pod is obtained based on the horizontal angle and the azimuth angle;

[0086] Obtaining the pitch installation error angle of the optoelectronic pod based on the vertical angle and the second pitch angle;

[0087] The installation error of the optoelectronic pod is further corrected based on the azimuth installation error angle and the elevation installation error angle.

[0088] Specifically, the ground precision calibration target is firstly performed by GNSS to locate the position coordinates of the UAV, and collect the position point B which is about 10km away from the carrier and within the field of view of the optoelectronic pod. At the same time, the heading angle of the carrier can be measured by the airborne inertial navigation, and then the angle of point B relative to the heading of the carrier can be obtained. The optoelectronic pod is operated to point to point B to obtain the horizontal rotation angle of the optoelectronic pod at this time. The angle difference between the two is the horizontal installation error angle of the optoelectronic pod. The same method can be used to calculate the vertical installation error angle between the optoelectronic pod and the carrier.

[0089] In one example, correcting the installation error of the optoelectronic pod includes:

[0090] Obtain multiple sets of azimuth installation error angles and elevation installation error angles, and calculate average values ​​of the azimuth installation error angles and average values ​​of the elevation installation error angles;

[0091] The installation error of the optoelectronic pod is corrected based on the average installation error angle and the average elevation installation error angle.

[0092] Specifically, during actual testing, several groups of data are averaged, and the horizontal installation error angle and the vertical installation error angle of the optoelectronic pod are corrected into the optoelectronic pod to further correct the installation angle error of the optoelectronic pod.

[0093] In one example, aerial calibration includes:

[0094] Collect the actual position information of ground reference points;

[0095] Control the UAV to hover around the ground reference point in the air, and control the optoelectronic pod to point to the ground reference point;

[0096] The UAV uses the optoelectronic pod to locate the ground reference point at different distances and in different postures to obtain the position information of the ground reference point;

[0097] The positioning error of the optoelectronic pod is corrected based on the position information and the actual position information of the target.

[0098] Specifically, aerial positioning correction mainly utilizes the target positioning principle. By measuring the high-precision calibrated ground targets, the positioning error of the optoelectronic pod is corrected through the known coordinate position on the ground, thereby completing the aerial target calibration work.

[0099] In one example, the location information and actual location information include:

[0100] Longitude, latitude and absolute altitude.

[0101] In one example, correcting the positioning error of the optoelectronic pod based on the position information and the actual position information of the target includes:

[0102] Get the location information of multiple groups of targets;

[0103] Based on the position information and the actual position information, an optimization algorithm is used to determine a set of optimal calibration parameters;

[0104] The output data of the optoelectronic pod is corrected based on the calibration parameters to correct the positioning error of the optoelectronic pod.

[0105] Specifically, through the known coordinate position on the ground, multiple measurements and optimization algorithms are performed to continuously correct the installation error of the optoelectronic pod, and finally a set of optimized target calibration parameters are determined and written into the optoelectronic pod to complete the in-flight correction process of target positioning.

[0106] In one example, the distance is set to 10 km.

[0107] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but is not intended to be limiting of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention may be combined with each other without conflict.

[0108] Embodiment 1

[0109] like Figure 2 As shown, this embodiment provides a method for correcting positioning errors of an optoelectronic pod of a UAV, comprising:

[0110] S1. Preparation: After the installation of the optoelectronic pod, the UAV platform is parked in a relatively open and flat area. A dark target is set in front of the UAV. The UAV's inertial navigation system is installed in the center of the fuselage to represent the axis of the UAV. A laser fixture is installed at the inertial navigation system of the UAV. The laser or laser level is fixed in the center of the inertial navigation system and parallel to the inertial navigation system, so that the laser emitted by the laser is completely parallel to the inertial navigation system, which represents the direction of the machine axis. The vertical position difference is the fixed value of the two installations, such as Figure 3 shown.

[0111] S2. Rough calibration on the ground. The drone does not need to be leveled to keep it stable and without shaking. Figure 4As shown in the figure, a dark target is set about 100m in front of the UAV, and the laser is continuously illuminated. The laser shines on the target, which also represents the direction of the machine axis; then the optoelectronic pod field of view is switched to the (0°, 90°) position, the center position of the crosshairs of the optoelectronic pod imaging is observed, and its corresponding position on the target is marked, then the deviation distance between the actual optoelectronic zero position and the optoelectronic theoretical zero position on the target can be measured, and the relationship between the distance H and the position of the optoelectronic theoretical zero position on the target and the center of the laser is determined according to the installation position of the laser and the optoelectronic pod and the laser position, and then the position of the optoelectronic theoretical zero position on the target is determined, and the zero position error between the actual optoelectronic zero position and the optoelectronic theoretical zero position is solved by trigonometric functions, and the errors of the actual zero position and the optoelectronic theoretical zero position in the horizontal and vertical directions are preliminarily compensated by the zero position correction function of the optoelectronics.

[0112] S3, ground precision calibration target, such as Figure 5 As shown, first, the position coordinate A of the UAV is located by GNSS, and a certain position B about 10km away from the UAV and within the field of view of the optoelectronic pod is collected. At the same time, the heading angle of the UAV can be measured by the airborne inertial navigation, and then the angle α1 of point B relative to the heading of the carrier can be obtained. The optoelectronic pointing to point B can obtain the horizontal steering angle α2 of the optoelectronic at this time. The angle difference Δα=α1-α2 between the two is the horizontal installation error angle of the optoelectronic pod. Similarly, the vertical installation error angle of the optoelectronic pod and the carrier can be calculated as Δβ; in actual testing, take several groups of data and take the average value, and correct the error angle Δα in the horizontal direction and the error angle Δβ in the vertical direction of the optoelectronic to the optoelectronic.

[0113] S4. Aerial calibration and aerial positioning correction mainly use the target positioning principle to collect the coordinates of known targets on the ground. The UAV platform mounts an optoelectronic pod to fly around the reference point at different positions and postures, and operates the optoelectronic pod to point to the target and track it stably. The position of the known target on the ground is obtained by irradiating the reference point target with optoelectronic laser. Combined with the accurate latitude and longitude information of the known target on the ground, multiple measurement sampling and optimization algorithms are performed to continuously correct the installation error of the optoelectronic pod, and finally a set of optimized calibration parameters are determined. The error correction parameters are then written into the optoelectronic pod to complete the aerial correction process of target positioning.

[0114] The advantages of the positioning error correction method of the UAV optoelectronic pod of this embodiment are:

[0115] 1) Significant effect: Before calibration and correction, the accuracy error of the target positioning at 30km is more than 100m. After calibration and correction by this method, the accuracy error of the target positioning at 30km can be reduced to within 30m, which improves the target positioning accuracy of the UAV platform.

[0116] 2) Easy to operate: This ground calibration solution avoids a series of complicated preparations such as drone leveling and target adjustment. It only requires a few simple devices and is easy to install and operate, which can save a lot of time.

[0117] 3) Strong systematicity: This flight calibration solution directly solves the error value that affects the target positioning accuracy.

[0118] 4) High cost-effectiveness: This solution does not require complex and expensive testing equipment, nor does it require a large amount of manpower. Each device can be recycled and has good applicability.

[0119] 5) Strong scalability: The ground target comparison scheme in this solution can be directly applied to the zero position correction of the UAV platform and the guide frame, which can quickly solve the problem of low hit rate caused by the large initial error of the seeker locking after shooting.

[0120] Embodiment 2

[0121] This embodiment provides a positioning error correction device for an optoelectronic pod, comprising:

[0122] UAVs equipped with electro-optical pods, inertial navigation systems and global navigation satellite systems;

[0123] A laser emission module is set in the center of the inertial measurement device of the drone's inertial navigation system;

[0124] Target;

[0125] The installation error of the optoelectronic pod is corrected by ground calibration using the drone, laser launch module and target;

[0126] The positioning error of the optoelectronic pod is corrected by performing aerial calibration through the UAV that has completed ground calibration.

[0127] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A positioning error correction method for an unmanned aerial vehicle optoelectronic pod, characterized in that: include: Correct the installation error of the optoelectronic pod based on ground calibration; The positioning error of the optoelectronic pod is corrected based on aerial target calibration.

2. The positioning error correction method of the UAV optoelectronic pod according to claim 1 is characterized in that: The ground target calibration comprises: Ground coarse calibration target and ground fine calibration target.

3. The positioning error correction method of the UAV optoelectronic pod according to claim 2 is characterized in that: The ground rough calibration target comprises: A laser emission module is arranged at the exact center of the inertial measurement device of the UAV, and the laser emission module is arranged in parallel with the inertial measurement device; Setting a target in front of the UAV, controlling the laser emission module to emit laser, and marking the laser position of the laser on the target; Controlling the optoelectronic pod to be in a zero position facing forward of the nose of the aircraft, and marking the center position of the crosshairs marking the optoelectronic pod at the actual position of the target; Determining the theoretical position of the center position of the crosshairs on the target based on the installation positions of the laser emission module and the optoelectronic pod and the laser position; Measuring the straight-line distance between the actual position and the theoretical position; Calculate the vertical distance and the horizontal distance between the actual position and the theoretical position by trigonometric function based on the straight-line distance; Based on the vertical distance and the horizontal distance, the installation error of the optoelectronic pod is preliminarily compensated by the zero position correction function of the optoelectronic pod, so that the center position of the crosshairs is at the theoretical position at the actual position of the target.

4. The positioning error correction method of the UAV optoelectronic pod according to claim 3 is characterized in that: The ground precision calibration target comprises: Collecting the longitude, latitude and absolute altitude of a first position, where the first position is a set distance from the drone and is within the field of view of the optoelectronic pod; Locating the longitude, latitude and absolute altitude of a second location of the drone based on the global navigation satellite system of the drone; Measuring a heading angle and a first pitch angle of the UAV based on an inertial navigation system of the UAV; Obtaining a horizontal angle between the first position and the longitudinal axis of the UAV based on the longitude and latitude of the first position and the second position and the heading angle; Obtaining a vertical angle between the first position and the longitudinal axis of the drone based on the absolute heights of the first position and the second position and the first pitch angle; Controlling the optoelectronic pod to point to the first position to obtain an azimuth angle and a second pitch angle of the optoelectronic pod; Obtaining an azimuth installation error angle of the optoelectronic pod based on the horizontal angle and the azimuth angle; Obtaining a pitch installation error angle of the optoelectronic pod based on the vertical angle and the second pitch angle; The installation error of the optoelectronic pod is further corrected based on the azimuth installation error angle and the elevation installation error angle.

5. The positioning error correction method of the UAV optoelectronic pod according to claim 4 is characterized in that: The step of correcting the installation error of the optoelectronic pod comprises: Acquire multiple groups of the azimuth installation error angles and the elevation installation error angles, and calculate an average value of the azimuth installation error angles and an average value of the elevation installation error angles; The installation error of the optoelectronic pod is corrected based on the installation error angle average value and the pitch installation error angle average value.

6. The positioning error correction method of the UAV optoelectronic pod according to claim 1 is characterized in that: The aerial target calibration comprises: Collect the actual position information of ground reference points; Controlling the UAV to hover around the ground reference point in the air, and controlling the optoelectronic pod to point to the ground reference point; The UAV locates the ground reference point by using the optoelectronic pod at different distances and in different postures to obtain position information of the ground reference point; The positioning error of the optoelectronic pod is corrected based on the position information and the actual position information of the target.

7. The positioning error correction method of the UAV optoelectronic pod according to claim 6 is characterized in that: The location information and actual location information include: Longitude, latitude and absolute altitude.

8. The positioning error correction method of the UAV optoelectronic pod according to claim 7 is characterized in that: The correcting the positioning error of the optoelectronic pod based on the position information and the actual position information of the target comprises: Obtaining multiple sets of location information of the targets; Determine a set of optimal calibration parameters using an optimization algorithm based on the position information and the actual position information; The output data of the optoelectronic pod is corrected based on the target calibration parameters to correct the positioning error of the optoelectronic pod.

9. The positioning error correction method of the UAV optoelectronic pod according to claim 1 is characterized in that: The set distance is 10 km.

10. A positioning error correction device for an optoelectronic pod, characterized in that: include: UAVs equipped with electro-optical pods, inertial navigation systems and global navigation satellite systems; A laser emission module is arranged at the exact center of the inertial measurement device of the inertial navigation system of the UAV; Target; Performing ground calibration using the UAV, laser emission module and target to correct installation errors of the optoelectronic pod; The positioning error of the optoelectronic pod is corrected by performing aerial targeting on the unmanned aerial vehicle that has completed ground targeting.

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