Ground verification evaluation method and system for weapon separation pose measurement

Abstract

The invention belongs to the technical field of flight test weapon separation pose measurement, verification and evaluation, and particularly relates to a weapon separation pose measurement ground verification and evaluation system and a weapon separation pose measurement ground verification and evaluation method. Measuring data of an IMU (Inertial Measurement Unit) sensor integrated in the analogue simulation missile and measuring data of a laser tracker are used for comparing and evaluating the effectiveness and the measuring precision of a current onboard photoelectric measuring system layout scheme and a data processing method; meanwhile, the system and the method can also assist a supervisor in scientifically determining and verifying an optimal layout scheme of the airborne photoelectric measurement system, so that the design efficiency of a test scheme and the precision of test data are improved; therefore, aircraft-missile separation performance identification and safety performance evaluation test flight tasks under current and future diversified weapon separation platforms and separation modes can be effectively handled.

Description

Technical Field

[0001] The present invention belongs to the technical field of flight test weapon separation posture measurement verification and evaluation, and in particular relates to a weapon separation posture measurement ground verification and evaluation method and system. Background Art

[0002] In recent years, aviation equipment has developed rapidly, independent innovation capabilities have been continuously improved, and airborne weapon separation platforms and separation modes have shown diversified development. For these current and future new weapon separation platforms and weapon separation methods, aircraft-missile separation performance identification and safety performance evaluation are necessary test flight tasks, and predicting and evaluating aircraft-missile separation trajectory and posture are test items that must be carried out in related test flight identification and must have test capabilities.

[0003] In the existing weapon separation posture measurement, since the test targets are directly provided by the weapon manufacturers, it is impossible to install sensors and test equipment on the target body for measurement. The measurement of relevant parameters can only be completed by placing sensors on the bulkheads or racks around the missile body. Among them, visual measurement has the advantages of non-contact, high precision, visualization, and low cost. It has become a necessary means of weapon separation flight test measurement and has been applied in the flight test missions of various aircraft. However, in the face of a variety of weapon separation platforms and separation modes, it is very difficult to determine and verify the optimal airborne camera layout plan. At present, the layout plan is determined by combining the experience of the supervisor and the installation environment, which makes it difficult to evaluate and determine the accuracy of the measurement parameters. Therefore, it is very necessary to carry out ground verification and evaluation methods and systems for weapon separation posture measurement and build a ground verification platform for weapon separation posture measurement. Summary of the invention

[0004] The purpose of the present invention is to design a ground verification and evaluation method and system for measuring the posture of weapon separation, and to grasp a simulated measurement missile with an inertial measurement unit (I MU) sensor at the center of gravity through a high-precision mechanical arm, simulate the separation process of the machine and the missile, and use an airborne high-speed camera equipped with a vibration simulation platform on the ground to copy the airborne shooting plan and shooting environment with reference to the airborne high-speed camera layout plan and vibration environment, and complete the video recording of the machine and the missile separation process; at the same time, a laser tracker is used to complete the tracking and position measurement of the center of gravity of the missile during the entire separation process. Afterwards, the posture data measured by the I MU sensor and the position data measured by the laser tracker are compared with the posture data obtained based on the image processing of the airborne high-speed camera to evaluate the feasibility and measurement accuracy of the current layout plan.

[0005] Technical solution of the present invention: To achieve the above-mentioned purpose of the invention, according to the first aspect of the present invention, a weapon separation posture ground verification and evaluation system is proposed, including: a simulation measurement missile, a high-precision mechanical arm, an IMU sensor, a vibration simulation platform, an airborne high-speed camera, a data acquisition module, and a laser tracker; the high-precision mechanical arm is used to grab the simulation measurement missile to realize the movement process of the missile body during the separation process with high precision, the IMU sensor is fixed at the center of gravity of the simulation measurement missile, the airborne high-speed camera is fixedly installed on the vibration simulation platform, the relative position of the airborne high-speed camera and the simulation measurement missile is determined according to the actual layout plan on the aircraft, the laser tracker is used to perform real-time tracking, position measurement and data recording of the mark point at the center of gravity of the simulation measurement missile, and the data acquisition module is communicatively connected with the IMU sensor and the laser tracker for real-time reception and storage of data, and can process and analyze the data.

[0006] In a possible embodiment, it also includes a serial communication module, which is integrated inside the simulation measurement bullet and is used to receive IMU sensor data; the IMU sensor data is transmitted to the data acquisition module through the serial communication module.

[0007] In a possible embodiment, it also includes a power supply module, which is integrated inside the simulation measurement bullet and adopts a dry cell series power supply mode to power the IMU sensor and the Bluetooth communication module.

[0008] In a possible embodiment, it also includes a timing module, which is communicatively connected to the IMU sensor, the data acquisition module, the airborne high-speed camera, and the laser tracker, and is used to perform unified timing for the IMU sensor, the data acquisition module, the airborne high-speed camera, and the laser tracker.

[0009] In a possible embodiment, the high-precision robotic arm has the function of stably fixing the simulated measurement missile gripper, which is used to grab the simulated measurement missile and realize high-precision simulation of the movement process of the missile body during the separation process, specifically including roll, yaw, and pitch.

[0010] In a possible embodiment, the vibration simulation platform can output sinusoidal vibration, random vibration, and classical shock of various frequencies according to requirements, so as to simulate the impact of the actual airborne flight vibration environment on the optical measurement system, and to compare and verify the true accuracy of the actual optoelectronic measurement system.

[0011] According to a second aspect of the present invention, a method for ground verification and evaluation of weapon separation posture measurement is proposed, which uses the above-mentioned ground verification and evaluation system for weapon separation posture measurement, and includes the following steps:

[0012] Step 1: Determine the layout position, shooting plan and vibration simulation parameters of the airborne high-speed camera according to the layout of the airborne optical measurement system, the shooting plan and the actual vibration data of the onboard weapon bay;

[0013] Step 2: Use a laser tracker to align the center of the pre-arranged marker point at the center of gravity of the simulated measurement projectile, and pre-configure it to an automatic tracking measurement mode;

[0014] Step 3: Based on the simulation result data of the separation process of the missile body and weapon on the aircraft, the trajectory of the high-precision robotic arm is planned and configured to simulate the trajectory and posture changes of the actual separation process of the measurement missile;

[0015] Step 4: Synchronously trigger the high-precision robotic arm actuation switch, the airborne high-speed camera recording switch, and the data acquisition module recording switch to complete the collection and recording of the separation process image data and IMU sensor data;

[0016] Step 5: Use our own vision-based weapon posture calculation algorithm to process the image data captured by the airborne high-speed camera in the separation test to obtain three-axis posture data θ v , v , and the three-axis position data X v , Y v , Z v ;

[0017] Step 6: If the three-axis attitude data cannot be completely solved in step 5 θ v , v , and the three-axis position data X v , Y v , Z v , it is considered that the current airborne optical measurement system layout and shooting plan cannot meet the mission requirements, and go to step 1 to redefine the airborne optical measurement system layout and shooting plan on the aircraft; if the data is complete, proceed to step 7;

[0018] Step 7: Using the attitude data measured by the IMU sensor and the position data measured by the laser tracker as the original reference, calculate the RMS error of the attitude data obtained by image processing based on the airborne high-speed camera;

[0019] Step 8: Compare the RMS error of the pose data calculated in step 7 with the accuracy required for the task. If the RMS error of the pose data is less than the required accuracy, the evaluation proves that the layout plan of the airborne optoelectronic measurement system and the weapon pose solution algorithm meet the task requirements; otherwise, it is evaluated that the current layout plan of the airborne optoelectronic measurement system and the weapon pose solution algorithm do not meet the task requirements, and go to step 1 to redefine the layout and shooting plan of the airborne optoelectronic measurement system on the aircraft.

[0020] In a possible embodiment, in step seven, the RMS error of the pose data obtained by image processing based on the airborne high-speed camera is calculated using equations (1) and (2):

[0021]

[0022] Among them, i and j are the frame numbers of the attitude and position data at the same moment, respectively; N is the total number of data frames calculated based on the minimum sampling rate of the image data and the IMU sensor data during the simulation measurement of missile separation; M is the total number of data frames calculated based on the minimum sampling rate of the image data and the laser tracker data during the simulation measurement of missile separation.

[0023] The beneficial technical effects of the present invention are as follows: a weapon separation posture measurement ground verification and evaluation method and system are designed, which replicates the onboard optoelectronic measurement system layout and shooting environment, and utilizes the measurement data of the IMU sensor integrated inside the simulated missile and the laser tracker to compare and evaluate the effectiveness and measurement accuracy of the current onboard optoelectronic measurement system layout and data processing method; at the same time, the system and method can also assist the supervisor in scientifically determining and verifying the optimal onboard optoelectronic measurement system layout, improve the test scheme design efficiency and test data accuracy, and thus effectively respond to the current and future diversified weapon separation platforms and aircraft-missile separation performance identification and safety performance evaluation test flight missions under separation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the composition and scenario of the weapon separation posture ground verification and evaluation system. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0026] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific settings and methods proposed below, but covers any improvements, replacements and modifications of structures, methods, devices without departing from the spirit of the present invention. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity in the present invention.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] According to a first aspect of the present invention, a weapon separation posture ground verification and evaluation system is proposed, comprising: a simulation measurement missile, a high-precision mechanical arm, an IMU sensor, a power supply module, a serial communication module, a vibration simulation platform, an airborne high-speed camera, a data acquisition module, a laser tracker, and a timing module;

[0029] The simulated measurement projectile has an appearance shape and mechanical properties that are proportional to those of a real general projectile, and is used to simulate the projectile being tested in an actual airborne weapon separation test mission;

[0030] The high-precision mechanical arm has the function of stably fixing the simulation measurement missile gripper, which is used to grab the simulation measurement missile and realize the high-precision simulation of the movement process of the missile body during the separation process, specifically including the rolling, yaw, pitch and other processes;

[0031] The IMU sensor is fixed at the center of gravity of the simulation measurement missile and is used to measure and output the three-axis angular velocity, three-axis acceleration and other data of the simulation measurement missile in real time;

[0032] The serial communication module is integrated into the simulation measurement projectile and is used to receive IMU sensor data;

[0033] The preferred serial communication module integrates a Bluetooth communication module, which can forward the received IMU sensor data wirelessly in real time;

[0034] The power supply module is integrated inside the simulation measurement bomb and adopts a dry cell series power supply mode to power the IMU sensor and the Bluetooth communication module;

[0035] The airborne high-speed camera is fixedly mounted on the vibration simulation platform, and is used to shoot and record the image data of the separation process of the simulated measurement bomb at high speed according to the onboard layout plan;

[0036] Preferably, the vibration simulation platform can output sinusoidal vibration, random vibration, classical shock, etc. of various frequencies according to requirements, so as to simulate the influence of the actual airborne flight vibration environment on the optical measurement system, and to compare and verify the real accuracy of the actual optoelectronic measurement system;

[0037] The data acquisition module is internally integrated with a Bluetooth communication module, which is used for real-time wireless reception and storage of the output data of the IMU sensor integrated inside the simulation measurement projectile, and can process and analyze the data, convert it into parameters such as the three-axis angle, speed, displacement, etc. at the center of gravity of the simulation measurement projectile, and record them;

[0038] The laser tracker is used to perform real-time tracking, position measurement and data recording of the mark point at the center of gravity of the simulation measurement projectile during the separation process of the simulation measurement projectile;

[0039] The timing module is used to uniformly time the sensor, data acquisition module, airborne high-speed camera, and laser tracker, unify the system time base, and ensure data consistency.

[0040] The above-mentioned device is used to carry out a weapon separation ground test according to the actual onboard deployment plan. The attitude data at the center of gravity of the simulated measurement missile obtained by solving the IMU sensor data and the trajectory data at the center of gravity of the simulated measurement missile obtained by measuring the laser tracker are compared with the posture data obtained based on the airborne high-speed camera image data processing, thereby achieving the feasibility assessment of the airborne optical measurement system deployment plan and the measurement accuracy assessment purpose.

[0041] According to the second aspect of the present invention, a ground verification and evaluation method for weapon separation posture measurement is proposed. The ground verification and evaluation system for weapon separation posture measurement is used. The specific steps of the ground verification and evaluation method for weapon separation posture measurement are as follows:

[0042] Step 1: Evaluate the onboard installation environment and determine the layout and shooting plan of the onboard optical measurement system;

[0043] Step 2: According to the airborne high-speed camera deployment plan, the on-board measurement plan is replicated and restored on the ground using the above-mentioned weapon separation posture measurement ground verification and evaluation system;

[0044] Step 3: Based on the simulation result data of the separation process of the missile body and weapons on the aircraft, the trajectory of the high-precision robotic arm is planned and configured to simulate the trajectory and posture changes of the actual separation process of the missile body;

[0045] Step 4: According to the actual vibration data of the weapon bay on the aircraft, the vibration simulation table is set up to simulate the shooting environment of the actual optoelectronic measurement system on the aircraft;

[0046] Step 5: Use a laser tracker to align the center of the pre-arranged marker point at the center of gravity of the simulated measurement projectile, and pre-configure it to the automatic tracking measurement mode;

[0047] Step 5: Synchronously trigger the high-precision robotic arm actuation switch, the airborne high-speed camera recording switch, and the data acquisition module recording switch to complete the collection and recording of the separation process image data and IMU sensor data;

[0048] Step 6: Use our own vision-based weapon posture calculation algorithm to process the image data captured by the airborne high-speed camera in the separation test to obtain three-axis posture data θ v , v , and the three-axis position data X v , Y v , Z v ;

[0049] Step 7: If the three-axis posture data cannot be completely solved in step 6 θ v , v , and the three-axis position data X v , Y v , Z v , it is considered that the current airborne optical measurement system layout and shooting plan cannot meet the mission requirements, and go to step 1 to redefine the airborne optical measurement system layout and shooting plan on the aircraft; if the data is complete, continue to step 8;

[0050] Step 8: Using the attitude data measured by the IMU sensor and the position data measured by the laser tracker as the original reference, use equations (1) and (2) to calculate the RMS error of the attitude data obtained by image processing based on the airborne high-speed camera;

[0051]

[0052] Among them, i and j are the frame numbers of attitude and position data at the same time, respectively; N is the total number of data frames calculated based on the minimum sampling rate of image data and IMU sensor data during the whole process of simulation measurement missile separation; M is the total number of data frames calculated based on the minimum sampling rate of image data and laser tracker data during the whole process of simulation measurement missile separation;

[0053] Step 9: Compare the RMS error of the pose data calculated in step 8 with the accuracy required for the task. If the RMS error of the pose data is less than the required accuracy, the evaluation proves that the layout plan and data processing method of the airborne optoelectronic measurement system meet the task requirements; otherwise, it is evaluated that the current layout plan and data processing method of the airborne optoelectronic measurement system do not meet the task requirements, and go to step 1 to redefine the layout and shooting plan of the airborne optoelectronic measurement system on board.

[0054] Embodiment 1

[0055] like Figure 1 As shown, this embodiment provides a weapon separation posture ground verification and evaluation system, including: ① simulation measurement missile, ② high-precision mechanical arm, ③ IMU sensor, ④ power supply module, ⑤ serial communication module, ⑥ vibration simulation platform, ⑦ airborne high-speed camera, ⑧ data acquisition module, ⑨ laser tracker, and ⑩ timing module.

[0056] The simulated measurement missile has an appearance shape and mechanical properties that are proportional to those of a real general missile body, and is used to simulate the missile body under test in the actual airborne weapon separation test mission. The IMU sensor is fixed at the center of gravity of the simulated measurement missile, and is used to measure and output the three-axis angular velocity, three-axis acceleration and other data of the simulated measurement missile in real time; the serial communication module is integrated inside the simulated measurement missile, and is used to receive the IMU sensor data; the power supply module is integrated inside the simulated measurement missile, and adopts a dry battery series power supply mode to power the IMU sensor and the serial communication module. The high-precision robotic arm grabs the simulated measurement missile to simulate the aircraft-missile separation process; referring to the onboard high-speed camera layout plan and vibration environment, the onboard high-speed camera equipped with a vibration simulation platform is used on the ground to replicate the airborne shooting plan and shooting environment, and complete the video recording of the aircraft-missile separation process. At the same time, the laser tracker is used to complete the tracking and position measurement of the center of gravity of the missile during the entire separation process. Afterwards, the attitude data measured by the IMU sensor and the position data measured by the laser tracker are compared with the posture data obtained based on the image processing of the onboard high-speed camera to evaluate the feasibility and measurement accuracy of the current layout plan.

[0057] Embodiment 2

[0058] This embodiment provides a ground verification and evaluation method for weapon separation posture measurement, which uses the above-mentioned ground verification and evaluation system for weapon separation posture measurement. The specific steps of the ground verification and evaluation method for weapon separation posture measurement are as follows:

[0059] Step 1: Evaluate the onboard installation environment and determine the layout and shooting plan of the onboard optical measurement system;

[0060] Step 2: According to the airborne high-speed camera deployment plan, the on-board measurement plan is replicated and restored on the ground using the above-mentioned weapon separation posture measurement ground verification and evaluation system;

[0061] Step 3: Based on the simulation result data of the separation process of the missile body and weapons on the aircraft, the trajectory of the high-precision robotic arm is planned and configured to simulate the trajectory and posture changes of the actual separation process of the missile body;

[0062] Step 4: According to the actual vibration data of the weapon bay on the aircraft, the vibration simulation table is set up to simulate the shooting environment of the actual optoelectronic measurement system on the aircraft;

[0063] Step 5: Use a laser tracker to align the center of the pre-arranged marker point at the center of gravity of the simulated measurement projectile, and pre-configure it to the automatic tracking measurement mode;

[0064] Step 5: Synchronously trigger the high-precision robotic arm actuation switch, the airborne high-speed camera recording switch, and the data acquisition module recording switch to complete the collection and recording of the separation process image data and IMU sensor data;

[0065] Step 6: Use our own vision-based weapon posture calculation algorithm to process the image data captured by the airborne high-speed camera in the separation test to obtain three-axis posture data θ v , v , and the three-axis position data X v , Y v , Z v ;

[0066] Step 7: If the three-axis posture data cannot be completely solved in step 6 θ v , v , and the three-axis position data X v , Y v , Z v , it is considered that the current airborne optical measurement system layout and shooting plan cannot meet the mission requirements, and go to step 1 to redefine the airborne optical measurement system layout and shooting plan on the aircraft; if the data is complete, continue to step 8;

[0067] Step 8: Using the attitude data measured by the IMU sensor and the position data measured by the laser tracker as the original reference, use equations (1) and (2) to calculate the RMS error of the attitude data obtained by image processing based on the airborne high-speed camera;

[0068]

[0069] Among them, i and j are the frame numbers of attitude and position data at the same time, respectively; N is the total number of data frames calculated based on the minimum sampling rate of image data and IMU sensor data during the whole process of simulation measurement missile separation; M is the total number of data frames calculated based on the minimum sampling rate of image data and laser tracker data during the whole process of simulation measurement missile separation;

[0070] Step 9: Compare the RMS error of the pose data calculated in step 8 with the accuracy required for the task. If the RMS error of the pose data is less than the required accuracy, the evaluation proves that the layout plan and data processing method of the airborne optoelectronic measurement system meet the task requirements; otherwise, the current layout plan and data processing method of the airborne optoelectronic measurement system do not meet the task requirements, and go to step 1 to redefine the layout and shooting plan of the airborne optoelectronic measurement system on the aircraft.

Claims

1. A ground verification and evaluation system for weapon separation posture measurement, characterized in that: include: Simulation measurement missile, high-precision mechanical arm, IMU sensor, vibration simulation platform, airborne high-speed camera, data acquisition module, laser tracker; the high-precision mechanical arm is used to grab the simulation measurement missile to realize the movement process of the high-precision simulation missile body during the separation process, the IMU sensor is fixed at the center of gravity of the simulation measurement missile, the airborne high-speed camera is fixedly installed on the vibration simulation platform, the relative position of the airborne high-speed camera and the simulation measurement missile is determined according to the actual layout plan on the aircraft, the laser tracker is used to perform real-time tracking, position measurement and data recording of the marking points at the center of gravity of the simulation measurement missile, the data acquisition module is communicatively connected with the IMU sensor and the laser tracker, and is used to receive and store data in real time, and can process and analyze the data.

2. A weapon separation posture measurement ground verification and evaluation system according to claim 1, characterized in that: It also includes a serial communication module, which is integrated inside the simulation measurement bullet and is used to receive IMU sensor data; the serial communication module is used to transmit the IMU sensor data to the data acquisition module.

3. A weapon separation posture measurement ground verification and evaluation system according to claim 1, characterized in that: It also includes a power supply module, which is integrated into the simulation measurement bullet and adopts a dry cell series power supply mode to power the IMU sensor and the Bluetooth communication module.

4. A weapon separation posture measurement ground verification and evaluation system according to claim 1, characterized in that: It also includes a timing module, which is communicatively connected with the IMU sensor, the data acquisition module, the airborne high-speed camera, and the laser tracker, and is used for unified timing of the IMU sensor, the data acquisition module, the airborne high-speed camera, and the laser tracker.

5. A weapon separation posture measurement ground verification and evaluation system according to claim 1, characterized in that: The high-precision robotic arm has the function of stably fixing the simulated measurement missile gripper, which is used to grab the simulated measurement missile and realize high-precision simulation of the movement process of the missile body during the separation process, specifically including roll, yaw and pitch.

6. A weapon separation posture measurement ground verification and evaluation system according to claim 1, characterized in that: The vibration simulation platform can output sinusoidal vibration, random vibration, and classical shock of various frequencies according to requirements, so as to simulate the influence of the actual airborne flight vibration environment on the optical measurement system, and to compare and verify the real accuracy of the actual optoelectronic measurement system.

7. A method for ground verification and evaluation of weapon separation posture measurement, using a ground verification and evaluation system for weapon separation posture measurement according to any one of claims 1 to 6, characterized in that: The steps include: Step 1: Determine the placement position, shooting plan and vibration simulation parameters of the airborne high-speed camera based on the airborne optical measurement system layout, shooting plan and actual vibration data of the onboard weapon bay; Step 2: Use a laser tracker to align the center of the pre-arranged marker point at the center of gravity of the simulated measurement projectile, and pre-configure it to an automatic tracking measurement mode; Step 3: Based on the simulation result data of the separation process of the missile body and weapon on the aircraft, the trajectory of the high-precision robotic arm is planned and configured to simulate the trajectory and posture changes of the actual separation process of the measurement missile; Step 4: Synchronously trigger the high-precision robotic arm actuation switch, the airborne high-speed camera recording switch, and the data acquisition module recording switch to complete the collection and recording of the separation process image data and IMU sensor data; Step 5: Use our own vision-based weapon posture calculation algorithm to process the image data captured by the airborne high-speed camera in the separation test to obtain three-axis posture data θ v , v , and the three-axis position data X v , Y v , Z v ; Step 6: If the three-axis attitude data cannot be completely solved in step 5 θ v , v , and the three-axis position data X v , Y v , Z v , it is considered that the current airborne optical measurement system layout and shooting plan cannot meet the mission requirements, and go to step 1 to redefine the airborne optical measurement system layout and shooting plan on the aircraft; if the data is complete, proceed to step 7; Step 7: Using the attitude data measured by the IMU sensor and the position data measured by the laser tracker as the original reference, calculate the RMS error of the attitude data obtained by image processing based on the airborne high-speed camera; Step 8: Compare the RMS error of the pose data calculated in step 7 with the accuracy required for the task. If the RMS error of the pose data is less than the required accuracy, the evaluation proves that the layout plan of the airborne optoelectronic measurement system and the weapon pose solution algorithm meet the task requirements; otherwise, it is evaluated that the current layout plan of the airborne optoelectronic measurement system and the weapon pose solution algorithm do not meet the task requirements, and go to step 1 to redefine the layout and shooting plan of the airborne optoelectronic measurement system on the aircraft.

8. A ground verification and evaluation method for weapon separation posture measurement according to claim 7, characterized in that: In step 7, the RMS error of the pose data obtained by image processing based on the airborne high-speed camera is calculated using equations (1) and (2): Among them, i and j are the frame numbers of the attitude and position data at the same moment, respectively; N is the total number of data frames calculated based on the minimum sampling rate of the image data and the IMU sensor data during the simulation measurement of missile separation; M is the total number of data frames calculated based on the minimum sampling rate of the image data and the laser tracker data during the simulation measurement of missile separation.

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