A radar and photoelectric device linkage error correction method, device and equipment

Abstract

The application discloses a radar and photoelectric device linkage error correction method, device and equipment, and relates to the field of data processing. In the method, a test object is controlled to move in different flight modes, and data acquisition is performed on the test object to obtain first test data and second test data; platform attitude data of a photoelectric platform carrying a photoelectric device is acquired; the first test data and the second test data are converted into a linkage coordinate system with a line connecting a first center of the radar and a second center of the photoelectric device as a reference axis to obtain a radar linkage line-of-sight angle and a photoelectric linkage line-of-sight angle respectively; the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle are input into a preset error analysis algorithm to obtain a linkage success rate of the radar and the photoelectric device under a plurality of different error value sets; and based on the linkage success rate, an optimal error value set is determined from the plurality of error value sets. The technical scheme provided by the application improves the linkage success rate of the radar and the photoelectric device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data processing, in particular to a radar and photoelectric equipment linkage error correction method, device and equipment. BACKGROUND

[0002] In modern surveillance, reconnaissance and defense systems, the cooperative work of radar equipment and photoelectric equipment is a common technical solution. Radar equipment has the advantages of long detection distance, wide coverage, and is not affected by light and bad weather, etc., and can realize fast search and discovery of targets in a wide range, and provide basic motion parameters such as the azimuth, elevation and distance of the target. However, the angular resolution of the radar is relatively low, and it is difficult to provide clear image details of the target and accurately identify and confirm the target. Complementarily, photoelectric equipment (such as visible light cameras, infrared thermal imagers, etc.) can provide high-resolution image information, which is convenient for operators to observe, identify and judge the intention of the target. However, the field of view of the photoelectric equipment is usually small, and is not suitable for autonomous search in a wide range. Therefore, combining the wide-area search capability of the radar with the accurate identification capability of the photoelectric equipment, that is, guiding the photoelectric equipment through the radar, has become a standard configuration in the industry. The basic working mode is: after the radar discovers the target, the coordinate information is transmitted to the photoelectric system, and the photoelectric system quickly rotates to align the field of view to the airspace where the target is located to capture and stably track.

[0003] In actual deployment, the radar equipment and the photoelectric equipment are usually installed separately, even if they are fixed on the same rigid platform, there is still an installation error between them. This error is mainly caused by the translation and rotation deviation of the coordinate system origin and axis of the two devices in three-dimensional space, and the installation reference surface is not absolutely horizontal or completely aligned with the platform reference. These mechanical misalignments result in a complex, nonlinear mapping deviation between the target coordinate system measured by the radar and the pointing coordinate system of the photoelectric equipment. When the radar transmits an accurate target coordinate to the photoelectric system, due to the existence of this uncorrected installation error, the boresight of the photoelectric equipment will point to a point in space deviating from the true position of the target. If the deviation is too large, the target will not enter the narrow field of view of the photoelectric equipment, resulting in a failure of guidance, that is, a miss occurs, and the success rate of the entire linkage system is also low. SUMMARY

[0004] The present application provides a radar and photoelectric equipment linkage error correction method, device and equipment, which improves the linkage success rate of the radar and the photoelectric equipment.

[0005] The first aspect of the present application provides a radar and photoelectric device linkage error correction method, which comprises: controlling a test object to move in different flight modes, and collecting data for the test object to obtain first test data and second test data, the first test data being tracking data of the test object collected by a radar, and the second test data being pointing data of a photoelectric device when the photoelectric device is aligned with the test object; obtaining platform attitude data of a photoelectric platform carrying the photoelectric device; based on the platform attitude data, converting the first test data and the second test data into a linkage coordinate system with a line connecting a first center of the radar and a second center of the photoelectric device as a reference axis to obtain radar linkage line-of-sight angles and photoelectric linkage line-of-sight angles respectively; inputting the radar linkage line-of-sight angles and the photoelectric linkage line-of-sight angles into a preset error analysis algorithm to obtain linkage success rates of the radar and the photoelectric device under a plurality of different error value sets; and determining an optimal error value set from the plurality of error value sets based on the linkage success rates.

[0006] By adopting the above technical solution, the test object is controlled to move in different flight modes, and radar tracking data and photoelectric device pointing data are collected as test data, so that data samples comprehensively reflecting the joint working performance of the radar and the photoelectric device under various working conditions can be obtained. The test data is uniformly converted into a linkage coordinate system with the line connecting the radar and the photoelectric device as the reference axis by using the attitude data of the photoelectric platform, the influence of platform attitude changes on device pointing is eliminated, and the radar linkage line-of-sight angles and the photoelectric linkage line-of-sight angles directly reflecting the line-of-sight pointing deviation of the two devices are obtained. The linkage line-of-sight angles are input into the preset error analysis algorithm, the guidance results under different installation error parameter values are simulated, and are compared with the actual photoelectric pointing, so that the influence of various installation error combinations on the radar-photoelectric linkage precision can be accurately evaluated, and the linkage success rates are obtained. Finally, by comparing the linkage success rates under different error value sets, the optimal error value set balancing each error parameter and having the optimal overall linkage effect can be objectively determined, which is used to guide the accurate installation and system calibration of the radar and the photoelectric device. The technical solution combines the tracking data and the pointing data of the radar and the photoelectric device with the platform attitude data, converts them into a unified linkage coordinate system, calculates the linkage success rates under different error value sets by using the error analysis algorithm, and determines the optimal error compensation value. This method effectively solves the pointing deviation problem caused by mechanical installation errors, and greatly improves the target capture success rate and the ability to adapt to dynamic scenes of the radar-photoelectric device linkage system.

[0007] Optionally, the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle are input into a preset error analysis algorithm to obtain linkage success rates of the radar and the photoelectric device under a plurality of different error value sets, specifically including: modeling installation errors of the radar and the photoelectric device as a plurality of installation error parameters, the installation error parameters including azimuth inherent deviation, pitch periodic variation phase, pitch periodic variation amplitude, and pitch center offset; for each installation error parameter, a plurality of error value sets are generated in a global range of each installation error parameter at a first preset step size, wherein one error value set includes a value of all installation error parameters; an angle threshold of the photoelectric device is obtained according to the first test data and a field of view angle calculation formula of the photoelectric device, the angle threshold being a maximum value allowed by the photoelectric device for a test object to deviate from a field of view center of the photoelectric device; each error value set is applied to the radar linkage line-of-sight angle to generate a corresponding predicted photoelectric guidance angle through the preset error analysis algorithm; the predicted photoelectric guidance angle is compared with the photoelectric linkage line-of-sight angle to obtain a deviation value; if the deviation value is less than the angle threshold, it is determined that guidance is successful; a number of guidance successes corresponding to a first error value set is counted and divided by a total number of guidances to obtain a linkage success rate under the first error value set, the first error value set being any one of the plurality of error value sets.

[0008] By adopting the above technical solution, installation errors of the radar and the photoelectric device are abstracted into four key parameters of azimuth inherent deviation, pitch periodic variation phase, pitch periodic variation amplitude, and pitch center offset, and a plurality of error value sets are generated in a value range of each parameter at a global coarse step size, so that a large part of possible combinations of installation error parameter space can be covered with less calculation amount, reducing blindness and having certain global representativeness. Meanwhile, by using the first test data and a photoelectric field of view angle calculation formula, an allowed deviation threshold of the photoelectric device to a target under a specific distance condition can be accurately estimated to form a quantitative linkage precision criterion. Under each error value set, the error parameters are substituted into the linkage line-of-sight angle to simulate a theoretical guidance angle of the radar to the photoelectric device, and a deviation comparison is made with the measured photoelectric pointing, and according to which a number of guidance successes is counted to objectively calculate an overall linkage success rate under different installation errors. This modeling simulation and measurement comparison combined method can deeply analyze the internal mechanism of the system, accurately judge the influence law of installation errors on linkage effect, and screen out the best installation correction scheme.

[0009] Optionally, the applying each of the error value set to the radar linkage line-of-sight angle to generate a corresponding predicted photoelectric guidance angle by the preset error analysis algorithm specifically comprises: algebraically superimposing an azimuth component in the radar linkage line-of-sight angle and the azimuth inherent deviation to obtain a preliminary corrected azimuth; calculating a periodic elevation angle error amount varying with the azimuth by a trigonometric function by using the preliminary corrected azimuth, in combination with the periodic variation phase of the elevation angle and the periodic variation amplitude of the elevation angle; superimposing an elevation component in the radar linkage line-of-sight angle, the periodic elevation angle error amount and the elevation angle central offset to generate the predicted photoelectric guidance angle.

[0010] By adopting the technical scheme, the target azimuth measured by the radar is first algebraically superimposed with the inherent azimuth deviation of the installation to eliminate the system error introduced by the inherent deviation; then the corrected azimuth is used in combination with the periodic variation law between the installation elevation plane and the azimuth to calculate the corresponding periodic elevation angle error component by a trigonometric function decomposition; finally, the periodic error component is superimposed with the original elevation angle measured by the radar and the central offset of the overall elevation plane to obtain the photoelectric pointing prediction angle after comprehensive compensation of multiple error sources. The calculation process can fully consider the characteristics of the radar photoelectric installation error, accurately depict the pointing deviation of both in the three-dimensional space, and express it by an analytical function relationship. Meanwhile, the algebraic superposition and the trigonometric function calculation used in the error compensation are simple in calculation and good in real-time performance, and can meet the timeliness requirement of the radar-photoelectric linkage.

[0011] Optionally, the angle threshold of the photoelectric device is obtained according to the first test data and a field of view angle calculation formula of the photoelectric device, specifically comprising: obtaining a target direction and a target distance of the test object from the first test data, and querying a preset distance-focal length mapping relationship table to determine the best focal length of the photoelectric device under the target distance; determining the effective size of the internal photosensitive element of the photoelectric device from the inherent optical parameters of the photoelectric device; generating a size-focal length ratio based on the best focal length and the effective size, and performing an inverse tangent function operation on the size-focal length ratio to calculate a half field of view angle corresponding to the target direction; multiplying the half field of view angle by a preset proportionality coefficient, and taking the calculation result as the angle threshold of the photoelectric device.

[0012] By adopting the technical scheme, real-time direction and distance data of a test object are acquired, and the best lens focal length parameter is dynamically matched, the field of view size of the photoelectric device is adaptively adjusted, the field of view size is always matched with the target size, and the best detection effect is achieved under different distance conditions. Meanwhile, the physical correspondence relationship between the focal length and the viewing angle is constructed by using device parameters such as the photosensitive element size, and is accurately described by using an inverse tangent mathematical function, so that the theoretical value of the light television field angle under a specific target state can be quantitatively calculated. The preset proportion coefficient is introduced, the success standard of the judgment linkage can be adjusted according to the actual engineering requirements. The method fully utilizes the physical mechanism and test data of photoelectric imaging, can objectively calculate the optimal field angle threshold value adapted to the current task scene, and uses the threshold value as a quantitative basis for judging the linkage precision, and has high reliability. Meanwhile, through the data-driven threshold dynamic adjustment mechanism, the success standard of the linkage can be flexibly set according to the operational task requirements, and the environmental adaptability of the radar-light linkage system is greatly enhanced.

[0013] Optionally, after the success rate of the linkage under the first error value set is obtained by counting the number of successful guidances corresponding to the first error value set and dividing the total number of guidances, the method further comprises: determining a second error value set from the plurality of error value sets, the linkage success rate corresponding to the second error value set being greater than or equal to a preset success rate threshold; determining a value range corresponding to the second error value set, and generating a new error value set in the value range with a preset second step length, the preset second step length being smaller than the first preset step length; and calculating the linkage success rate corresponding to each new error value set.

[0014] By adopting the technical scheme, the target success rate threshold is set, the parameter combination meeting the minimum performance requirement is selected from the plurality of error value sets calculated with the coarse step length, the new parameter combination is regenerated in the value range according to the refined preset second step length, and the linkage precision is evaluated. Through such iterative refinement, the value resolution can be continuously improved in the narrowed attention area, and the real optimal value is gradually approached. Compared with the pure global search, the hierarchical refinement method can continuously focus on the known optimization direction, and achieve the highest possible parameter recognition precision within a reasonable calculation amount, balancing the optimization effect and the real-time requirement. Meanwhile, through the setting of the success rate threshold, the method has a certain adaptive ability, can balance the input and output ratio of the calculation amount and the precision according to the task requirement, and flexibly cope with the changing use scene. Therefore, the iterative optimization strategy of the method is a simple and effective linkage error correction method which balances the efficiency and the precision.

[0015] Optionally, based on the platform attitude data, the first test data and the second test data are converted into a linkage coordinate system with a line connecting the first center of the radar and the second center of the photoelectric device as a reference axis to obtain radar linkage line-of-sight angle and photoelectric linkage line-of-sight angle, specifically including: generating an attitude transformation matrix from the device carrier coordinate system to the geographic reference coordinate system by using the platform heading angle, the pitch angle and the roll angle contained in the platform attitude data; applying the attitude transformation matrix to the first test data and the second test data respectively to obtain a first position vector of the radar in the geographic reference coordinate system and a second position vector of the photoelectric device in the geographic reference coordinate system; determining a reference axis vector connecting the first center and the second center in the geographic reference coordinate system; taking the reference axis vector as the main axis of the linkage coordinate system, and performing vector orthogonalization operation with the reference vector of the geographic reference coordinate system to construct a linkage coordinate system transformation base; performing coordinate transformation operation on the first position vector and the second position vector with the linkage coordinate system transformation base to convert into the linkage coordinate system to obtain the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle.

[0016] By adopting the above technical solution, the heading angle, the pitch angle and the roll angle of the platform are used to construct an attitude transformation matrix from the device carrier coordinate system to the geographic reference coordinate system to describe the rotation law of the device coordinate system with the change of the platform attitude. The attitude transformation matrix is applied to the first test data and the second test data respectively, so that the influence of the change of the platform attitude can be eliminated to obtain the first position vector of the radar and the second position vector of the photoelectric device in the geographic reference coordinate system. Further, the reference axis vector connecting the first center and the second center is taken as the reference to construct the transformation base of the linkage coordinate system through vector orthogonalization operation. Finally, the first position vector and the second position vector in the geographic reference coordinate system are subjected to coordinate transformation operation by using the linkage coordinate system transformation base, so that the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle which directly reflect the pointing deviation between the devices and eliminate the influence of the attitude are obtained. This calculation method based on the coordinate transformation matrix has mathematical rigor, can accurately depict the geometric relationship among the platform attitude, the device installation and the target motion, and effectively improves the accuracy of the linkage precision analysis. At the same time, the matrix operation is easy to realize by computer program and has high operation efficiency, which can meet the needs of real-time guidance.

[0017] Optionally, after determining the optimal error value set from the plurality of error value sets based on the linkage success rate, the method further comprises: when determining that the radar discovers the target object, converting the target position of the target object from a radar coordinate system to the linkage coordinate system by a coordinate system conversion algorithm to obtain a real-time radar linkage line-of-sight angle; correcting and calculating the real-time radar linkage line-of-sight angle in combination with the optimal error value set to obtain a real-time photoelectric linkage line-of-sight angle; performing reverse coordinate transformation of the real-time photoelectric linkage line-of-sight angle from the linkage coordinate system to a command coordinate system of the photoelectric device to generate a target guide angle command; and issuing the target guide angle command to the photoelectric device to adjust tracking parameters of the photoelectric device so that the target object is within a field of view of the photoelectric device.

[0018] By adopting the above technical solution, when the radar discovers the target object, first, the target position information of the target object in the radar coordinate system is converted to the linkage coordinate system by the coordinate system conversion algorithm to obtain a real-time radar linkage line-of-sight angle. Then, the real-time radar linkage line-of-sight angle is corrected and calculated in combination with the optimal error value set determined by error analysis to obtain a predicted real-time photoelectric linkage line-of-sight angle. This angle reflects the expected direction of the line of sight of the photoelectric device under the current radar measurement result and system calibration state. To enable the expected direction to accurately control the photoelectric device, the real-time photoelectric linkage line-of-sight angle needs to be further transformed from the linkage coordinate system to the command coordinate system of the photoelectric device through inverse operation of the coordinate transformation matrix, thereby generating a target guide angle command that can be directly executed by the photoelectric device, and completing the closed loop from the radar target information to the photoelectric control command. Based on the target guide angle command, the photoelectric device automatically adjusts its tracking parameters so that its optical axis always follows the target object movement, so that the target object stably appears in its field of view, and reliable tracking is achieved. This real-time guidance process fully utilizes the optimal error value set parameters obtained by offline calibration, and can maximize the elimination of system errors, so that the actual direction of the photoelectric device is highly consistent with the radar measurement result. At the same time, through the reverse closed loop transformation between the coordinate systems, the accuracy and timeliness of the guidance command are ensured, and a stable and reliable information flow is formed. Therefore, this method constitutes a complete process of guiding the photoelectric device to track the target by the radar, and can significantly improve the accuracy and success rate of the radar guiding the photoelectric device operation.

[0019] In a second aspect of the present application, a radar and photoelectric device linkage error correction device is provided, which comprises a test data acquisition module, a platform attitude acquisition module, a coordinate system conversion module, a success rate calculation module and an optimal error determination module, wherein: the test data acquisition module is configured to control a test object to move in different flight modes, and to acquire data of the test object to obtain first test data and second test data, the first test data being tracking data of the test object acquired by the radar, and the second test data being pointing data of the photoelectric device when the photoelectric device is aligned with the test object; the platform attitude acquisition module is configured to acquire platform attitude data of a photoelectric platform carrying the photoelectric device; the coordinate system conversion module is configured to convert the first test data and the second test data to a linkage coordinate system with a line connecting a first center of the radar and a second center of the photoelectric device as a reference axis based on the platform attitude data, to obtain radar linkage line-of-sight angles and photoelectric linkage line-of-sight angles, respectively; the success rate calculation module is configured to input the radar linkage line-of-sight angles and the photoelectric linkage line-of-sight angles into a preset error analysis algorithm to obtain linkage success rates of the radar and the photoelectric device under a plurality of different error value sets; and the optimal error determination module is configured to determine an optimal error value set from the plurality of error value sets based on the linkage success rates.

[0020] In a third aspect of the present application, an electronic device is provided, which comprises a processor, a memory, a user interface and a network interface, the memory is configured to store instructions, the user interface and the network interface are both configured to communicate with other devices, and the processor is configured to execute the instructions stored in the memory to enable the electronic device to perform the method of any one of the above aspects.

[0021] In a fourth aspect of the present application, a computer readable storage medium is provided, which stores instructions, when the instructions are executed, the method of any one of the above aspects is performed.

[0022] In summary, the one or more technical solutions provided in the present application have at least the following technical effects or advantages:

[0023] 1. By combining the tracking data and pointing data of the target of the radar and the photoelectric device with the platform attitude data, the two are converted to a unified linkage coordinate system, the linkage success rates under different error value sets are calculated by using the error analysis algorithm, and the optimal error compensation value is determined. This method effectively solves the pointing deviation problem caused by mechanical installation error, and greatly improves the target capture success rate of the radar and photoelectric device linkage system and the ability to adapt to dynamic scenes. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1is a flowchart of a radar and photoelectric device linkage error correction method disclosed by an embodiment of the present application;

[0025] Figure 2 is a module schematic diagram of a radar and photoelectric device linkage error correction device disclosed by an embodiment of the present application;

[0026] Figure 3 is a structural schematic diagram of an electronic device disclosed by an embodiment of the present application.

[0027] Legend: 201, test data acquisition module; 202, platform attitude acquisition module; 203, coordinate system conversion module; 204, success rate calculation module; 205, optimal error determination module; 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0028] In order for those skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in conjunction with the drawings in the embodiments of the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0029] In the description of the embodiments of the present application, the words such as "for example" or "for instance" are used to represent an example, illustration or description. Any embodiment or design scheme described as "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0030] In the description of the embodiments of the present application, the term "a plurality of" means two or more. For example, a plurality of systems means two or more systems, and a plurality of screen terminals means two or more screen terminals. In addition, the terms "first" and "second" are used for description purposes only, and should not be interpreted as indicating or implying relative importance or implicitly indicating the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. The terms "include", "contain", "have" and their variants mean "include but are not limited to", unless otherwise specifically emphasized.

[0031] The present application provides a radar and photoelectric device linkage error correction method, which refers to Figure 1 , Figure 1is a flowchart of a radar and photoelectric device linkage error correction method provided by an embodiment of the present application. The method is applied to a server, which is used to execute a radar and photoelectric device linkage error correction program. The server can be a single server, a server cluster composed of multiple servers, or a cloud computing service center. The server communicates data and controls interaction with subsystems such as radar devices, photoelectric devices, and inertial navigation devices (or GPS devices) on a platform carrying the photoelectric devices through wireless networks, Bluetooth, and other communication functions. The method includes steps S101 to S105, which are as follows:

[0032] Step S101: Control the test object to move in different flight modes, and collect data for the test object to obtain first test data and second test data. The first test data is tracking data of the test object collected by the radar, and the second test data is tracking data of the test object collected by the photoelectric device when it is aligned with the test object.

[0033] In step S101, the server first plans or loads a test flight route scheme for data collection. The server presents a preset flight route template to the operator or allows the operator to customize the route through its control terminal interface. These route schemes are designed to include multiple different flight modes to ensure that the collected data can cover the entire working airspace of the radar and photoelectric device linkage.

[0034] For example, the flight instructions issued by the server to the test object (such as a drone) can include:

[0035] Radial flight mode: The test object flies from far to near or from near to far along a direction substantially parallel to the line connecting the radar-photoelectric platform. This mode is mainly used to test the error characteristics when the pitch angle changes greatly and the azimuth angle is relatively stable.

[0036] Tangential flight mode: The test object performs approximately circular flight with the radar-photoelectric platform as the center. This mode is mainly used to test the error characteristics when the azimuth angle changes greatly and the pitch angle is relatively stable, especially for analyzing the periodic error of the pitch angle with the azimuth angle.

[0037] Combined maneuver mode: The test object performs complex routes such as “S” shaped maneuver, eight-shaped maneuver, or spiral ascent. This mode can simultaneously stimulate continuous and nonlinear changes in azimuth angle and pitch angle, and collect more comprehensive error performance data.

[0038] Variable speed and height mode: In the above flight modes, the server also instructs the test object to change its flight speed and height to simulate the diversified motion states of the target in real scenarios.

[0039] The server sends these planned sequences of flight instructions to the flight control system of the test object via a data link, thereby achieving indirect control of the test object. At the same time that the test object begins to execute the predetermined flight mission, the server sends a synchronization instruction to the radar device and the data recording unit of the optoelectronic device to start data acquisition.

[0040] First test data acquisition: The radar device autonomously searches and locks onto the test object, and begins continuous tracking. During this process, the radar device transmits the measured observation data in the coordinate system of the radar device to the server in real time or in batches. These data constitute the first test data, and each record generally contains: a high-precision timestamp, the azimuth angle of the test object, the elevation angle of the test object, and the target distance. After receiving these data, the server applies a uniform server timestamp to the data and stores the data in a database or data buffer.

[0041] Second test data acquisition: At the same time, the operator (or the automatic tracking module) of the optoelectronic device aims and locks the same test object in flight at the optoelectronic turret, so that the test object always remains near the center of the field of view. The encoder of the optoelectronic turret outputs the pointing angle of the optoelectronic turret in real time. These data collected by the optoelectronic device to describe the pointing direction of the optical axis constitute the second test data. Each record also contains: a high-precision timestamp, the azimuth angle of the optoelectronic turret, and the elevation angle of the optoelectronic turret. These data are also transmitted to the server.

[0042] Step S102: Obtain the platform attitude data of the optoelectronic platform carrying the optoelectronic device.

[0043] In step S102, the server establishes stable communication with the attitude measurement unit installed on the platform. The attitude measurement unit is usually a high-precision inertial navigation device (such as an inertial measurement unit IMU or an integrated GPS inertial navigation system INS). Before the start of the data acquisition task, the server sends a data subscription request to the inertial navigation device, requiring the inertial navigation device to continuously report the real-time attitude information of the platform at a predetermined frequency (for example, 100 Hz). This high-frequency data stream ensures that even in the moment of severe platform maneuvering, the server can capture subtle attitude changes.

[0044] Each frame of platform attitude data received by the server is a structured data packet that contains complete orientation information of the platform in the geographic reference coordinate system. Specifically, the server parses three key attitude angle components from this data packet:

[0045] Platform orientation angle: represents the included angle between the reference axis of the platform and the true north direction. This parameter reflects the rotation state of the platform in the horizontal plane.

[0046] Pitch angle of platform: represents the rotation angle of the platform around its lateral axis, i.e. the state of the platform's pitching or front-back swinging.

[0047] Roll angle of platform: represents the rotation angle of the platform around its longitudinal axis, i.e. the state of the platform's rolling or left-right swinging.

[0048] These data together constitute a complete three-dimensional description of the spatial posture of the platform at any moment.

[0049] This is the most core task of the server in this step. Since the radar, photoelectric and inertial navigation devices are three independent subsystems, there may be slight differences in the time points at which they generate data. In order to ensure the accuracy of subsequent coordinate conversion, the server must accurately timestamp align the received platform posture data with the first test data and the second test data collected in step S101.

[0050] For example: Suppose the server receives a data packet from the radar at T1, which contains tracking information of the test object. At the same time, the server is receiving a data stream from the inertial navigation device at a very high frequency. The synchronization processing module of the server will immediately search for the posture data packet corresponding to the time stamp closest to T1 in the posture data stream. If a posture data packet with a time stamp of T1' is found, and the time difference between T1 and T1' is within a preset minimum threshold (such as 1 millisecond), the server considers that the posture data (including the orientation angle, pitch angle, roll angle at that time) is synchronized with the radar data. The same time alignment operation is performed for the photoelectric device data at the same time T1.

[0051] Step S103: Based on the platform posture data, convert the first test data and the second test data into the linkage coordinate system with the line connecting the first center of the radar and the second center of the photoelectric device as the reference axis, to obtain the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle respectively.

[0052] In step S103, based on the platform attitude data, the first test data and the second test data are converted into a linkage coordinate system with the line connecting the first center of the radar and the second center of the photoelectric device as the reference axis, to obtain the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle, specifically including: generating an attitude transformation matrix from the device carrier coordinate system to the geographical reference coordinate system by using the platform heading angle, the pitch angle and the roll angle contained in the platform attitude data; applying the attitude transformation matrix to the first test data and the second test data respectively to obtain the first position vector of the radar in the geographical reference coordinate system and the second position vector of the photoelectric device in the geographical reference coordinate system; determining the reference axis vector connecting the first center and the second center in the geographical reference coordinate system; taking the reference axis vector as the main axis of the linkage coordinate system, and performing vector orthogonalization operation with the reference vector of the geographical reference coordinate system to construct the linkage coordinate system transformation base; and performing coordinate transformation operation on the first position vector and the second position vector with the linkage coordinate system transformation base to convert them into the linkage coordinate system to obtain the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle.

[0053] Specifically, the attitude transformation matrix from the device carrier coordinate system to the geographical reference coordinate system is generated by using the platform heading angle, the pitch angle and the roll angle contained in the platform attitude data.

[0054] The server first extracts the platform heading angle, the pitch angle and the roll angle, which are three Euler angles, from the platform attitude data obtained in step S102, which is time-synchronized with each piece of tracking data. These three angle values cannot be directly used for vector operation, and the server converts them into a mathematical tool, an attitude transformation matrix. The matrix is a 3x3 rotation matrix, which uniquely defines the spatial attitude of the platform (i.e. the device carrier coordinate system) carrying the radar and the photoelectric device relative to a fixed geographical reference coordinate system (for example, a coordinate system with a certain point on the ground as the origin, and north, east and vertically upward as the axes) at a specific time, which does not change with the movement of the platform. The server calculates the attitude transformation matrix according to the standard conversion formula of aerospace Euler angles to rotation matrix. Then, the server applies the attitude transformation matrix to the first test data and the second test data respectively to obtain the first position vector of the radar in the geographical reference coordinate system and the second position vector of the photoelectric device in the geographical reference coordinate system. At this stage, the server processes the original tracking data from step S101.

[0055] For the first test data, the server first converts the azimuth angle, the elevation angle and the distance of the test object into a three-dimensional Cartesian vector in the radar's own coordinate system.

[0056] For the second test data, since it does not contain distance information, the server converts the azimuth angle and the elevation angle of the photoelectric device into a unit direction vector in the photoelectric device's own coordinate system.

[0057] Subsequently, the server left multiplies the attitude transformation matrix generated in the previous step to the radar three-dimensional vector and the photoelectric unit direction vector, respectively, so as to offset the platform attitude influence.

[0058] For example, assume that the platform rolls 10 degrees to the right, and the radar measures the target bearing as 0 degrees in its own coordinate system. Without attitude compensation, this 0 degree information is incorrect. By applying the attitude transformation matrix, the server calculates a new vector in the geographical coordinate system that will correctly point to the right at a 10 degree tilt. The result of the operation is two new vectors: a first position vector representing the radar observation and a second position vector representing the photoelectric pointing. At this point, both vectors have been liberated from their respective shaking carrier coordinate systems and unified into the same stable geographical reference coordinate system, eliminating the common error caused by platform motion.

[0059] The server next constructs a linkage coordinate system that is ultimately used for error analysis. First, the server reads a pre-accurately measured physical quantity from the system configuration parameters: the displacement vector from the radar antenna phase center (first center) to the photoelectric turntable rotation center (second center). This vector is determined during device installation. The server takes this fixed displacement vector as the reference axis vector of the linkage coordinate system (for example, defined as the X axis of the new coordinate system).

[0060] A complete coordinate system requires three mutually orthogonal reference axes. The server already has the X axis, and next needs to determine the Y and Z axes. The server uses vector orthogonalization operations to complete this task. For example, the server can perform mathematical operations on the skyward vector of the geographical reference coordinate system and the X axis of the new coordinate system to obtain a new vector that is perpendicular to the X axis and in the horizontal plane, and define it as the Y axis of the linkage coordinate system. Finally, by calculating the vector cross product of the X and Y axes, the completely orthogonal Z axis is obtained.

[0061] These three newly generated, mutually orthogonal unit vectors (X, Y, Z) collectively constitute a linkage coordinate system transformation base. This is essentially another rotation matrix that can achieve a second transformation from the geographical reference coordinate system to this completely new linkage coordinate system that takes the radar-photoelectric connection as a reference.

[0062] Finally, the server performs coordinate transformation operations on the first and second position vectors in the geographical reference coordinate system with the linkage coordinate system transformation base. The purpose of this operation is to project the line-of-sight vector from the general geographical coordinate system into the linkage coordinate system.

[0063] After the transformation, the server obtains two final vectors in the gimbal coordinate system. The server then converts the two Cartesian vectors (x, y, z form) back to the more intuitive spherical coordinate form (azimuth and elevation angles). The two final angles, i.e., the radar gimbal line-of-sight angle and the photoelectric gimbal line-of-sight angle, are the outputs of this step. At this point, all the original data has been calculated into a common reference system that can most directly reflect the installation error, preparing for the error analysis and success rate calculation in the subsequent step S104.

[0064] Step S104: inputting the radar gimbal line-of-sight angle and the photoelectric gimbal line-of-sight angle into a preset error analysis algorithm to obtain the success rate of the radar and the photoelectric device under a plurality of different error value sets.

[0065] In step S104, the radar gimbal line-of-sight angle and the photoelectric gimbal line-of-sight angle are input into a preset error analysis algorithm to obtain the success rate of the radar and the photoelectric device under a plurality of different error value sets, specifically including: modeling the installation error of the radar and the photoelectric device as a plurality of installation error parameters, the installation error parameters including azimuth inherent deviation, periodic variation phase of elevation angle, periodic variation amplitude of elevation angle, and elevation angle center offset; for each installation error parameter, a plurality of error value sets are generated in the global range of each installation error parameter at a first preset step size, wherein an error value set includes a value of all installation error parameters; according to the first test data and the field of view angle calculation formula of the photoelectric device, the angle threshold of the photoelectric device is obtained, which is the maximum value allowed by the photoelectric device for the test object to deviate from the center of the field of view of the photoelectric device; by the preset error analysis algorithm, each error value set is applied to the radar gimbal line-of-sight angle to generate a corresponding predicted photoelectric guidance angle; the predicted photoelectric guidance angle is compared with the photoelectric gimbal line-of-sight angle to obtain a deviation value; if the deviation value is less than the angle threshold, it is determined that the guidance is successful; the number of successful guidance corresponding to the first error value set is counted and divided by the total number of guidance to obtain the success rate of the radar and the photoelectric device under the first error value set, and the first error value set is any one of the plurality of error value sets.

[0066] Specifically, the installation error of the radar and the photoelectric device is modeled as a plurality of installation error parameters. The server first loads the mathematical model of the physical installation error between the radar and the photoelectric device. This model is not a simple linear deviation, but a complex spatial geometric error decomposed into four independent installation error parameters with clear physical meaning:

[0067] Azimuth inherent deviation: this parameter describes the systematic and fixed rotational deviation between the radar's azimuth zero reference and the photoelectric's azimuth zero reference. It can be understood as that the photoelectric turntable rotates a fixed angle to the left or right relative to the radar as a whole.

[0068] Pitch periodicity phase: This parameter describes the fact that the pitch error is not a constant, but rather a periodic function of azimuth angle, similar to a sine wave. This phase parameter defines the starting point of this "sine wave", i.e. at which azimuth angle the pitch error reaches its peak value.

[0069] Pitch periodicity amplitude: This parameter defines the maximum deviation of the above-mentioned pitch periodicity. The larger the amplitude, the more dramatic the fluctuations of the pitch error as a function of azimuth angle. This is usually caused by the misalignment of the two device mounting planes.

[0070] Pitch center offset: This parameter describes the overall elevation of the electro-optical pitch zero-degree reference with respect to the radar pitch zero-degree reference, even after the periodicity has been removed. It is a constant pitch offset.

[0071] Based on the above error model, the server starts a large-scale parameter space search. The server sets a reasonable global search range and a first preset step size for each installation error parameter. Then, the server traverses all possible combinations of these parameters through multiple nested loops to generate a plurality of error value sets. Each error value set contains a specific combination of values of the four installation error parameters.

[0072] For example, the server can generate sets according to the following rules:

[0073] Azimuth inherent bias: from -5.0 degrees to +5.0 degrees, step size 0.1 degrees.

[0074] Pitch periodicity phase: from 0 degrees to 359 degrees, step size 1 degree.

[0075] Pitch periodicity amplitude: from 0.0 degrees to 2.0 degrees, step size 0.1 degrees.

[0076] Pitch center offset: from -1.0 degrees to +1.0 degrees, step size 0.1 degrees.

[0077] An error value set can be: {Azimuth inherent bias: 1.2 degrees, Phase: 88 degrees, Amplitude: 0.7 degrees, Center offset: -0.3 degrees}. The server will systematically generate all such combinations.

[0078] Before starting the test, the server sets a dynamic and reasonable evaluation criterion, i.e. the angle threshold, for the success or failure of each boot. The server extracts the target distance of the test object from the first test data (radar data) of each data record collected in step S101. The server calculates the angle threshold according to the target distance and the field of view angle calculation formula of the photoelectric device. The angle threshold represents the maximum angle allowed for the target to deviate from the center of the field of view. The farther the distance, the longer the focal length, the smaller the field of view angle, and therefore the smaller the angle threshold, the more stringent the requirement.

[0079] The server traverses the radar linkage sight angle of all data points collected in step S101. Then, the four error parameters in the error value set currently being tested are applied to the radar linkage sight angle through a preset correction formula to calculate a predicted photoelectric guidance angle. The server compares the predicted photoelectric guidance angle with the photoelectric linkage sight angle recorded in the data point to calculate the angular distance between them, i.e. the deviation value. The server compares the deviation value with the angle threshold corresponding to the data point. If the deviation value is less than the angle threshold, the server determines that this boot is successful, and increments the success counter. After the server traverses all data points using the current error value set, it divides the total number of successful boots by the total number of data points (i.e. the total number of boots) to obtain the linkage success rate under the error value set.

[0080] In a possible implementation, applying each error value set to the radar linkage sight angle to generate a corresponding predicted photoelectric guidance angle through a preset error analysis algorithm specifically includes: algebraically superimposing the azimuth component in the radar linkage sight angle and the azimuth inherent deviation to obtain a preliminary corrected azimuth; using the preliminary corrected azimuth, combining the periodic variation phase of the elevation angle and the periodic variation amplitude of the elevation angle, and calculating the periodic elevation angle error amount varying with the azimuth through a trigonometric function; superimposing the elevation component in the radar linkage sight angle, the periodic elevation angle error amount, and the elevation angle center offset to generate the predicted photoelectric guidance angle.

[0081] Specifically, the server first extracts the azimuth component of the radar linkage sight angle from the data point currently being processed. At the same time, the server reads the value of the azimuth inherent deviation from the error value set currently being tested. The core task of this step is to simulate and correct the most basic horizontal installation error that does not vary with the attitude. The server performs a simple algebraic addition operation to add the azimuth component of the radar to this hypothetical azimuth inherent deviation.

[0082] For example, assume the server is processing a data point with a radar-derived bearing of 45.0 degrees. Assume that the current set of error values under test has a value for the inherent azimuth bias of -0.5 degrees (this represents the assumption that the "optical device is 0.5 degrees to the left of the zero azimuth pointing of the radar"). The server's calculation is: 45.0 + (-0.5) = 44.5 degrees. This result, 44.5 degrees, is the preliminary corrected azimuth. This newly generated angle is the basis for the input to the subsequent calculation of the periodic elevation error, because it is closer to the azimuth at which the optical system is actually pointed, and the subsequent elevation error analysis must be based on this corrected azimuth.

[0083] Next, the server uses the preliminary corrected azimuth, in combination with the periodic elevation phase and the periodic elevation amplitude, to calculate the amount of periodic elevation error as a function of azimuth using a trigonometric function. Having completed the preliminary correction of azimuth, the server begins processing the elevation error. The elevation error is characterized by its dependence on azimuth, and is typically caused by the misalignment of the mounting planes of the radar and the optical device. The server reads the periodic elevation phase and the periodic elevation amplitude from the current set of error values under test.

[0084] The server applies a pre-determined trigonometric function model (typically a sine function) to calculate this error. It uses the preliminary corrected azimuth (44.5 degrees) from the previous step as the independent variable, the periodic elevation amplitude as the amplitude of the sine function, and the periodic elevation phase as the horizontal offset of the function.

[0085] For example: continuing the example, assume that the periodic elevation amplitude in the current set of error values under test is 0.8 degrees, and the periodic elevation phase is 90 degrees. The server performs a calculation similar to: periodic error = amplitude * sin(preliminary corrected azimuth - phase). Substituting the values, we get: periodic elevation error = 0.8 * sin(44.5 - 90.0) = 0.8 * sin(-45.5) ≈ 0.8 * (-0.713) ≈ -0.57 degrees. This result, -0.57 degrees, represents the additional elevation bias that the server has deduced, based on the current error assumptions, is present at this azimuth due to the misalignment of the mounting planes.

[0086] The server then superimposes the elevation component of the radar gimbal boresight angle with the periodic elevation error and the elevation center bias to generate the predicted electro-optical guidance angle. The server integrates all the error components that affect the elevation angle. The server first extracts the elevation component of the radar gimbal boresight angle from the raw data point. Then, it algebraically superimposes this raw elevation angle, the periodic elevation error calculated in the previous step, and the elevation center bias (a fixed, azimuth- independent elevation bias) read from the current error value set.

[0087] For example, suppose the raw radar elevation angle is 20.0 degrees, the periodic elevation error calculated in the previous step is -0.57 degrees, and the elevation center bias in the current error value set is +0.1 degrees. The server's calculation process is as follows: predicted elevation = raw elevation + periodic elevation error + elevation center bias. Substituting the numerical values, we get: predicted elevation = 20.0 + (-0.57) + 0.1 = 19.53 degrees.

[0088] In one possible implementation, the angle threshold of the photoelectric device is calculated according to the first test data and a field of view angle calculation formula of the photoelectric device, specifically including: obtaining a target direction and a target distance of a test object from the first test data, and querying a preset distance-focal length mapping relationship table to determine a best focal length of the photoelectric device at the target distance; determining an effective size of an internal photosensitive element of the photoelectric device from inherent optical parameters of the photoelectric device; based on the best focal length and the effective size, generating a size-focal length ratio, and performing an arctangent function operation on the size-focal length ratio to calculate a half field of view angle corresponding to the target direction; and multiplying the half field of view angle by a preset proportionality coefficient, and taking the calculation result as the angle threshold of the photoelectric device.

[0089] Specifically, the server obtains the target distance of the test object from the first test data, and queries the preset distance-focal length mapping relationship table to determine the best focal length of the photoelectric device at the target distance. The server first starts processing a specific data point. The server accurately extracts the target distance from the first test data (i.e., the observation data of the radar) contained in the data point. At the same time, the server accesses a configuration database stored locally or accessible through a network, which contains a preset distance-focal length mapping relationship table. This table is a digital embodiment of the operating logic of the photoelectric device, which defines the best focal length to which the zoom lens of the photoelectric device should be adjusted in order to obtain a clear and appropriately sized target image at different distances. The server queries this table with the target distance measured by the radar as input.

[0090] For example, assume that the server is processing a data point, and the radar reports the target distance as 8000 meters. The server queries the pre-set distance-focal length mapping table, which may stipulate that for a distance range of 7000 meters to 9000 meters, the photoelectric device should use a focal length of 1500 mm to ensure imaging quality. Thus, the server determines the optimal focal length for the current data point as 1500 mm.

[0091] Next, the server acquires the hardware-level, fixed parameters. The server queries a parameter file or database that records the detailed specifications of the device, and reads the inherent optical parameters of the photoelectric device, especially the effective size of the internal photosensitive element. This size usually refers to the height or width of the photosensitive chip (such as CMOS or CCD) in millimeters. This is a physical quantity determined by the hardware manufacturer and is the basis for calculating the field of view angle. For example, the server finds from the device parameter library that the photosensitive element used by the photoelectric device has an effective size of 10.8 mm in the vertical direction.

[0092] Then, the server combines the dynamically changing focal length with the fixed photosensitive element size to perform the core optical calculation. The server first calculates a dimensionless ratio. According to standard optical principles, the field of view angle is related to half the size of the photosensitive element and the focal length. Therefore, the server first calculates half the size of the photosensitive element (10.8 mm / 2 = 5.4 mm), and then divides this half size by the optimal focal length determined in the first step (1500 mm). The result (5.4 / 1500 = 0.0036) is the size-focal length ratio used for calculation. The server then performs an arctangent function operation on this size-focal length ratio. The physical meaning of this mathematical operation is to convert the ratio of the two legs of a right triangle (half the size of the photosensitive element and the focal length) back to the acute angle that it corresponds to, which is the half field of view angle. For example, the server calculates arctan(0.0036). The result of the operation is an angle value in radians, which the server converts to a more intuitive unit of degrees. arctan(0.0036) is approximately equal to 0.206 degrees. This 0.206 degrees is the angle from the center of the field of view to the upper / lower edge of the field of view when the target is 8000 meters away.

[0093] Finally, the server does not directly use the entire half field of view angle as the tolerance. Because the goal is to enable the photoelectric tracking system to "capture" the target, it is usually sufficient for the target to fall within a relatively central position in the field of view. Therefore, the server reads a pre-set proportionality coefficient (e.g., 0.1, 0.2, etc.), which represents the requirement for guidance accuracy. The smaller the coefficient, the higher the requirement.

[0094] The server multiplies the half field angle calculated in the previous step with the preset scale factor, and the final result is the angle threshold customized for the current data point.

[0095] For example, if the preset scale factor is 0.15, the server performs the calculation: 0.206 degrees * 0.15 = 0.0309 degrees. This 0.0309 degrees is the final standard for judging whether the deviation between the photoelectric pointing under radar guidance and the actual photoelectric pointing is acceptable. In the subsequent comparison, as long as the deviation between the two is less than 0.0309 degrees, the server will determine that this guidance is successful.

[0096] In a possible implementation, after obtaining the linkage success rate corresponding to the first error value set by counting the number of successful guidances and dividing the total number of guidances, the method further includes: determining a second error value set from the plurality of error value sets, the linkage success rate corresponding to the second error value set being greater than or equal to a preset success rate threshold; determining a value range corresponding to the second error value set, and generating a new error value set in the value range with a preset second step size, the preset second step size being smaller than the first preset step size; and calculating the linkage success rate corresponding to each new error value set.

[0097] Specifically, after the server completes the preliminary global search of step S104 and obtains all the first error value sets and the corresponding linkage success rates, the error analysis process is not yet complete. In order to obtain higher-precision error parameters, the server starts a two-stage optimization search strategy from coarse to fine. The server determines a second error value set from the plurality of error value sets, the linkage success rate corresponding to the second error value set being greater than or equal to a preset success rate threshold. The server traverses the massive results generated in the global search stage of S104, i.e., each first error value set and the corresponding linkage success rate calculated. The server first presets a success rate threshold. The preset success rate threshold can be set according to actual conditions, which is not limited in the present application.

[0098] The server compares the linkage success rate of each error value set with the threshold. If the success rate of an error value set is greater than or equal to the threshold, the server copies the error value set (including all values of the four installation error parameters) to a new set. After traversing all the preliminary results, the new set is the second error value set. In fact, the second error value set is a collection of all the first error value sets that pass the success rate threshold screening.

[0099] After obtaining the second error value set, the server will perform statistical analysis on the second error value set to determine a new, reduced parameter search boundary, i.e. the value range. Specifically, the server will perform the following operation for each of the four installation error parameters: traverse all parameters in the second error value set, and find the minimum and maximum values of the parameter. For example, for the azimuth inherent deviation, the server determines that the value range of the parameter is from +1.12 degrees to +1.35 degrees. The same maximum / minimum value search is performed for the other three parameters (elevation periodic variation phase, amplitude, and center offset). The [minimum value, maximum value] interval of each of the four parameters collectively defines the new value range.

[0100] Next, the server will generate a new error value set within this reduced value range using a finer step size, i.e. a preset second step size. This preset second step size is significantly smaller than the first preset step size used in the first round of global search.

[0101] For example, in the first round, the first preset step size of the azimuth inherent deviation is 0.1 degrees. Now, the new value range is [+1.12 degrees, +1.35 degrees]. The server generates a new error value set within this new range using a preset second step size, e.g. 0.01 degrees. It starts from 1.12 degrees, increments by 0.01 degrees until 1.35 degrees, and combines the values of the other three parameters generated within the new range and new step size.

[0102] After generating these more dense and finer new error value sets, the server will repeat the core calculation task in S104. For each new error value set, the server will apply it to the radar linkage line-of-sight angle in all data points collected in step S101 to generate predicted photoelectric guidance angles. The predicted photoelectric guidance angles are compared with the actual photoelectric linkage line-of-sight angles to calculate deviation values. The deviation values are compared with the angle threshold dynamically calculated for the data point to determine whether the guidance is successful. The total number of successful guidance is counted and divided by the total number of guidance to finally calculate the linkage success rate corresponding to the new error value set. The server will complete this round of calculation for all new error value sets. Although this process is the same as the core algorithm in S104, the search range is greatly reduced, and even with a smaller step size, the total calculation amount is less than that of the first round of global search.

[0103] Step S105: Determine the best error value set from multiple error value sets based on the linkage success rate.

[0104] In step S105, the server accesses all the results generated in step S104. These results logically constitute a mapping table or database, where each row contains two core information:

[0105] a complete set of error values, i.e., a specific set of four installation error parameter values (azimuth inherent deviation, pitch periodic variation phase, pitch periodic variation amplitude, pitch center offset); and a calculated linkage success rate (a percentage value) corresponding to the set of error values.

[0106] Because the two-stage search of coarse adjustment + fine adjustment is performed, the server will preferentially use the result set generated in the second stage to perform the analysis in this step, i.e., from the linkage success rate corresponding to the new set of error values, the server finds the entry with the highest linkage success rate. To this end, the server will perform a maximum value search algorithm. The server sets a current best placeholder in the memory. The server will randomly select the first set of error values and the linkage success rate from the result set, which is temporarily set as the current best. Subsequently, the server starts to traverse each entry in the result set from the beginning to the end. For each new set of error values, the server reads the corresponding linkage success rate and compares it with the success rate recorded in the current best placeholder. If the success rate of the new entry is higher than the current best success rate, the server will replace all the contents in the current best placeholder with the new entry. If the success rate of the new entry is not higher than the current best, the server does not perform any operation and continues to check the next entry. The process of iterative comparison will continue until the last entry in the result set is also checked. At this time, the set of error values finally left in the current best placeholder is the optimal set of error values in the global search range.

[0107] In a possible implementation, after determining the optimal set of error values from the multiple sets of error values based on the linkage success rate, the method further includes: when determining that the radar discovers the target object, converting the target position of the target object from the radar coordinate system to the linkage coordinate system by a coordinate system conversion algorithm to obtain a real-time radar linkage line-of-sight angle; performing correction calculation on the real-time radar linkage line-of-sight angle in combination with the optimal set of error values to obtain a real-time photoelectric linkage line-of-sight angle; performing inverse coordinate transformation of the real-time photoelectric linkage line-of-sight angle from the linkage coordinate system to the command coordinate system of the photoelectric device to generate a target guidance angle command; and issuing the target guidance angle command to the photoelectric device to adjust the tracking parameters of the photoelectric device so that the target object is within the field of view of the photoelectric device.

[0108] Specifically, when the radar discovers a new target object, the azimuth angle, the elevation angle, and the slant range of the target object are obtained in the radar coordinate system of the radar, and a target position vector is formed. After the server receives the information, the target position is converted from the radar coordinate system to the linkage coordinate system by a coordinate conversion algorithm. The conversion process is similar to that in step S103, and a posture transformation matrix is generated by using the platform posture data, and the installation position parameters of the radar antenna are combined for operation. The angle value corresponding to the converted target position vector in the linkage coordinate system is the real-time radar linkage line-of-sight angle.

[0109] Next, the server reads the previously determined optimal error value set from the storage, which includes various system errors generated during installation and movement of the radar and the photoelectric device, such as installation deflection angle, axial eccentricity, and axial non-orthogonality. The server corrects the real-time radar linkage line-of-sight angle by using the error values as correction amounts to obtain a real-time photoelectric linkage line-of-sight angle. This angle reflects the target direction that the photoelectric device should theoretically point to after compensating for the system errors.

[0110] However, the real-time photoelectric linkage line-of-sight angle is represented in the linkage coordinate system, while the action control of the photoelectric device is performed in its own instruction coordinate system. Therefore, the server performs inverse coordinate transformation of the real-time photoelectric linkage line-of-sight angle from the linkage coordinate system to the photoelectric device instruction coordinate system. This inverse transformation process is similar to the forward transformation, and is implemented by using the installation position parameters of the photoelectric device gimbal, the platform posture data, and other information, and by using inverse matrix operation of the posture transformation matrix. The transformed target angle forms a control instruction in the photoelectric instruction coordinate system, that is, a target guidance angle instruction.

[0111] Finally, the server transmits the target guidance angle instruction to the photoelectric device through the data link. After receiving the instruction, the photoelectric device controls the azimuth axis and the elevation axis motors of the gimbal to rotate and adjust the pointing direction of the optical lens or the infrared detector, so that the target object is as much as possible within its field of view. The entire adjustment process is automatically completed by the servo control system of the photoelectric device itself without human intervention.

[0112] Reference Figure 2The application also provides an error correction device for radar and photoelectric equipment linkage, which is a server, and the server comprises a test data acquisition module 201, a platform attitude acquisition module 202, a coordinate system conversion module 203, a success rate calculation module 204 and an optimal error determination module 205, wherein: the test data acquisition module 201 is used for controlling a test object to move in different flight modes, and collecting data for the test object to obtain first test data and second test data, the first test data being tracking data of the test object collected by the radar, and the second test data being pointing data of the photoelectric equipment when the photoelectric equipment is aligned with the test object; the platform attitude acquisition module 202 is used for acquiring platform attitude data of a photoelectric platform carrying the photoelectric equipment; the coordinate system conversion module 203 is used for converting the first test data and the second test data to a linkage coordinate system with a line connecting a first center of the radar and a second center of the photoelectric equipment as a reference axis based on the platform attitude data, to obtain a radar linkage line of sight angle and a photoelectric linkage line of sight angle respectively; the success rate calculation module 204 is used for inputting the radar linkage line of sight angle and the photoelectric linkage line of sight angle into a preset error analysis algorithm to obtain linkage success rates of the radar and the photoelectric equipment under a plurality of different error value sets; and the optimal error determination module 205 is used for determining an optimal error value set from the plurality of error value sets based on the linkage success rates.

[0113] In a possible implementation, the success rate calculation module 204 inputs the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle into a preset error analysis algorithm to obtain the linkage success rate of the radar and the photoelectric device under a plurality of different error value sets, specifically including: the success rate calculation module 204 models the installation error of the radar and the photoelectric device as a plurality of installation error parameters, the installation error parameters including an azimuth inherent deviation, a periodic variation phase of an elevation angle, a periodic variation amplitude of the elevation angle, and an elevation angle center offset; the success rate calculation module 204 generates a plurality of error value sets in the global range of each installation error parameter at a first preset step size for each installation error parameter, wherein an error value set includes one value of all installation error parameters; the success rate calculation module 204 obtains an angle threshold of the photoelectric device according to the first test data and a field of view angle calculation formula of the photoelectric device, the angle threshold being the maximum value allowed by the photoelectric device for the test object to deviate from the field of view center of the photoelectric device; the success rate calculation module 204 applies each error value set to the radar linkage line-of-sight angle to generate a corresponding predicted photoelectric guidance angle by using the preset error analysis algorithm; the predicted photoelectric guidance angle is compared with the photoelectric linkage line-of-sight angle to obtain a deviation value; if the deviation value is less than the angle threshold, the success rate calculation module 204 determines that the guidance is successful; the success rate calculation module 204 counts the number of successful guidance corresponding to the first error value set, and divides the total guidance times to obtain the linkage success rate under the first error value set, the first error value set being any one of the plurality of error value sets.

[0114] In a possible implementation, the success rate calculation module 204 applies each error value set to the radar linkage line-of-sight angle to generate a corresponding predicted photoelectric guidance angle by using the preset error analysis algorithm, specifically including: the success rate calculation module 204 algebraically superimposes the azimuth component in the radar linkage line-of-sight angle and the azimuth inherent deviation to obtain a preliminary corrected azimuth; the success rate calculation module 204 calculates a periodic elevation angle error amount varying with the azimuth by using the preliminary corrected azimuth, in combination with the periodic variation phase of the elevation angle and the periodic variation amplitude of the elevation angle through a trigonometric function; the success rate calculation module 204 superimposes the elevation component in the radar linkage line-of-sight angle, the periodic elevation angle error amount, and the elevation angle center offset to generate the predicted photoelectric guidance angle.

[0115] In a possible implementation, the success rate calculation module 204 calculates the angle threshold of the photoelectric device according to the first test data and a field of view angle calculation formula of the photoelectric device, specifically including: the success rate calculation module 204 obtains the target direction and the target distance of the test object from the first test data, and queries a preset distance-focal length mapping relationship table to determine the optimal focal length of the photoelectric device at the target distance; the success rate calculation module 204 determines the effective size of the internal photosensitive element of the photoelectric device from the inherent optical parameters of the photoelectric device; the success rate calculation module 204 generates a size-focal length ratio based on the optimal focal length and the effective size, and performs an inverse tangent function operation on the size-focal length ratio to calculate the half field of view angle corresponding to the target direction; and the success rate calculation module 204 multiplies the half field of view angle by a preset proportionality coefficient, and takes the calculation result as the angle threshold of the photoelectric device.

[0116] In a possible implementation, after the success rate calculation module 204 calculates the linkage success rate corresponding to each new error value set, the method further includes: the success rate calculation module 204 determines a second error value set from the plurality of error value sets, the linkage success rate corresponding to the second error value set being greater than or equal to a preset success rate threshold; the success rate calculation module 204 determines a value range corresponding to the second error value set, and generates a new error value set in the value range at a preset second step length, the preset second step length being less than the first preset step length; and the success rate calculation module 204 calculates the linkage success rate corresponding to each new error value set.

[0117] In a possible implementation, the coordinate system conversion module 203 converts the first test data and the second test data into a linkage coordinate system with a reference axis connecting the first center of the radar and the second center of the photoelectric device based on the platform attitude data, to obtain a radar linkage line of sight angle and a photoelectric linkage line of sight angle, specifically including: the coordinate system conversion module 203 generates an attitude transformation matrix from the device carrier coordinate system to the geographical reference coordinate system by using the platform orientation angle, the pitch angle and the roll angle contained in the platform attitude data; the coordinate system conversion module 203 applies the attitude transformation matrix to the first test data and the second test data respectively to obtain a first position vector of the radar in the geographical reference coordinate system and a second position vector of the photoelectric device in the geographical reference coordinate system; the coordinate system conversion module 203 determines a reference axis vector connecting the first center and the second center in the geographical reference coordinate system; the reference axis vector is taken as the main axis of the linkage coordinate system, and a vector orthogonalization operation is performed on the reference axis vector and the reference vector of the geographical reference coordinate system to construct a linkage coordinate system transformation base; and the coordinate system conversion module 203 performs coordinate transformation operation on the first position vector and the second position vector and the linkage coordinate system transformation base to convert to the linkage coordinate system to obtain the radar linkage line of sight angle and the photoelectric linkage line of sight angle.

[0118] In a possible implementation, after the optimal error determination module 205 determines the optimal error value set from the plurality of error value sets based on the linkage success rate, the method further includes: when the optimal error determination module 205 determines that a target object is found by the radar, the optimal error determination module 205 converts a target position of the target object from a radar coordinate system to a linkage coordinate system by a coordinate system conversion algorithm to obtain a real-time radar linkage line-of-sight angle; the optimal error determination module 205 corrects and calculates the real-time radar linkage line-of-sight angle in combination with the optimal error value set to obtain a real-time photoelectric linkage line-of-sight angle; the optimal error determination module 205 performs reverse coordinate transformation of the real-time photoelectric linkage line-of-sight angle from the linkage coordinate system to a command coordinate system of the photoelectric device to generate a target guide angle command; and the optimal error determination module 205 issues the target guide angle command to the photoelectric device to adjust a tracking parameter of the photoelectric device, so that the target object is within a field of view range of the photoelectric device.

[0119] It should be noted that the apparatus provided in the above embodiments is only used as an example for dividing the above functional modules to implement the functions thereof, and in actual applications, the above functions can be completed by different functional modules according to the needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0120] The present application also provides an electronic device. Referring to Figure 3 , Figure 3 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. The electronic device 300 can include at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0121] The communication bus 302 is configured to realize connection and communication between the components.

[0122] The user interface 303 can include a display and a camera. Optionally, the user interface 303 can further include a standard wired interface and a wireless interface.

[0123] The network interface 304 can optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0124] The processor 301 can include one or more processing cores. The processor 301 connects various parts within the server through various interfaces and lines, performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Alternatively, the processor 301 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 301 can integrate a collection of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 301, but can be realized by a separate chip.

[0125] The memory 305 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 305 can alternatively be at least one storage device located away from the aforementioned processor 301. Referring to Figure 3 The memory 305 as a kind of computer storage medium can include an operating system, a network communication module, a user interface module, and an application program of a radar and photoelectric equipment linkage error correction method.

[0126] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input, and obtain data input by the user; and the processor 301 can be used to invoke an application program stored in the memory 305 and storing a radar and photoelectric device linkage error correction method, which, when executed by one or more processors 301, causes the electronic device 300 to perform the method described in one or more of the above embodiments. It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action sets, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other order or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0127] The present application also provides a computer-readable storage medium storing instructions. When executed by one or more processors 301, the electronic device 300 performs the method described in one or more of the above embodiments.

[0128] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0129] In the several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different parts can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical or other forms.

[0130] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0131] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The above integrated unit can be realized in the form of hardware, or in the form of a software functional unit.

[0132] If the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned memory includes: a U disk, a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0133] The above is only exemplary embodiments of the present disclosure, which cannot limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the specification and practicing the true principles of the present disclosure.

[0134] The present application is intended to cover any variations, uses or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common knowledge or conventional technical means in the art that are not described in the present disclosure. The specification and examples are only considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A radar and optoelectronic device linkage error correction method, characterized by, The method comprises: Controlling the movement of a test object in different flight modes, and collecting data for the test object to obtain first test data and second test data, the first test data being tracking data of the test object collected by a radar, and the second test data being pointing data of an optoelectronic device when the optoelectronic device is aligned with the test object; Obtaining platform attitude data of an optoelectronic platform carrying the optoelectronic device; Converting the first test data and the second test data into a linkage coordinate system with a line connecting a first center of the radar and a second center of the optoelectronic device as a reference axis based on the platform attitude data, to obtain radar linkage line-of-sight angles and optoelectronic linkage line-of-sight angles respectively; Inputting the radar linkage line-of-sight angles and the optoelectronic linkage line-of-sight angles into a preset error analysis algorithm to obtain linkage success rates of the radar and the optoelectronic device under a plurality of different error value sets; Determining an optimal error value set from the plurality of error value sets based on the linkage success rates; The inputting of the radar linkage line-of-sight angles and the optoelectronic linkage line-of-sight angles into the preset error analysis algorithm to obtain the linkage success rates of the radar and the optoelectronic device under the plurality of different error value sets specifically comprises: Modeling installation errors of the radar and the optoelectronic device as a plurality of installation error parameters, the installation error parameters including an azimuth inherent deviation, a periodic variation phase of an elevation angle, a periodic variation amplitude of the elevation angle, and an elevation angle center offset; For each installation error parameter, a plurality of error value sets are generated in a global range of each installation error parameter at a first preset step size, wherein one error value set includes one value of all installation error parameters; An angle threshold of the optoelectronic device is obtained according to a field of view angle calculation formula of the optoelectronic device, the angle threshold being a maximum value allowed by the optoelectronic device for a test object to deviate from a field of view center of the optoelectronic device; Each error value set is applied to the radar linkage line-of-sight angles to generate a corresponding predicted optoelectronic guidance angle through the preset error analysis algorithm; The predicted optoelectronic guidance angle is compared with the optoelectronic linkage line-of-sight angles to obtain a deviation value; If the deviation value is less than the angle threshold, it is determined that the guidance is successful; The number of times of successful guidance corresponding to a first error value set is counted and divided by a total number of guidance times to obtain a linkage success rate under the first error value set, the first error value set being any one of the plurality of error value sets.

2. The method of claim 1, wherein, The application of each error value set to the radar linkage line-of-sight angles to generate a corresponding predicted optoelectronic guidance angle through the preset error analysis algorithm specifically comprises: An azimuth component in the radar linkage line-of-sight angles is algebraically superimposed with the azimuth inherent deviation to obtain a preliminarily corrected azimuth angle; The periodicity error of the elevation angle with respect to the azimuth angle is calculated by using trigonometric functions based on the preliminary corrected azimuth angle, the periodicity variation phase of the elevation angle and the periodicity variation amplitude of the elevation angle; The elevation angle component in the radar linkage line-of-sight angle is superimposed with the periodicity error of the elevation angle and the central offset of the elevation angle to generate the predicted photoelectric guidance angle.

3. The method of claim 1, wherein, The angle threshold of the photoelectric device is calculated according to the first test data and a field angle calculation formula of the photoelectric device, and specifically includes: The target direction and target distance of the test object are obtained from the first test data, and a preset distance-focal length mapping relationship table is queried to determine the optimal focal length of the photoelectric device at the target distance; The effective size of the internal photosensitive element of the photoelectric device is determined from the inherent optical parameters of the photoelectric device; Based on the optimal focal length and the effective size, a size-focal length ratio is generated, and an inverse tangent function operation is performed on the size-focal length ratio to calculate a half field angle corresponding to the target direction; The half field angle is multiplied by a preset proportion coefficient, and the calculation result is taken as the angle threshold of the photoelectric device.

4. The method of claim 1, wherein, After the number of successful guidance corresponding to the first error value set is counted and divided by the total number of guidance to obtain the linkage success rate under the first error value set, the method further includes: A second error value set is determined from a plurality of error value sets, and the linkage success rate corresponding to the second error value set is greater than or equal to a preset success rate threshold; A value range corresponding to the second error value set is determined, and within the value range, new error value sets are generated at a preset second step size, which is smaller than the first preset step size; The linkage success rate corresponding to each new error value set is calculated.

5. The method of claim 1, wherein, The first test data and the second test data are converted into a linkage coordinate system with a line connecting the first center of the radar and the second center of the photoelectric device as a reference axis based on the platform attitude data to obtain radar linkage line-of-sight angles and photoelectric linkage line-of-sight angles, respectively, and specifically includes: A posture transformation matrix from a device carrier coordinate system to a geographical reference coordinate system is generated using the platform orientation angle, the pitch angle and the roll angle included in the platform attitude data; The posture transformation matrix is applied to the first test data and the second test data respectively to obtain a first position vector of the radar in the geographical reference coordinate system and a second position vector of the photoelectric device in the geographical reference coordinate system; A reference axis vector connecting the first center and the second center is determined in the geographical reference coordinate system; The reference axis vector is taken as the main axis of the linkage coordinate system, and a vector orthogonalization operation is performed with the reference vector of the geographical reference coordinate system to construct a linkage coordinate system transformation base; The first position vector and the second position vector are subjected to coordinate transformation operation with the linkage coordinate system transformation base to be converted into the linkage coordinate system to obtain the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle.

6. The method of claim 1, wherein, After determining the optimal error value set from the plurality of error value sets based on the linkage success rate, the method further comprises: When the radar discovers the target object, the target position of the target object is converted from the radar coordinate system to the linkage coordinate system by a coordinate system conversion algorithm to obtain a real-time radar linkage line-of-sight angle; The real-time radar linkage line-of-sight angle is corrected and calculated in combination with the optimal error value set to obtain a real-time photoelectric linkage line-of-sight angle; The real-time photoelectric linkage line-of-sight angle is subjected to reverse coordinate transformation from the linkage coordinate system to the command coordinate system of the photoelectric device to generate a target guide angle command; The target guide angle command is sent to the photoelectric device to adjust the tracking parameters of the photoelectric device so that the target object is within the field of view of the photoelectric device.

7. An error correction device for radar and optoelectronic device linkage, characterized by, The device is used to execute the method of any one of claims 1-6, and the device comprises a test data acquisition module (201), a platform attitude acquisition module (202), a coordinate system conversion module (203), a success rate calculation module (204), and an optimal error determination module (205), wherein: The test data acquisition module (201) is configured to control a test object to move in different flight modes, and to acquire data for the test object to obtain first test data and second test data, wherein the first test data is tracking data of the test object acquired by a radar, and the second test data is pointing data of a photoelectric device when the photoelectric device is aligned with the test object; The platform attitude acquisition module (202) is configured to acquire platform attitude data of a photoelectric platform carrying the photoelectric device; The coordinate system conversion module (203) is configured to convert the first test data and the second test data to a linkage coordinate system with a line connecting a first center of the radar and a second center of the photoelectric device as a reference axis based on the platform attitude data to obtain a radar linkage line-of-sight angle and a photoelectric linkage line-of-sight angle, respectively; The success rate calculation module (204) is configured to input the radar linkage line-of-sight angle and the photoelectric linkage line-of-sight angle into a preset error analysis algorithm to obtain a linkage success rate of the radar and the photoelectric device under a plurality of different error value sets; The optimal error determination module (205) is configured to determine an optimal error value set from the plurality of error value sets based on the linkage success rate.

8. An electronic device, comprising: The electronic device (300) comprises a processor (301), a memory (305), a user interface (303), and a network interface (304), the memory (305) is configured to store instructions, the user interface (303) and the network interface (304) are configured to communicate with other devices, and the processor (301) is configured to execute the instructions stored in the memory (305) to enable the electronic device (300) to execute the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method of any one of claims 1-6.

Images