Method and device for installation calibration of optoelectronic equipment, electronic equipment and storage medium

Abstract

This application relates to the field of unmanned aerial vehicle (UAV) technology, providing a method, apparatus, electronic device, and storage medium for the installation and calibration of optoelectronic equipment. The method includes: controlling the aircraft's nose to face a target within a reasonable calibration distance range, obtaining the first heading angle and first pitch angle of the inertial navigation system; then aligning the center of the optoelectronic equipment's line of sight with the target's center mark, obtaining the azimuth angle and second pitch angle of the optoelectronic equipment, and calculating the heading deviation and pitch deviation values ​​accordingly. Next, controlling the aircraft's nose to rotate a preset angle along the target direction, obtaining the third pitch angle of the optoelectronic equipment and the roll angle of the inertial navigation system, and determining the roll deviation value. Finally, the installation and calibration of the optoelectronic equipment is completed based on the heading, pitch, and roll deviation values. This application can achieve accurate calibration in complex terrain or temporary field airfields. Simultaneously, it eliminates the need for complex and expensive third-party calibration equipment, effectively improving the collaborative working accuracy of the optoelectronic equipment and the airborne inertial navigation system.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to an installation and calibration method, device, electronic equipment, and storage medium for optoelectronic devices. Background Technology

[0002] The accuracy of the coordinated operation between airborne inertial navigation systems and optoelectronic equipment (such as optoelectronic pods and infrared imaging systems) depends on the accuracy of the mechanical mounting matrix of the optoelectronic equipment relative to the inertial navigation system. However, due to factors such as aircraft structural deformation, installation process limitations, environmental stress, and long-term wear and tear, this matrix can change, reducing the accuracy of target geographic coordinate calculation and affecting mission effectiveness. In related technologies, the deviation calibration of this matrix is ​​costly and complex, and must rely on high-precision laboratory settings or long-distance (usually kilometer-level) fixed calibration towers or markers, making it difficult to implement in complex terrain or temporary field airfields. Summary of the Invention

[0003] In view of the shortcomings of the prior art, this application provides an installation and calibration method, apparatus, electronic device and storage medium for optoelectronic devices to solve the above problems.

[0004] This application provides a method for calibrating and installing optoelectronic devices, including:

[0005] The aircraft nose at the first position is controlled to face the target at the second position. The first heading angle and the first pitch angle output by the inertial navigation system are obtained. The distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. The eye axis center of the optoelectronic device is aligned with the center mark of the target. The azimuth angle and the second pitch angle output by the optoelectronic device are obtained. The heading deviation value is determined based on the azimuth angle and the first heading angle. The pitch deviation value is determined based on the first pitch angle and the second pitch angle. The aircraft nose is controlled to rotate a preset angle along the target direction. The third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system are obtained. The roll deviation value is determined based on the third pitch angle and the roll angle. The optoelectronic device is installed and calibrated based on the heading deviation value, the pitch deviation value, and the roll deviation value.

[0006] In one embodiment of this application, before controlling the nose of the carrier aircraft located at the first position to face the target located at the second position, the method further includes: obtaining a first altitude of the first position and a second altitude of the second position, wherein the first altitude of the first position is higher than the second altitude of the second position; determining an altitude difference based on the first altitude and the second altitude, wherein the altitude difference is less than a first preset altitude threshold; and determining the installation height of the center marker based on the altitude difference.

[0007] In one embodiment of this application, determining the installation height of the center marker based on the altitude difference includes: obtaining the vertical height of the optical center of the optoelectronic device from the ground; and determining the installation height of the center marker based on the altitude difference and the vertical height, wherein the installation height is lower than a second preset height threshold.

[0008] In one embodiment of this application, determining the heading deviation value based on the azimuth angle and the first heading angle includes: obtaining the first geodetic coordinates of the first position and the second geodetic coordinates of the second position; and determining the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle.

[0009] In one embodiment of this application, determining the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle includes: determining the true north azimuth angle from the first position to the second position based on the first geodetic coordinates and the second geodetic coordinates; determining the azimuth error angle based on the first heading angle and the true north azimuth angle; and determining the heading deviation value based on the azimuth angle and the azimuth error angle.

[0010] In one embodiment of this application, controlling the aircraft head to rotate a preset angle along the target direction to obtain the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system includes: controlling the aircraft head to rotate a preset angle around the optoelectronic device along a first direction or a second direction; controlling the visual axis center of the optoelectronic device to align with the center mark of the target; and obtaining the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system.

[0011] This application also provides an installation and calibration device for optoelectronic equipment, comprising: The first control module is configured to control the nose of the aircraft at the first position to face the target at the second position, and to acquire the first heading angle and the first pitch angle output by the inertial navigation system. The distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. The second control module is configured to control the line-of-sight center of the optoelectronic device to align with the center mark of the target, acquire the azimuth angle and the second pitch angle output by the optoelectronic device, determine the heading deviation value based on the azimuth angle and the first heading angle, and determine the pitch deviation value based on the first pitch angle and the second pitch angle. The third control module is configured to control the nose of the aircraft to rotate along the target direction by a preset angle, acquire the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system, and determine the roll deviation value based on the third pitch angle and the roll angle. The calibration module is configured to perform installation calibration on the optoelectronic device based on the heading deviation value, the pitch deviation value, and the roll deviation value.

[0012] In one embodiment of this application, the device further includes: a determining module; The determining module is configured to: obtain a first altitude at a first location and a second altitude at a second location; determine an altitude difference based on the first altitude and the second altitude, wherein the first altitude at the first location is higher than the second altitude at the second location, and the altitude difference is less than a first preset altitude threshold; and determine the installation height of the center marker based on the altitude difference.

[0013] This application also provides an electronic device, which includes: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to perform the steps of the above-described method.

[0014] The present invention also provides a computer-readable storage medium comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, the computer-readable storage medium performs the steps of the above-described method.

[0015] The beneficial effects of this technical solution are as follows: First, when the distance between the first position and the second position is greater than a first preset distance and less than a second preset distance, the nose of the aircraft at the first position is controlled to face the target at the second position. Then, the first heading angle and the first pitch angle output by the inertial navigation system are obtained. Next, the line-of-sight center of the optoelectronic device is aligned with the center mark of the target, and the azimuth angle and the second pitch angle output by the optoelectronic device are obtained. Based on the azimuth angle and the first heading angle, the heading deviation value is determined, and based on the first pitch angle and the second pitch angle, the pitch deviation value is determined. Then, the nose of the aircraft is controlled to rotate a preset angle along the target direction, and the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system are obtained. Based on the third pitch angle and the roll angle, the roll deviation value is determined. Finally, the optoelectronic device is installed and calibrated based on the heading deviation value, the pitch deviation value, and the roll deviation value. This method eliminates the need for ultra-long-distance calibration towers or markers; calibration can be completed simply by setting up targets within a reasonable distance. In scenarios lacking high-precision laboratory conditions, such as complex terrain or temporary field airfields, accurate calibration can be achieved by adjusting the relative arrangement of the first and second positions. Furthermore, the method of rotating the aircraft nose in stages while simultaneously collecting multi-dimensional angle data is simple to operate and eliminates the need for complex and expensive third-party calibration equipment. This enables omnidirectional calibration in three-dimensional space, improving the collaborative accuracy of optoelectronic equipment and the airborne inertial navigation system.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic flowchart illustrating an exemplary embodiment of the installation and calibration method for an optoelectronic device according to this application; Figure 2 This is a schematic diagram illustrating a scenario of an installation and calibration method for an optoelectronic device, as shown in an exemplary embodiment of this application. Figure 3 This is a schematic diagram illustrating the structure of an installation and calibration device for an optoelectronic device, as shown in an exemplary embodiment of this application. Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0018] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0021] Please see Figure 1 , Figure 1 This is a flowchart illustrating an exemplary embodiment of the installation and calibration method for an optoelectronic device. Figure 1As shown, in an exemplary embodiment, the installation and calibration method for optoelectronic devices includes steps S101 to S104, and each step is described in detail below.

[0022] S101, control the nose of the aircraft in the first position to face the target in the second position, and obtain the first heading angle and the first pitch angle output by the inertial navigation system.

[0023] Wherein, the distance between the first position and the second position is greater than the first preset distance and less than the second preset distance; It is understandable that before controlling the nose of the carrier aircraft in the first position to face the target in the second position, the test area can be predetermined. The test area should have good visibility on the ground, that is, there should be no tall buildings or mountains or other obstructions in the test area to ensure unobstructed line of sight between the carrier aircraft and the target.

[0024] Then, a first position and a second position are marked within the test area, wherein the distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. As an example, the distance between the first position and the second position can be greater than 300 meters and less than 500 meters.

[0025] After calibrating the first and second positions, the aircraft is moved to the first position while the target is set at the second position. Subsequently, the inertial navigation system on the aircraft is activated and calibrated, and the aircraft's nose is controlled to be roughly facing the target at the second position (keeping the nose slightly pitched down), and the first heading angle and first pitch angle output by the inertial navigation system at this time are obtained.

[0026] S102, align the line-of-sight center of the optoelectronic device with the center mark of the target, obtain the azimuth angle and the second pitch angle output by the optoelectronic device, determine the heading deviation value based on the azimuth angle and the first heading angle, and determine the pitch deviation value based on the first pitch angle and the second pitch angle; It is understandable that aligning the line-of-sight center of the optoelectronic device with the center mark of the target can mean precisely aligning the crosshair center of the optoelectronic device with the crosshair center mark of the target. Then, the azimuth angle and the second pitch angle output by the optoelectronic device are obtained. Based on the azimuth angle and the first heading angle, the heading deviation value is determined, and based on the first pitch angle and the second pitch angle, the pitch deviation value is determined.

[0027] It is understandable that the heading deviation value can characterize the installation deviation angle of the optoelectronic equipment relative to the inertial navigation system in the horizontal orientation, and the pitch deviation value can characterize the installation deviation angle of the optoelectronic equipment relative to the inertial navigation system in the vertical orientation.

[0028] In some examples, the pitch deviation value is determined based on the first pitch angle and the second pitch angle, and can be calculated using the following formula:

[0029]

[0030] in, The second pitch angle, The theoretical pitch angle for aligning the photoelectric device with the center mark of the target. This represents the pitch deviation value.

[0031] S103, control the aircraft nose to rotate by a preset angle along the target direction, obtain the third pitch angle output by the optoelectronic equipment and the roll angle output by the inertial navigation system, and determine the roll deviation value based on the third pitch angle and the roll angle. Specifically, the carrier aircraft head is controlled to rotate a preset angle along the target direction. This target direction and preset angle can be set according to actual testing requirements. For example, the target direction can be counterclockwise, and the preset angle can be 90 degrees. It is understood that during the rotation of the carrier aircraft head, it is necessary to ensure that the rotation is smooth and accurate, while keeping the physical position of the photoelectric device on the carrier aircraft unchanged, and rotating the entire carrier aircraft body counterclockwise by 90 degrees around the center of the photoelectric device.

[0032] After the aircraft nose rotates a preset angle along the target direction, the third pitch angle output by the optoelectronic equipment and the roll angle output by the inertial navigation system are obtained. Based on the obtained third pitch angle and roll angle, the roll deviation value is determined.

[0033] It is understandable that the roll deviation value can characterize the installation deviation angle of the optoelectronic device relative to the inertial navigation system in the roll direction.

[0034] In some examples, the roll deviation value is determined based on the third pitch angle and roll angle. The roll deviation value can be calculated using the following formula:

[0035]

[0036] in, The third pitch angle, This is the roll angle. This represents the roll deviation value.

[0037] S104, the optoelectronic equipment is installed and calibrated based on the heading deviation, pitch deviation, and roll deviation values.

[0038] It is understandable that in actual working scenarios, after receiving the attitude angle output by the inertial navigation system, the optoelectronic device first uses the heading deviation value, pitch deviation value and roll deviation value to compensate and correct the attitude angle to obtain the reference attitude of the optoelectronic device after correction. Then, combined with the target relative angle command, the servo mechanism of the optoelectronic device is driven to achieve high-precision pointing.

[0039] According to the technical solution provided in the embodiments of this application, firstly, when the distance between the first position and the second position is greater than a first preset distance and less than a second preset distance, the nose of the carrier aircraft located at the first position is controlled to face the target located at the second position. Then, the first heading angle and the first pitch angle output by the inertial navigation system are obtained. Next, the line-of-sight center of the optoelectronic device is aligned with the center mark of the target, and the azimuth angle and the second pitch angle output by the optoelectronic device are obtained. Based on the azimuth angle and the first heading angle, the heading deviation value is determined, and based on the first pitch angle and the second pitch angle, the pitch deviation value is determined. Then, the nose of the carrier aircraft is controlled to rotate a preset angle along the target direction, and the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system are obtained. Based on the third pitch angle and the roll angle, the roll deviation value is determined. Finally, the optoelectronic device is installed and calibrated based on the heading deviation value, the pitch deviation value, and the roll deviation value. This method eliminates the need for ultra-long-distance calibration towers or markers; calibration can be completed simply by setting up a target within a reasonable distance (300-500 meters). In scenarios lacking high-precision laboratory conditions, such as complex terrain or temporary field airfields, accurate calibration can be achieved by adjusting the relative arrangement of the first and second positions. Furthermore, the method of rotating the aircraft nose in stages while simultaneously collecting multi-dimensional angle data is simple to operate and eliminates the need for complex and expensive third-party calibration equipment. This enables omnidirectional calibration in three-dimensional space, improving the collaborative accuracy of optoelectronic equipment and the airborne inertial navigation system.

[0040] In some embodiments, before controlling the nose of the carrier aircraft in the first position to face the target in the second position, the method further includes: Obtain the first altitude of the first location and the second altitude of the second location, wherein the first altitude of the first location is higher than the second altitude of the second location; determine the altitude difference based on the first altitude and the second altitude, wherein the altitude difference is less than a first preset altitude threshold; determine the installation height of the center marker based on the altitude difference.

[0041] It is understandable that, due to the curvature of the Earth, if the first and second positions are at the same altitude, the straight line between them is actually along a geodesic on the Earth's surface. However, the aiming line of the photoelectric device is a straight line. Because of the Earth's curvature, the aiming line of the photoelectric device will prematurely cut below the ground before reaching the second position. Therefore, in calibrating the first and second positions, the first altitude of the first position in this embodiment is higher than the second altitude of the second position. This effectively overcomes the effects of the Earth's curvature and ground obstruction, and allows the photoelectric device calibration method of this application to be implemented in most field airports or temporary sites.

[0042] Then, the altitude difference is determined based on the first and second altitudes, and this altitude difference is less than a first preset altitude threshold. In actual operation, the specific value of the first preset altitude threshold can be set according to the specific application scenario and accuracy requirements. Next, based on the altitude difference, the installation height of the center marker is determined to ensure that the installation height of the target center marker can compensate for the influence of the Earth's curvature, so that the line-of-sight center of the optoelectronic device can be accurately aligned with the target center when it reaches the second position.

[0043] In some examples, high-precision measuring equipment can be used to accurately determine and record the initial elevation of the first location. And the second altitude of the second position .

[0044] According to the first elevation Second altitude The elevation difference ΔH between the first and second positions was calculated. - .

[0045] According to the technical solution provided in the embodiments of this application, by calibrating the first altitude of the first position to be higher than the second altitude of the second position, and considering the influence of the curvature of the earth, when the nose of the carrier aircraft is facing the target, the aiming line of the optoelectronic equipment can better adapt to the actual environment, effectively avoiding the aiming deviation problem caused by the curvature of the earth and ground obstruction, thereby ensuring that the optoelectronic equipment can achieve accurate installation and calibration in various complex environments such as field airports or temporary sites, and improving the performance and reliability of the optoelectronic equipment.

[0046] In some embodiments, determining the installation height of the center marker based on the altitude difference includes: Obtain the vertical height of the optical center of the optoelectronic device from the ground; determine the installation height of the center mark based on the altitude difference and the vertical height, wherein the installation height is lower than a second preset height threshold.

[0047] It is understood that, in determining the installation height of the center marker, this embodiment comprehensively considers the vertical height of the optical center of the optoelectronic device from the ground and the altitude difference between the first and second positions. Specifically, the vertical height of the optical center of the optoelectronic device from the ground is first obtained. This vertical height can be obtained through actual measurement by the device, for example, using a laser rangefinder or other high-precision measuring tools.

[0048] Then, based on the elevation difference between the first and second locations and the vertical height, the installation height of the center marker is determined, wherein the installation height is lower than a second preset height threshold. In some examples, the second preset height threshold is 3 meters to ensure that the center marker, after installation, will not affect the normal operation of the optoelectronic equipment or increase safety hazards due to excessive height.

[0049] Continuing the previous example, if the vertical height of the optical center of the optoelectronic device from the ground is... Given that the elevation difference between the first and second positions is ΔH, the installation height H of the center marker can be determined using the formula H = The result is calculated using +ΔH (where H is less than 3 meters).

[0050] According to the technical solution provided in the embodiments of this application, the vertical height of the optical center of the optoelectronic device from the ground is obtained; based on the altitude difference and the vertical height, the installation height of the center mark is determined, which takes into account both the characteristics of the device itself and the actual conditions of the installation environment, and helps to improve the accuracy and reliability of the installation and calibration of the optoelectronic device.

[0051] In some embodiments, determining the heading deviation value based on the azimuth angle and the first heading angle includes: Obtain the first geodetic coordinates of the first position and the second geodetic coordinates of the second position; determine the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle.

[0052] It is understood that geodetic coordinates (longitude λ, latitude φ, altitude h) are three-dimensional coordinates defined on a rotating ellipsoidal model. In determining the heading deviation value, the first geodetic coordinates of the first position and the second geodetic coordinates of the second position are first obtained. This can be achieved, but is not limited to, through Global Positioning System (GPS) devices, Geographic Information System (GIS) software, or other high-precision positioning technologies. These technologies provide accurate longitude, latitude, and altitude information, providing a reliable data foundation for subsequent calculations.

[0053] Then, using the obtained first geodetic coordinates, second geodetic coordinates, azimuth angle, and first heading angle, the heading deviation value is determined. The specific calculation process will be described in detail in subsequent embodiments, and will not be elaborated here.

[0054] According to the technical solution provided in the embodiments of this application, by comprehensively considering the geodetic coordinate information of the first and second positions, as well as the azimuth and the first heading angle, the heading deviation value can be accurately calculated. The geodetic theme calculation formula based on the ellipsoid model can provide consistent high-precision results regardless of the equator, the polar regions, or any temporary field airfield, without relying on local map projection parameters, thus improving the universality of the scene.

[0055] In some embodiments, determining the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle includes: Based on the first and second geodetic coordinates, determine the true north azimuth from the first position to the second position; based on the first heading angle and the true north azimuth, determine the azimuth error angle; based on the azimuth angle and the azimuth error angle, determine the heading deviation value.

[0056] It is understandable that true north azimuth refers to the horizontal angle formed by rotating clockwise from a point on Earth, using the geographic true north direction (0 degrees) as a reference, to the target direction line. Determining the true north azimuth from the first location to the second location using primary and secondary geodetic coordinates can be done using conventional calculation methods within the field, which will not be elaborated upon here.

[0057] In some examples, the first heading angle is denoted as True north azimuth is denoted as Determine the bearing error angle based on the first heading angle and the true north azimuth angle. It can be done through formula Calculated.

[0058] Continuing from the previous example, the heading deviation value can be determined based on the azimuth angle and the azimuth error angle, and can be calculated using the following formula:

[0059] or

[0060] in, Azimuth, X represents the theoretical azimuth angle for aligning the photoelectric equipment with the center mark of the target, where X is the heading deviation value.

[0061] According to the technical solution provided in the embodiments of this application, the cumulative error in heading measurement can be eliminated. First, the true north datum is calculated using geodetic coordinates, which can effectively avoid the interference of dynamic changes in magnetic declination on heading measurement. Second, by converting the intermediate variable of the azimuth error angle, the nonlinear heading deviation is decomposed into a quantifiable linear calculation process, ensuring the consistency of the heading deviation value calculation across the entire range of 0-360 degrees.

[0062] In some embodiments, controlling the aircraft nose to rotate by a preset angle along the target direction to obtain the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system includes: Control the aircraft's nose to rotate around the optoelectronic device by a preset angle in the first or second direction; control the center of the optoelectronic device's line of sight to align with the center mark of the target; acquire the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system.

[0063] In some examples, the first direction can be clockwise, the second direction can be counterclockwise, and the preset angle can be 90 degrees; It is understandable that the process of controlling the aircraft's nose to rotate around the optoelectronic device by a preset angle in the first or second direction requires keeping the physical position of the optoelectronic device on the aircraft unchanged, and rotating the entire aircraft fuselage around the center (or approximately the center) of the optoelectronic device.

[0064] Then, control the photoelectric device to align the center of the photoelectric device's line of sight (crosshair) with the center mark (crosshair) of the target, and obtain the third pitch angle output by the photoelectric device and the roll angle output by the inertial navigation system at this time.

[0065] According to the technical solution provided in the embodiments of this application, by precisely controlling the rotation angle of the aircraft nose and aligning the line of sight of the optoelectronic device, accurate third pitch angle and roll angle data can be obtained.

[0066] The following is combined Figure 2 This application is illustrated by way of example, such as Figure 2 As shown: First, P is designated as the first position and T as the second position. The distance between P and T is greater than the first preset distance and less than the second preset distance (e.g., greater than 300m and less than 500m). The carrier 1 is located at the first position P, and the photoelectric device 2 is installed on the carrier 1. The target is located at the second position T (the target height is adjustable). Then, the first elevation of position P is obtained as 50.2 meters, and the second elevation of position T is obtained as 48.5 meters. The elevation difference ΔH between position P and position T is calculated as 50.2 - 48.5 = 1.7 meters. The vertical height of the optical center of the photoelectric device from the ground is measured as follows. It is 1.0 meter. Based on the altitude difference ΔH and vertical height... Determine the installation height of the center marker as H = 1.0 + 1.7 = 2.7 meters, and adjust the center marker to this installation height.

[0067] Next, the aircraft is powered on, and the inertial navigation system is aligned. The aircraft's nose is controlled to point approximately towards the second position T (with the nose slightly tilted down). The first heading angle output by the inertial navigation system is recorded. =123.5°, first pitch angle =-0.3°.

[0068] Based on the first geodetic coordinates of the first position P and the second geodetic coordinates of the second position T, calculate... =124.2°.

[0069] Calculate the azimuth error angle based on the first heading angle and the true north azimuth angle. θ = 124.2° - 123.5° = 0.7°.

[0070] Control the photoelectric device to align its line of sight center with the center mark of the target. Record the output of the photoelectric device as α=2.5° and the second pitch angle β=-1.8°.

[0071] calculate =2.5° - 0.7° = 1.8° =-1.8°+(-0.3°)=-2.1°.

[0072] Calculate the heading deviation value: X = 0 - 1.8° = -1.8° (358.2° after normalization, any representation can be used according to the system convention). Calculate the pitch deviation value: Y = -(-2.1°) = 2.1°.

[0073] Next, rotate the drone counterclockwise by about 90° around the center point of the optoelectronic device.

[0074] The optoelectronic equipment was controlled to overcome the field-of-view shift caused by changes in the aircraft's attitude, and the center of the optoelectronic equipment's line of sight was realigned with the center mark of the target. The third pitch angle γ output by the optoelectronic equipment was -3.2°, and the roll angle output by the inertial navigation system was... =0.5° (the right wing dips slightly).

[0075] calculate =-3.2°+0.5°=-2.7°.

[0076] Calculate the roll deviation value: Z = -(-2.7°) = 2.7°.

[0077] Finally, the installation deviation angle (X, Y, Z) is obtained as (-1.8°, 2.1°, 2.7°). This set of parameters is then input into the photoelectric device servo control system. Subsequently, when the inertial navigation system reports an attitude of ( , , When ), the reference attitude used will be corrected to ( +X, +Y, +Z), thereby eliminating the effects of installation deviation.

[0078] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the process of the embodiments of this application.

[0079] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0080] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0081] Figure 3 This is a schematic diagram illustrating the structure of an optoelectronic device mounting and calibration apparatus according to an exemplary embodiment of this application. Figure 3 As shown, the exemplary optoelectronic device mounting calibration apparatus includes: The first control module 301 is configured to control the nose of the aircraft located at the first position to face the target located at the second position, and to obtain the first heading angle and the first pitch angle output by the inertial navigation system. The distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. The second control module 302 is configured to align the line-of-sight center of the optoelectronic device with the center mark of the target, acquire the azimuth angle and the second pitch angle output by the optoelectronic device, determine the heading deviation value based on the azimuth angle and the first heading angle, and determine the pitch deviation value based on the first pitch angle and the second pitch angle. The third control module 303 is configured to control the aircraft head to rotate a preset angle along the target direction, obtain the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system, and determine the roll deviation value based on the third pitch angle and the roll angle. The calibration module 304 is configured to calibrate the optoelectronic equipment based on the heading deviation, pitch deviation, and roll deviation values.

[0082] In some embodiments, the first control module 301 is further configured to acquire a first altitude at a first location and a second altitude at a second location, wherein the first altitude at the first location is higher than the second altitude at the second location; determine an altitude difference based on the first altitude and the second altitude, wherein the altitude difference is less than a first preset altitude threshold; and determine the installation height of the center marker based on the altitude difference.

[0083] In some embodiments, the first control module 301 is further configured to acquire the vertical height of the optical center of the optoelectronic device from the ground; and determine the installation height of the center mark based on the altitude difference and the vertical height, wherein the installation height is lower than a second preset height threshold.

[0084] In some embodiments, the second control module 302 is further configured to acquire the first geodetic coordinates of the first position and the second geodetic coordinates of the second position; and to determine the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle and the first heading angle.

[0085] In some embodiments, the second control module 302 is further configured to determine the true north azimuth angle from the first position to the second position based on the first geodetic coordinates and the second geodetic coordinates; determine the azimuth error angle based on the first heading angle and the true north azimuth angle; and determine the heading deviation value based on the azimuth angle and the azimuth error angle.

[0086] In some embodiments, the third control module 303 is further configured to control the aircraft nose to rotate around the optoelectronic device by a preset angle in a first or second direction; control the eye axis center of the optoelectronic device to align with the center mark of the target; and acquire the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system.

[0087] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the methods provided in the above embodiments.

[0088] Figure 4 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 4 The computer system 400 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0089] like Figure 4 As shown, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes based on a program stored in Read-Only Memory (ROM) 402 or a program loaded from Storage Section 408 into Random Access Memory (RAM) 403, such as performing the methods described in the above embodiments. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An Input / Output (I / O) interface 405 is also connected to the bus 405.

[0090] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 410 as needed so that computer programs read from them can be installed into storage section 408 as needed.

[0091] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of this application.

[0092] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0094] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0095] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0096] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods described in the various embodiments above.

[0097] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the steps of this application.

Claims

1. A method for installing and calibrating optoelectronic equipment, characterized in that, include: The aircraft nose at the first position is controlled to face the target at the second position, and the first heading angle and first pitch angle output by the inertial navigation system are obtained. The distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. The line-of-sight center of the control optoelectronic device is aligned with the center mark of the target, the azimuth angle and the second pitch angle output by the optoelectronic device are obtained, the heading deviation value is determined based on the azimuth angle and the first heading angle, and the pitch deviation value is determined based on the first pitch angle and the second pitch angle. The aircraft nose is controlled to rotate by a preset angle along the target direction, and the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system are obtained. Based on the third pitch angle and the roll angle, the roll deviation value is determined. The optoelectronic equipment is installed and calibrated based on the heading deviation value, the pitch deviation value, and the roll deviation value.

2. The method according to claim 1, characterized in that, Before controlling the aircraft nose, located in the first position, to face the target, located in the second position, the method further includes: Obtain the first elevation of the first location and the second elevation of the second location, wherein the first elevation of the first location is higher than the second elevation of the second location; The altitude difference is determined based on the first altitude and the second altitude, and the altitude difference is less than a first preset altitude threshold. The installation height of the center marker is determined based on the altitude difference.

3. The method according to claim 2, characterized in that, Determining the installation height of the center marker based on the altitude difference includes: Obtain the vertical height of the optical center of the optoelectronic device from the ground; The installation height of the center marker is determined based on the altitude difference and the vertical height, wherein the installation height is lower than a second preset height threshold.

4. The method according to claim 1, characterized in that, The step of determining the heading deviation value based on the azimuth angle and the first heading angle includes: Obtain the first geodetic coordinates of the first location and the second geodetic coordinates of the second location; The heading deviation value is determined based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle.

5. The method according to claim 4, characterized in that, The step of determining the heading deviation value based on the first geodetic coordinates, the second geodetic coordinates, the azimuth angle, and the first heading angle includes: Based on the first geodetic coordinates and the second geodetic coordinates, determine the true north azimuth angle from the first position to the second position; The azimuth error angle is determined based on the first heading angle and the true north azimuth angle. The heading deviation value is determined based on the azimuth angle and the azimuth error angle.

6. The method according to claim 1, characterized in that, The step of controlling the aircraft nose to rotate by a preset angle along the target direction, and obtaining the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system, includes: Control the aircraft head to rotate around the optoelectronic device by a preset angle in a first or second direction; The eye axis center of the optoelectronic device is aligned with the center mark of the target. Obtain the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system.

7. A calibration device for an optoelectronic device, characterized in that, include: The first control module is configured to control the nose of the aircraft located at the first position to face the target located at the second position, and to obtain the first heading angle and the first pitch angle output by the inertial navigation system. The distance between the first position and the second position is greater than a first preset distance and less than a second preset distance. The second control module is configured to align the line-of-sight center of the optoelectronic device with the center mark of the target, acquire the azimuth angle and the second pitch angle output by the optoelectronic device, determine the heading deviation value based on the azimuth angle and the first heading angle, and determine the pitch deviation value based on the first pitch angle and the second pitch angle. The third control module is configured to control the aircraft nose to rotate by a preset angle along the target direction, obtain the third pitch angle output by the optoelectronic device and the roll angle output by the inertial navigation system, and determine the roll deviation value based on the third pitch angle and the roll angle. The calibration module is configured to perform installation calibration of the optoelectronic equipment based on the heading deviation value, the pitch deviation value, and the roll deviation value.

8. The apparatus according to claim 7, characterized in that, The device further includes: a determining module; The determining module is configured as follows: Obtain the first altitude of the first location and the second altitude of the second location; An altitude difference is determined based on the first altitude and the second altitude, wherein the first altitude at the first location is higher than the second altitude at the second location, and the altitude difference is less than a first preset altitude threshold. The installation height of the center marker is determined based on the altitude difference.

9. An electronic device, characterized in that, include: One or more processors and a memory, the memory storing a computer program that, when executed by the one or more processors, causes the device to perform the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by one or more processors, causes the device to perform the method as described in any one of claims 1 to 6.

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