An aerial optoelectronic pod multi-azimuth angle calibration method, control system and storage medium

Abstract

The application discloses a kind of aerial photoelectric pod multi azimuth angle calibration method, control system and storage medium, it is related to unmanned vehicle reconnaissance and target positioning technical field, including as follows: in the process of unmanned vehicle flight, the mark of known coordinate on ground is tracked, through mark coordinate, unmanned vehicle coordinate, unmanned vehicle attitude, azimuth pitch of photoelectric pod and other parameters, respectively solve out the error value of azimuth, pitch direction under each group azimuth range of photoelectric pod, realize that azimuth angle error and pitch angle error of each azimuth of photoelectric pod are respectively corrected, and in target positioning result solution, according to the actual azimuth of target, the azimuth of corresponding azimuth, pitch angle correction value is brought in. The present application has the advantages of simple operation, fast response, can full airspace, fine calibration, significantly improve target positioning accuracy, repeatable execution, easy to maintain and strong site adaptability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) reconnaissance and target positioning technology, and more specifically to the field of a multi-directional angle calibration method, control system and storage medium for an aerial optoelectronic pod. Background Technology

[0002] With the rapid development of UAV technology, UAVs equipped with electro-optical pods have been widely used in military reconnaissance, target positioning, material delivery, and emergency rescue. As the core payload for UAVs to achieve target reconnaissance and positioning, the accuracy of the electro-optical pod's angle measurement directly affects the accuracy of target positioning.

[0003] However, in practical engineering applications, the installation accuracy of the electro-optical pod is affected by various factors, including machining errors, assembly errors, temperature deformation, vibration, and shock, resulting in systematic deviations between the measured azimuth and pitch angles of the electro-optical pod and their actual values. This deviation directly leads to significant errors in the target positioning calculation process, severely affecting the accuracy of the UAV in performing its missions.

[0004] Currently, angle calibration for electro-optical pods primarily employs ground-based target calibration. Ground calibration requires a specific site and involves a series of complex preparatory tasks, including site setup, UAV leveling, installation of specialized calibration fixtures, and target calibration. The calibration process is cumbersome and time-consuming, hindering the UAV from quickly reaching operational or mission execution readiness. More importantly, due to space constraints, the relative positional relationship between the UAV and the target is relatively fixed during ground calibration, typically allowing only measurement and correction of azimuth and pitch angle errors at a specific orientation of the electro-optical pod. During actual mission execution, when the electro-optical pod rotates to other orientations, the deformation characteristics of the mechanical structure, the clearance characteristics of the transmission mechanism, and the drift characteristics of the sensors under different operating conditions vary. Therefore, the same set of correction parameters cannot accurately reflect the true error situation in each orientation. Consequently, existing ground-based calibration methods often incorporate the same azimuth and pitch deviation values ​​in target calculations across all orientations. This "one-size-fits-all" correction method offers very limited improvement to the accuracy of target positioning calculations.

[0005] Furthermore, as emergency rescue missions place increasing demands on timeliness, drones need to be prepared and deployed in a shorter period. Traditional ground calibration procedures are insufficient to meet the needs of rapid deployment. Moreover, in certain specialized application scenarios, finding suitable ground calibration sites can be extremely difficult.

[0006] Therefore, there is an urgent need in this field to provide a method that can quickly and conveniently achieve multi-directional angle calibration of the optoelectronic pod, so as to overcome the technical defects of existing ground target calibration technology, such as complex operation, strong site dependence, and only single-directional calibration, and significantly improve the target positioning accuracy of UAVs. Summary of the Invention

[0007] The purpose of this invention is to address the technical problems of existing ground-based calibration techniques, such as complex operation, strong site dependence, and the ability to perform calibration only in one orientation. This invention provides a method, control system, and storage medium for multi-directional angle calibration of an aerial electro-optical pod. Compared to the complex operation and site layout of ground-based calibration processes, which can only calibrate one orientation angle of the electro-optical pod, the aerial calibration process is simple to operate and can achieve multi-directional angle calibration.

[0008] To achieve the above objectives, the present invention specifically adopts the following technical solution: This invention provides a method for multi-directional angle calibration of an aerial optoelectronic pod, comprising the following steps: Step S1: Select and mark a marker with known coordinates on the ground, and load the coordinate parameters of the marker into the airborne control computer; Step S2: Plan a flight path that enables the UAV to stably track the marker from multiple azimuth angles, and load the flight path into the onboard control computer; Step S3: The UAV executes the flight path, and the ground operator manipulates the electro-optical pod to stably track the marker. Step S4: When the azimuth angle of the electro-optical pod rotates to any predetermined calibration azimuth range, the ground operator sends a calibration command to the UAV for that calibration azimuth range. When the azimuth of the electro-optical pod is not within the calibration azimuth range, the calibration task is not performed. Step S5: After receiving the calibration command, the airborne control computer calculates the azimuth and pitch deviation values ​​of the optoelectronic pod within the current calibration range based on the measurement parameters of the optoelectronic pod, the coordinate parameters of the marker, the coordinates of the UAV itself, and the attitude parameters at the current moment. Step S6: Repeat steps S3 to S5 until the angle calibration of all predetermined calibration azimuth ranges is completed, and the airborne control computer records the azimuth deviation value and pitch deviation value corresponding to each calibration azimuth range. Step S7: When performing positioning calculations for the actual target, the airborne control computer, based on the current azimuth angle of the electro-optical pod, calls up the azimuth deviation value and pitch deviation value of the corresponding calibration azimuth range to correct the current measurement angle of the electro-optical pod, and uses the corrected angle to calculate the target coordinates.

[0009] In one embodiment, in step S1, the coordinate parameters of the marker include longitude, latitude, and altitude.

[0010] In one embodiment, in step S2, the predetermined calibration azimuth range is a plurality of azimuth intervals obtained by dividing the 360° all-round reconnaissance range of the optoelectronic pod into fixed angular intervals.

[0011] In one embodiment, the fixed angle interval is 30°, thereby dividing the 360° all-round reconnaissance range into 12 azimuth intervals. The specific angles of the 12 azimuth intervals are: 345°~15°, 15°~45°, 45°~75°, 75°~105°, 105°~135°, 135°~165°, 165°~195°, 195°~225°, 225°~255°, 255°~285°, 285°~315°, and 315°~345°.

[0012] In one embodiment, the specific method for calculating the azimuth deviation and elevation deviation values ​​in step S5 is as follows: Step S51: Calculate the theoretical azimuth angle of the marker relative to the drone in the geographic coordinate system based on the longitude, latitude, and altitude of the drone and the marker. and theoretical pitch angle ; Step S52: Based on the UAV's heading angle, pitch angle, and roll angle, determine the theoretical azimuth angle of the marker relative to the UAV in the geographic coordinate system. and theoretical pitch angle Transform to the body coordinate system to obtain the theoretical azimuth angle of the marker relative to the UAV in the body coordinate system. Theoretical pitch angle of drones ; Step S53: Set the current measured azimuth angle of the photoelectric pod. With respect to the theoretical azimuth angle of the drone Subtracting the values ​​yields the azimuth deviation. , ; Compare the current measured pitch angle β of the electro-optical pod with the theoretical pitch angle of the UAV. Subtract to obtain the pitch angle deviation value , .

[0013] In one embodiment, the specific method for correcting the current measurement angle of the optoelectronic pod in step S7 is as follows: When performing target positioning, the optoelectronic pod performs laser positioning on the target, and obtains the measured azimuth angle of the optoelectronic pod as... And the measured pitch angle is Find the azimuth deviation value within this angle range. and pitch angle deviation value When the airborne control computer performs target positioning result calculations; The corrected azimuth angle was calculated. , ; The corrected pitch angle was calculated. , .

[0014] In one implementation, the flight path planned in step S2 must ensure that the UAV can sequentially fly to each of the predetermined calibration orientation ranges of the marker during flight, and the flight path includes as many level flight segments as possible.

[0015] In one embodiment, the drone is a medium-to-large drone equipped with an electro-optical pod, which has a visible light camera sensor or an infrared camera sensor and the ability to stably track targets.

[0016] A second aspect of the present invention provides an airborne control system for performing the above-described method for an unmanned aerial vehicle, comprising: The data storage module is used to store the coordinates of markers, flight path, and the azimuth and pitch deviation values ​​corresponding to each pre-calibrated and recorded bearing range. The data acquisition module is used to acquire the UAV's longitude, latitude, altitude, attitude angle, and the measured azimuth and pitch angles of the electro-optical pod in real time. The deviation calculation module is used to calculate the azimuth and elevation deviation values ​​within the current calibration range based on the data provided by the data acquisition module and the data storage module after receiving the calibration command. The target positioning correction module is used to find the corresponding deviation value based on the measured azimuth angle of the photoelectric pod when locating the actual target, correct the measured angle, and then calculate the target coordinates based on the corrected angle.

[0017] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for multi-directional angle calibration of an aerial optoelectronic pod.

[0018] The beneficial effects of this invention are as follows: 1. Simple operation and rapid response: This invention transfers the calibration process from the ground to the air, eliminating the need for complex ground site setup, UAV leveling, and target calibration fixtures. Only a marker with known coordinates and a planned flight path are required. This significantly simplifies the calibration process, shortens the preparation time for UAVs before missions, and enhances rapid response capabilities.

[0019] 2. Full-Airspace, Refined Calibration: This invention divides the 360° reconnaissance range of the electro-optical pod into zones and independently calculates the angular deviation value within each zone, effectively correcting the nonlinear characteristics exhibited by installation errors in different orientations. Compared to traditional single-direction target calibration methods, this invention achieves refined calibration of the electro-optical pod across the entire airspace and in multiple orientations, fundamentally solving the problem of inconsistent target positioning accuracy caused by changes in orientation due to installation errors.

[0020] 3. Significantly Improved Target Positioning Accuracy: In actual missions, this invention can adaptively call upon high-precision correction values ​​for the corresponding area based on the actual location of the target, eliminating the main system errors of the electro-optical pod at the system level. This will greatly improve the target positioning accuracy of UAVs in various mission scenarios (such as reconnaissance, strike, and material delivery), enhancing the effectiveness and reliability of mission execution.

[0021] 4. Repeatable and easy to maintain: This method can be used as a periodic calibration means. After the UAV has performed multiple missions or when the zero position of the electro-optical pod is suspected to be drifting, a calibration flight can be performed in the air at any time without returning to the field for complicated ground maintenance, which greatly reduces the cost of use and maintenance.

[0022] 5. Strong site adaptability: The aerial target calibration method of the present invention is not limited by the ground site and can be carried out in any open airspace. It is particularly suitable for special application scenarios such as emergency mission response and has strong environmental adaptability.

[0023] 6. High real-time performance and high degree of automation: The angle deviation calculation and target positioning correction process of this invention can be automatically completed by the airborne control computer. Ground operators only need to send calibration instructions at the appropriate time. The operation threshold is low and the degree of automation is high.

[0024] 7. Good repeatability and maintainability: The orientation-deviation value mapping relationship established by this invention can be stored and reused. After the photoelectric pod is maintained or replaced, the calibration parameters can be quickly re-established, which is convenient for system maintenance and upgrades. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the multi-directional angle calibration process for an aerial optoelectronic pod; Figure 2 This is a schematic diagram showing the azimuth angle division of the optoelectronic pod; Figure 3 This is a schematic diagram of the flight path for the angle calibration of the optoelectronic pod; Figure 4 This is a schematic diagram of the azimuth angle calibration of the optoelectronic pod; Figure 5 This is a schematic diagram of the pitch angle calibration of the optoelectronic pod. Detailed Implementation

[0027] To make the technical problems, technical solutions, and technical effects of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] like Figures 1 to 5 As shown, the present invention provides a multi-directional angle calibration method for an aerial optoelectronic pod, comprising the following steps: Step S1: Select and mark a marker with known coordinates on the ground, and load the coordinate parameters of the marker into the airborne control computer; Step S2: Plan a flight path that enables the UAV to stably track the marker from multiple azimuth angles, and load the flight path into the onboard control computer; Step S3: The UAV executes the flight path, and the ground operator manipulates the electro-optical pod to stably track the marker. Step S4: When the azimuth angle of the electro-optical pod rotates to any predetermined calibration azimuth range, the ground operator sends a calibration command to the UAV for that calibration azimuth range. When the azimuth of the electro-optical pod is not within the calibration azimuth range, the calibration task is not performed. Step S5: After receiving the calibration command, the airborne control computer calculates the azimuth and pitch deviation values ​​of the optoelectronic pod within the current calibration range based on the measurement parameters of the optoelectronic pod, the coordinate parameters of the marker, the coordinates of the UAV itself, and the attitude parameters at the current moment. Step S6: Repeat steps S3 to S5 until the angle calibration of all predetermined calibration azimuth ranges is completed, and the airborne control computer records the azimuth deviation value and pitch deviation value corresponding to each calibration azimuth range. Step S7: When performing positioning calculations for the actual target, the airborne control computer, based on the current azimuth angle of the electro-optical pod, calls up the azimuth deviation value and pitch deviation value of the corresponding calibration azimuth range to correct the current measurement angle of the electro-optical pod, and uses the corrected angle to calculate the target coordinates.

[0030] In one embodiment, in step S1, the coordinate parameters of the marker include longitude, latitude, and altitude.

[0031] In one embodiment, in step S2, the predetermined calibration azimuth range is a plurality of azimuth intervals obtained by dividing the 360° all-round reconnaissance range of the optoelectronic pod into fixed angular intervals.

[0032] In one embodiment, the fixed angle interval is 30°, thereby dividing the 360° all-round reconnaissance range into 12 azimuth intervals. The specific angles of the 12 azimuth intervals are: 345°~15°, 15°~45°, 45°~75°, 75°~105°, 105°~135°, 135°~165°, 165°~195°, 195°~225°, 225°~255°, 255°~285°, 285°~315°, and 315°~345°.

[0033] In one embodiment, the specific method for calculating the azimuth deviation and elevation deviation values ​​in step S5 is as follows: Step S51: Calculate the theoretical azimuth angle of the marker relative to the drone in the geographic coordinate system based on the longitude, latitude, and altitude of the drone and the marker. and theoretical pitch angle ; Step S52: Based on the UAV's heading angle, pitch angle, and roll angle, determine the theoretical azimuth angle of the marker relative to the UAV in the geographic coordinate system. and theoretical pitch angle Transform to the body coordinate system to obtain the theoretical azimuth angle of the marker relative to the UAV in the body coordinate system. Theoretical pitch angle of drones ; Step S53: Set the current measured azimuth angle of the photoelectric pod. With respect to the theoretical azimuth angle of the drone Subtracting the values ​​yields the azimuth deviation. , ; Compare the current measured pitch angle β of the electro-optical pod with the theoretical pitch angle of the UAV. Subtract to obtain the pitch angle deviation value , .

[0034] In one embodiment, the specific method for correcting the current measurement angle of the optoelectronic pod in step S7 is as follows: When performing target positioning, the optoelectronic pod performs laser positioning on the target, and obtains the measured azimuth angle of the optoelectronic pod as... And the measured pitch angle is Find the azimuth deviation value within this angle range. and pitch angle deviation value When the airborne control computer performs target positioning result calculations; The corrected azimuth angle was calculated. , ; The corrected pitch angle was calculated. , .

[0035] In one embodiment, the flight path planned in step S2 must ensure that the UAV can sequentially fly to each of the predetermined calibration bearing ranges of the marker during flight, and the flight path includes as many level flight segments as possible.

[0036] In one embodiment, the drone is a medium-to-large drone equipped with an electro-optical pod, which has a visible light camera sensor or an infrared camera sensor and the ability to stably track targets.

[0037] Example 1 This embodiment provides a multi-directional angle calibration method for an aerial electro-optical pod. The UAV is a medium-to-large-sized UAV equipped with an electro-optical pod, which has a visible light camera sensor or an infrared camera sensor and the ability to stably track targets. The method includes the following steps: Step S1: Select and mark a landmark with known coordinates on the ground, and load the coordinate parameters of the landmark into the airborne control computer; the coordinate parameters of the landmark include longitude, latitude and altitude.

[0038] Step S2: Plan a flight path that enables the UAV to stably track the marker from multiple azimuth angles, and load the flight path into the onboard control computer; the planned flight path must ensure that the UAV can sequentially fly to each of the predetermined calibration azimuth ranges of the marker during flight, and the flight path includes as many level flight segments as possible. The predetermined calibration azimuth range is obtained by dividing the 360° all-round reconnaissance range of the optoelectronic pod into multiple azimuth intervals according to fixed angle intervals; The fixed angle interval is 30°, thus dividing the 360° all-round reconnaissance range into 12 azimuth intervals. The specific angles of the 12 azimuth intervals are: 345°~15°, 15°~45°, 45°~75°, 75°~105°, 105°~135°, 135°~165°, 165°~195°, 195°~225°, 225°~255°, 255°~285°, 285°~315°, and 315°~345°.

[0039] Step S3: The UAV executes the flight path, and the ground operator manipulates the electro-optical pod to stably track the marker. Step S4: When the azimuth angle of the electro-optical pod rotates to any predetermined calibration azimuth range, the ground operator sends a calibration command to the UAV for that calibration azimuth range. When the azimuth of the electro-optical pod is not within the calibration azimuth range, the calibration task is not performed. Step S5: After receiving the calibration command, the onboard control computer calculates the azimuth and pitch deviation values ​​of the electro-optical pod within the current calibration range based on the current measurement parameters of the electro-optical pod, the coordinate parameters of the marker, and the coordinates and attitude parameters of the UAV. The specific method is as follows: Step S51: Based on the longitude, latitude, and altitude of the UAV and the marker, calculate the theoretical azimuth angle of the marker relative to the UAV in the geographic coordinate system. and theoretical pitch angle ; Step S52: Based on the UAV's heading angle, pitch angle, and roll angle, determine the theoretical azimuth angle of the marker relative to the UAV in the geographic coordinate system. and theoretical pitch angle Transform to the body coordinate system to obtain the theoretical azimuth angle of the marker relative to the UAV in the body coordinate system. Theoretical pitch angle of drones ; Step S53: Set the current measured azimuth angle of the photoelectric pod. With respect to the theoretical azimuth angle of the drone Subtracting the values ​​yields the azimuth deviation. , ; Compare the current measured pitch angle β of the electro-optical pod with the theoretical pitch angle of the UAV. Subtract to obtain the pitch angle deviation value , .

[0040] Step S6: Repeat steps S3 to S5 until the angle calibration of all predetermined calibration azimuth ranges is completed, and the airborne control computer records the azimuth deviation value and pitch deviation value corresponding to each calibration azimuth range. Step S7: When performing positioning calculations for the actual target, the airborne control computer, based on the current azimuth angle of the electro-optical pod, calls upon the azimuth deviation value and pitch deviation value of the corresponding calibration azimuth range to correct the current measurement angle of the electro-optical pod, and uses the corrected angle to calculate the target coordinates. The specific method is as follows: When performing target localization, the electro-optical pod uses laser positioning to locate the target, and the measured azimuth angle of the electro-optical pod is obtained as follows: And the measured pitch angle is Find the azimuth deviation value within this angle range. and pitch angle deviation value When the airborne control computer performs target positioning result calculations; The corrected azimuth angle was calculated. , ; The corrected pitch angle was calculated. , .

[0041] Example 2 This embodiment provides an airborne control system for performing the above-described method for unmanned aerial vehicles (UAVs), including: The data storage module is used to store the coordinates of markers, flight path, and the azimuth and pitch deviation values ​​corresponding to each pre-calibrated and recorded bearing range. The data acquisition module is used to acquire the UAV's longitude, latitude, altitude, attitude angle, and the measured azimuth and pitch angles of the electro-optical pod in real time. The deviation calculation module is used to calculate the azimuth and elevation deviation values ​​within the current calibration range based on the data provided by the data acquisition module and the data storage module after receiving the calibration command. The target positioning correction module is used to find the corresponding deviation value based on the measured azimuth angle of the photoelectric pod when locating the actual target, correct the measured angle, and then calculate the target coordinates based on the corrected angle.

[0042] Example 3 This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a multi-directional angle calibration method for an aerial optoelectronic pod as described in Embodiment 1.

[0043] Example 4 This embodiment is essentially the same as Embodiment 1, except for the method of dividing the calibration bearing range and the flight path. Considering that some small UAVs' electro-optical pods may not have 360° continuous rotation capability, or the mission area may only require attention to a specific sector (e.g., the forward 180° range), in this embodiment, the calibration bearing range is divided into eight intervals at 45° intervals: 0°~45°, 45°~90°, ..., 315°~360°. The corresponding flight path is no longer a complete circle, but a semi-circular arc or zigzag path centered on the marker, ensuring that the UAV can approach and track the marker from different directions within the required forward 180° sector. This embodiment is suitable for scenarios with clear mission requirements and no need for rear reconnaissance, reducing calibration flight time and distance and improving efficiency.

[0044] Example 5 This embodiment is basically the same as Embodiment 1, except for the method of acquiring the marker coordinates and the triggering conditions for error calculation. In some cases where high-precision RTK-GPS is not available, the marker coordinates can be reverse-calibrated by the UAV itself under specific conditions. Specifically, when the UAV is statically started on the ground and in a horizontal state, the electro-optical pod is aligned with the marker, and a preliminary marker coordinate is calculated using the UAV's own GPS coordinates and the pod's angle. Subsequently, during in-flight calibration, this coordinate is used as a reference for deviation calculation. In addition, the deviation calculation can be triggered automatically by the onboard computer: when the azimuth angle of the electro-optical pod is detected to be stable near the center value of a predefined range (e.g., 30°±2°) for more than 1 second, data is automatically collected and the deviation is calculated without the need for manual commands from ground operators, further improving the automation of calibration.

[0045] Example 6 This embodiment focuses on the update and maintenance strategy of the deviation lookup table. In practice, the complete calibration process described in Embodiment 1 can be performed periodically (e.g., every 50 flight hours) or after it is suspected that the pod zero position has drifted due to vibration or temperature changes. The newly generated deviation lookup table will overwrite the old one. Furthermore, the system can be designed to update only certain intervals with larger deviations. For example, after a specific mission, if an abnormally large increase in positioning error is found in a certain bearing, only short-distance flight routes through that bearing interval can be planned to quickly recalibrate and update that interval without performing omnidirectional calibration, thus maintaining the system's efficiency.

Claims

1. A method for multi-directional angle calibration of an aerial optoelectronic pod, characterized in that, Includes the following steps: Step S1: Select and mark a marker with known coordinates on the ground, and load the coordinate parameters of the marker into the airborne control computer; Step S2: Plan a flight path that enables the UAV to stably track the marker from multiple azimuth angles, and load the flight path into the onboard control computer; Step S3: The UAV executes the flight path, and the ground operator manipulates the electro-optical pod to stably track the marker. Step S4: When the azimuth angle of the electro-optical pod rotates to any predetermined calibration azimuth range, the ground operator sends a calibration command to the UAV for that calibration azimuth range. When the azimuth of the electro-optical pod is not within the calibration azimuth range, the calibration task is not performed. Step S5: After receiving the calibration command, the airborne control computer calculates the azimuth and pitch deviation values ​​of the optoelectronic pod within the current calibration range based on the measurement parameters of the optoelectronic pod, the coordinate parameters of the marker, the coordinates of the UAV itself, and the attitude parameters at the current moment. Step S6: Repeat steps S3 to S5 until the angle calibration of all predetermined calibration azimuth ranges is completed, and the airborne control computer records the azimuth deviation value and pitch deviation value corresponding to each calibration azimuth range. Step S7: When performing positioning calculations for the actual target, the airborne control computer, based on the current azimuth angle of the electro-optical pod, calls up the azimuth deviation value and pitch deviation value of the corresponding calibration azimuth range to correct the current measurement angle of the electro-optical pod, and uses the corrected angle to calculate the target coordinates.

2. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, In step S1, the coordinate parameters of the marker include longitude, latitude, and altitude.

3. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, In step S2, the predetermined calibration azimuth range is obtained by dividing the 360° all-round reconnaissance range of the optoelectronic pod into multiple azimuth intervals according to fixed angle intervals.

4. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 3, characterized in that, The fixed angle interval is 30°, thus dividing the 360° all-round reconnaissance range into 12 azimuth intervals. The specific angles of the 12 azimuth intervals are: 345°~15°, 15°~45°, 45°~75°, 75°~105°, 105°~135°, 135°~165°, 165°~195°, 195°~225°, 225°~255°, 255°~285°, 285°~315°, and 315°~345°.

5. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, The specific method for calculating the azimuth deviation and elevation deviation values ​​in step S5 is as follows: Step S51: Calculate the theoretical azimuth angle of the marker relative to the drone in the geographic coordinate system based on the longitude, latitude, and altitude of the drone and the marker. and theoretical pitch angle ; Step S52: Based on the UAV's heading angle, pitch angle, and roll angle, determine the theoretical azimuth angle of the marker relative to the UAV in the geographic coordinate system. and theoretical pitch angle Transform to the body coordinate system to obtain the theoretical azimuth angle of the marker relative to the UAV in the body coordinate system. Theoretical pitch angle of drones ; Step S53: Set the current measured azimuth angle of the photoelectric pod. With respect to the theoretical azimuth angle of the drone Subtracting the values ​​yields the azimuth deviation. , ; Compare the current measured pitch angle β of the electro-optical pod with the theoretical pitch angle of the UAV. Subtract to obtain the pitch angle deviation value , .

6. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, In one embodiment, the specific method for correcting the current measurement angle of the optoelectronic pod in step S7 is as follows: When performing target positioning, the optoelectronic pod performs laser positioning on the target, and obtains the measured azimuth angle of the optoelectronic pod as... And the measured pitch angle is Find the azimuth deviation value within this angle range. and pitch angle deviation value When the airborne control computer performs target positioning result calculations; The corrected azimuth angle was calculated. , ; The corrected pitch angle was calculated. , .

7. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, The flight path planned in step S2 must ensure that the UAV can sequentially fly to each of the predetermined calibration orientation ranges of the markers during flight, and the flight path must include as many level flight segments as possible.

8. The method for multi-directional angle calibration of an aerial optoelectronic pod according to claim 1, characterized in that, The drone is a medium to large-sized drone equipped with an electro-optical pod. The electro-optical pod has a visible light camera sensor or an infrared camera sensor and is capable of stably tracking targets.

9. An airborne control system for performing the method according to any one of claims 1 to 8, characterized in that, include: The data storage module is used to store the coordinates of markers, flight path, and the azimuth and pitch deviation values ​​corresponding to each pre-calibrated and recorded bearing range. The data acquisition module is used to acquire the UAV's longitude, latitude, altitude, attitude angle, and the measured azimuth and pitch angles of the electro-optical pod in real time. The deviation calculation module is used to calculate the azimuth and elevation deviation values ​​within the current calibration range based on the data provided by the data acquisition module and the data storage module after receiving the calibration command. The target positioning correction module is used to find the corresponding deviation value based on the measured azimuth angle of the photoelectric pod when locating the actual target, correct the measured angle, and then calculate the target coordinates based on the corrected angle.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a multi-directional angle calibration method for an aerial optoelectronic pod as described in any one of claims 1 to 8.

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