152 results about "Pointing error" patented technology

The invention provides a space projection error analysis-combined 4D millimeter wave radar and visual camera automatic calibration method. The method comprises the steps of constructing a sensor internal reference model; designing a composite multifunctional calibration board and a three-dimensional adjustable holder, performing rigid geometrical relationship modeling, and automatically associating physics-features-coordinates; collecting multi-frame synchronization frame pair data, and performing time sequence fine grit alignment and interpolation compensation to obtain a space-time alignment frame pair sequence; extracting cross-modal spatial constraints of the features and automatically screening and matching point pairs to obtain a high-confidence point pair set; performing point-point constraint and point-point error, point-plane error and pixel reprojection error minimization to obtain a standardized error term; and constructing an overall objective function, and performing spatial constraint and time deviation estimation to obtain corrected external parameters and synchronization deviation. According to the invention, through a full-automatic standardized process, the probability of artificial participation and error occurrence is greatly reduced; and multi-modal and multi-scene high-precision calibration is supported, and the flexibility and robustness are greatly improved.

The invention relates to a method for measuring the spatial pointing precision of a panoramic camera turntable, which comprises the following steps of: firstly, establishing an initial coordinate system for an azimuth axis and a pitch axis, performing data measurement on the two axes during rotary motion through a laser tracker, and calculating circle center coordinates and circular surface direction vectors of the two rotary axes through a spatial circle fitting method of sphere fitting and plane fitting; the actual position relation of the two coordinate systems can be obtained, then the offset and the angular deviation between the two coordinate systems can be calculated through the actual position relation of the two coordinate systems, and calibration parameters are obtained; and solving a transformation matrix between the reference coordinate system and the measurement coordinate system by using the actual position relation of the two coordinate systems, obtaining a coordinate vector of a measured point in the reference coordinate system, and solving a space included angle between the two vectors according to the coordinate vector and a theoretical position coordinate vector of the measured point to obtain a space pointing error. The method adopts a space coordinate calculation mode of a robotization method, not only has universal significance, but also can be popularized to precision measurement of other two-axis universal two-dimensional space pointing mechanisms.

The invention discloses a satellite antenna dynamic pointing calibration method and system based on satellite autonomous gradient optimization, relates to the technical field of satellite communication, and realizes closed-loop calibration without ground intervention by processing signal to noise ratio (SNR) data uploaded by a ground station on a satellite in real time and combining a multi-physical field coupling model of a temperature and stress sensor. And the pointing error in a dynamic environment is reduced from more than 2.0 degrees of a traditional scheme to less than 0.3 degrees.

The invention discloses a radar antenna pointing error compensation method, which establishes a pointing error correction formula to realize compensation by recording and analyzing a relation among a pointing error, an inertial measurement equipment value and an array surface structure temperature, and mainly comprises the following steps of: monitoring and recording the array surface structure temperature, extracting pointing error data, and compensating the pointing error. Selecting and recording values of the inertial measurement equipment, analyzing data, establishing a correction formula, and verifying a compensation effect. According to the invention, the problem of antenna pointing error caused by the adoption of inertial measurement equipment by a high-precision radar needing to be deployed in a motorized manner is solved.

The invention discloses a microwave laser hybrid link radio star calibration device and method suitable for deep space exploration, and relates to the field of spaceflight deep space exploration. Pointing calibration of a microwave and laser hybrid link of a deep-space large-aperture antenna is completed through radio star calibration, firstly, after pointing calibration and stable tracking of the microwave link are conducted on the microwave link, fine tracking is conducted on the laser link, pointing calibration of the laser link is completed, respective pointing error correction coefficients are formed, and real-time correction of antenna pointing is achieved. Microwave laser link hybrid radio star calibration is not limited by distance and geographical conditions, and real-time calibration can be realized; the beam of the laser link is narrower than that of the microwave link, the calibration precision is higher, and the system pointing precision and the photoelectric axis consistency precision can be improved. The method is simple in design, high in generalization, low in implementation difficulty and convenient to implement and popularize.

The invention relates to the technical field of satellite attitude control, in particular to a satellite-borne laser semi-autonomous pointing control method, electronic equipment and a storage medium. The method is completed by cooperation of a ground system and an on-satellite system, the ground system calculates a top target passing moment T * in advance, generates a unified laser pointing control instruction and injects the instruction into a satellite; and the satellite-borne system receives and analyzes the instruction, obtains parameters such as T * and beam selection, and then autonomously controls a specified load for work preparation. And the satellite-borne system autonomously calculates the optimal moment T1 and the target attitude when passing through the calibration field through high-precision orbit extrapolation based on the latest navigation data, finally autonomously executes attitude maneuver and laser pointing tasks, and autonomously returns after the tasks are completed. Instructions in a uniform format are generated and injected from the ground, ground operation is greatly simplified, efficient cooperation of ground decision triggering and on-satellite autonomous execution is achieved, pointing errors caused by orbit extrapolation are greatly reduced, the pointing precision and the task success rate are improved, and universality is good.

The invention discloses a microwave wireless energy transmission wave beam high-precision pointing and tracking method and system, and the system comprises an interferometer angle measurement module, an energy center self-adaptive detection module and a distance measurement and communication integrated feedback link module, and the interferometer angle measurement module provides an initial pointing angle for energy wave beam alignment. The charging satellite controls the transmitting antenna to transmit energy beams according to the angle measurement result of the interferometer. After a wave beam reaches a receiving antenna array surface, a receiving antenna measures power through a plurality of power monitoring points, then the actual position of an energy center is inverted through an adaptive measurement algorithm, the azimuth angle and the center offset distance of an incident wave beam under a receiving antenna coordinate system are obtained, and the pitch angle of an incident wave beam is estimated by combining distance measurement information. And the energy receiving satellite feeds back estimated values of the pitch angle and the azimuth angle to the transmitting antenna through the distance measurement and communication integrated feedback link to correct a beam pointing error, so that high-precision beam pointing control of the microwave energy transfer system is realized.

The invention relates to the technical field of telescope image processing, and particularly provides a telescope electronic image stabilization method and system based on a theoretical guide trajectory, a telescope pointing error is calculated according to encoder pointing data and telescope guide pointing, the jitter offset of a target image is further calculated, a cutting area is calculated according to the jitter offset, and a target image is obtained. And cutting the target image according to the cutting area, and outputting the cut target image to realize image stabilization. The method does not depend on hardware equipment, does not need to extract target features, and is low in technical difficulty, simple and easy to implement and good in image stabilization effect.

The present invention discloses a three-point auxiliary positioning method and device for invisible pulse laser processing focus. By setting a coaxial pinhole device and combining multiple image algorithms with translation stage feedback, real-time focus tracking is achieved, positioning accuracy is improved, and anti-interference ability is enhanced. There is no need for repeated calibration after the first calibration, which improves processing efficiency. The equilateral triangle structure is used to suppress single-point errors, and the processing defocus amount and whether the vertical processing requirements are met can be quickly determined. The overall cost is reduced and the operational safety is improved. The positioning of the pulse focus is mainly determined by the image acquisition algorithm, and its focus calibration is replaced by three visible light indicator lasers. There is no need to use expensive photoelectric detection equipment. In addition, the entire calibration process is mainly completed by a computer or other controller, avoiding the harm of invisible pulses to operators.

The invention discloses an automatic laser control method and system, and relates to the technical field of laser control, and the method comprises the steps: collecting the data of an unmanned plane and a laser system, and constructing a coordinate system; establishing a dynamic response model and a disturbance signal model, estimating a disturbance signal, and performing feedforward control; calculating a normal vector of a laser reflector, and combining the normal vector with the incident laser direction vector to obtain a laser reflection direction vector; determining a laser drop point, and analyzing a drop point error; and adjusting the laser emission direction based on the error analysis result. According to the invention, the stability and precision of laser emission can be improved, especially in a complex environment, it is ensured that laser emission does not generate obvious deviation due to external disturbance, the laser reflection direction is accurately calculated and adjusted, and it is ensured that laser reaches a target in an optimal path, so that the control precision and energy utilization efficiency of a laser system are improved; in practical application of laser, the reliability and the control effect of a laser emission system are obviously improved.

The invention relates to the technical field of laser terminal pointing control, and discloses a laser terminal installation error on-orbit calibration method which comprises the following steps: S1, defining multiple coordinate systems including an ideal installation coordinate system of a laser terminal during ground calibration and an actual installation coordinate system caused by stress release or deformation after emission, and a real-time pointing coordinate system of in-orbit operation of the laser terminal. And S2, establishing a laser terminal installation error model, wherein the model defines an installation error angle through a direction relation of a coordinate system before and after terminal emission. According to the method, the installation error angle is dynamically estimated through the recursive least square method, high-precision dynamic correction of the laser terminal pointing error is achieved in combination with the rotation matrix pointing correction model, meanwhile, error feedback and time sequence control are introduced, and the problems of nonlinear error accumulation, insufficient fixed gain response and long-term error accumulation in the prior art are solved.

The invention relates to the technical field of space telescope calibration, in particular to a telescope pointing calibration method based on optical fiber interconnection, which comprises the following steps: providing reference light beams in different directions, enabling each lens to correspondingly receive the reference light beams by adjusting the lens pointing, splitting the reference light beams received by the lenses through an optical splitter, and obtaining a split beam; one beam is aligned and corrected through a camera, and the other beam is coupled into an optical fiber to record direction information; the calibration light beams are reversely emitted by the optical fiber through the optical switch and are emitted by the lens, each reference light beam in the known direction is reproduced, a reference light field is formed, the telescope to be calibrated is placed in the reference light field, the miss distance of each calibration light beam in the known direction on the mirror surface of the telescope to be calibrated is measured, and the pointing error is calculated and corrected according to the miss distance. The optical fiber network is used for establishing the unique mapping relation between the space direction and the optical fiber channel, miss distance measurement is carried out through dynamic time-sharing reproduction, and the problems of mechanical accumulative errors and the like existing in a traditional mechanical calibration method are solved.

The invention provides a laser terminal calibration method and system based on inter-satellite orbit mutual transmission, and the method comprises the steps: carrying out the static calibration of a laser terminal through employing a star sensor or ground assistance before the establishment of an inter-satellite communication link, and enabling the pointing error of an optical axis to be smaller than 0.1 degree; after a communication link is established, orbit parameters of two satellites are exchanged in real time, a relative orbit normal vector is calculated through coordinate transformation, and a fusion reference is dynamically generated in combination with a static calibration result. According to the method, the real-time track mutual transmission data is used as dynamic correction input, the initial static calibration result is not only relied on any more, and fusion benchmark optimization of calibration and track mutual transmission is achieved. Compared with a traditional static calibration method depending on a ground station or a single-star inertial reference, the method breaks through the precision bottleneck of static calibration through the fusion of the orbit dynamic data and the static calibration result, effectively eliminates the orbit dynamic error, improves the laser calibration precision to a micro-radian level, and improves the calibration precision. And the establishment efficiency and reliability of the inter-satellite laser link are greatly improved.

The invention discloses a mechanical arm tail end position calibration method based on a visual closed loop, and the method comprises the steps: firstly obtaining the oblique projection point coordinates of a central point above the tail end of a mechanical arm on a target plane by using an industrial camera, estimating the vertical projection point position of the industrial camera, and calculating the height from the industrial camera to the target plane; before the mechanical arm is used, the position information of the mechanical arm is obtained through an image obtained by the industrial camera, the current zero point error of the mechanical arm is calculated according to the vertical projection point position of the industrial camera and the height from the industrial camera to a target plane, and automatic iteration compensation adjustment is conducted on the zero point. After the zero compensation of the mechanical arm, during the operation of the mechanical arm, the position information of the mechanical arm is obtained through an image obtained by the industrial camera, the current position error of the mechanical arm is calculated, and the actual position of the tail end of the mechanical arm is compensated and calibrated. According to the method, manual measurement errors are effectively avoided, the data acquisition efficiency is remarkably improved, and the calibration efficiency of the mechanical arm is improved.

The invention discloses a lighting system capable of adjusting the posture of a drilling machine, and relates to the field of drilling machine equipment, the system comprises the following components: a laser emission and control module, a sensor fusion module, an intelligent algorithm processing module, an environment adaptability structure and a power supply and energy efficiency management module; three-dimensional dynamic compensation is conducted on the drilling track of the drilling machine through an intelligent algorithm processing module and an improved RBF neural network algorithm, the drilling pointing precision is remarkably improved, according to actual measurement, under the drilling depth of 4 meters, the pointing error is reduced from + / -5 mm to + / -2.3 mm, the overexcavation amount is reduced by 62%, and in addition, the drilling accuracy is improved. The drilling track prediction sub-module adopts an improved long-short-term memory network model, can predict and adjust the laser orientation in advance, triggers a real-time compensation mechanism when the prediction deviation exceeds 1.5 mm, enables the track coincidence rate of a drilling machine to be improved from 78% to 96% when the drilling machine works in a curved roadway, and greatly improves the precision and efficiency of drilling operation through the combined action of the improvements.

The invention discloses a ground station antenna pointing error compensation method and related equipment. The method comprises the following steps: controlling an antenna driving shaft to sequentially rotate to a plurality of measuring points according to a preset angle step length in a preset angle range, and synchronously acquiring a command angle value output by an encoder and an actual angle value output by a gradienter at each measuring point; for each measurement point, an error value is calculated according to the relation that the error value is equal to the difference between the actual angle value and the command angle value, and an error sample set containing a plurality of data pairs is formed; and performing curve fitting processing on the error sample set to obtain a continuous and smooth error compensation function in the preset angle range, and performing ground station antenna pointing error compensation by using the error compensation function, the error compensation function being used for representing a mapping relationship between a command angle value and an error value. The problem that an existing ground station antenna pointing error compensation method is high in cost, complex in implementation or limited in compensation effect can be solved.

The invention discloses an out-of-hand hand-eye calibration method of a 3D camera eye based on a tool ball and a related device, relates to the field of computer vision, realizes an automatic hand-eye calibration process by controlling the tool ball to move to a plurality of preset calibration points, and reduces manual intervention. The tool ball is fixed on the mechanical arm, and the relative position of the tool ball and the end effector of the mechanical arm is kept unchanged, so that the coordinate of the end effector of the mechanical arm in a robot coordinate system can be used as the first coordinate of the center of the tool ball in the robot coordinate system, and the second coordinate of the center of the tool ball in a camera coordinate system is accurately obtained through 3D point cloud data; the precision of hand-eye calibration can be improved, and then the accuracy and stability of task execution of the robot are improved. The affine transformation matrix is obtained based on the plurality of first coordinates and the plurality of second coordinates, so that the calibration result is more representative and reliable, the problem of inaccurate calibration caused by single-point errors is reduced, and the adaptability and robustness of the system in different environments and tasks are enhanced.

The present invention provides a stable spatial optical communication method, comprising: obtaining an initialization pointing error distribution of a pointing mechanism; determining the standard deviation of the initialization pointing error in the X and Y directions based on the initialization pointing error distribution; determining the boundary point positions of a scanning range in the X and Y directions based on the standard deviation; constructing a diamond-shaped scanning range based on the boundary point positions; determining multiple diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range, and scanning according to the scanning trajectories to complete spatial optical communication capture. The stable spatial optical communication method provided by the present invention can effectively improve scanning efficiency and reduce link establishment time in spatial optical communication.

The present invention provides an on-orbit identification method for gyro nonlinearity and pointing system errors, comprising: calculating the platform angular velocity based on star sensor dynamic data; establishing an equation relationship between the gyro system error and the platform angular velocity; constructing observation equations for the nonlinear error and installation error angle of each gyro meter head; using the least squares method to perform on-orbit identification of the gyro meter head system error; and calculating the installation pointing angle of the gyro meter head in the body coordinate system. On-orbit identification of gyro system errors can effectively reduce the attitude angular velocity calculation error and gyro integrated attitude angle calculation error introduced by gyro nonlinearity and installation error in high-dynamic satellites. The present invention can simultaneously identify the nonlinear error and installation angle pointing error of the gyro meter head. The gyro meter head system error identification dimension is high, and the gyro system error estimation accuracy is high. This method can effectively improve the attitude angular velocity measurement accuracy and spatial pointing measurement accuracy of remote sensing satellites under high dynamic conditions.

The application discloses a kind of mechanical hand eye automatic calibration method, device, equipment and medium, comprising: obtaining calibration board image and identifying feature point and camera field of view center, select target feature point and record first mechanical hand coordinates and initial pixel coordinates;Control mechanical hand moves fixed step along multiple directions and obtains tentative information, and determine target mechanical hand coordinates and step length adjustment mode accordingly;According to iterative update mechanical hand coordinates and fixed step according to alignment condition, establish the corresponding relationship of final mechanical hand coordinates and initial pixel coordinates;Repeat the above operation to the rest feature points, calculate hand-eye transformation relationship based on multiple sets of corresponding relationship.The application gradually corrects the position of mechanical hand by the iterative alignment mode driven by pixel error, and realizes stable convergence by combining step length adjustment, so as to reduce the point error of artificial, improve calibration accuracy, reduce repeated adjustment process, and improve calibration efficiency.

The invention discloses a horizon astronomical telescope pointing error correction method based on machine learning. The method comprises the following steps: recording fixed star data; constructing a telescope rack pointing model, calculating a model coefficient, performing coarse correction on a new observation target, accumulating observation data, and preprocessing the observation data; training the preprocessed training set data by using an XGBoost regression model, predicting condition parameters of a new observation target by using a trained error prediction model to obtain normalized azimuth angle deviation and elevation angle deviation predicted values of the new observation target, and carrying out reverse normalization processing on the predicted values to obtain an actual rack deviation angle; and superposing the rough correction deviation angle and the actual rack deviation angle to serve as a final offset to be injected into a telescope rack tracking program so as to realize correction of a pointing error. According to the invention, the pointing error can be within a very small range, and the pointing precision of the horizon telescope can be effectively improved.

The invention belongs to the technical field of heliostat measurement, and particularly relates to a method for measuring the pointing error of a heliostat by using moonlight and a camera, which comprises the following steps: rotating the heliostat, and guiding the moonlight reflected by the heliostat to the camera; detecting the actual rotation angle of the heliostat when the center of the reflected light beam is located at the camera position; meanwhile, the theoretical rotation angle of the heliostat at the position is calculated based on the heliostat coordinates, the camera coordinates and the moonlight azimuth vector; the difference between the actual rotation angle and the theoretical rotation angle is the pointing error of the heliostat at the current position. The method has the advantages that the moon orientation naturally changes along with time, infinite measurement orientations can be provided theoretically, an unmanned aerial vehicle or an additional calibration tower is not needed, and therefore the system cost is remarkably reduced.

This application relates to the field of human eye gaze estimation technology, and provides a self-calibration method, apparatus, device, and medium for human eye gaze deviation parameters. Since the final gaze predicted in this application's embodiments is based on a gaze unrelated to the user's identity (i.e., the initial gaze) and a gaze related to the user's identity (i.e., the human eye gaze deviation parameters), and these parameters can be continuously optimized during user use, this application's embodiments can improve the accuracy of gaze estimation. Furthermore, since this application's embodiments perform gradient backpropagation based on intersection point error loss, i.e., using the geometric constraints of the gaze as a supervision signal, this application's embodiments do not require separate collection of the user's gaze label samples before the user uses the gaze estimation system. Instead, the human eye gaze deviation parameters can be continuously learned during user use, and as the number of samples increases, the human eye gaze deviation parameters will become increasingly accurate.

The invention relates to an error calibration method, in particular to a rotating biprism pointing error correction method based on a search and rescue optimization algorithm, which is based on a rotating biprism system and introduces the search and rescue optimization (SARO) algorithm into parameter estimation of rotating biprism system errors. A fitness function of search and rescue optimization is constructed through the deviation between the actual pointing position and the theoretical pointing position, and finally an assembly error parameter estimation model is proposed and applied to pointing error correction. According to the invention, comprehensive identification of assembly error parameters in the system is realized, and the pointing error of the rotary biprism system is effectively corrected.

The application provides a beam pointing error correction method and system for a special-shaped multi-mode sensor simulation, based on the idea of multi-element antenna beam synthesis, calculates the distance deviation of the antenna to the sensor according to the real-time changing radiation antenna position, and then combines the distance deviation and the working wavelength to solve the phase deviation, and according to the phase deviation, corrects the equal phase plane deviation of the multi-element antenna at the center of the sensor module through a phase shifter, realizes the compensation control of the multi-element antenna synthesis beam pointing, and finally realizes the angle simulation error correction of the single system semi-physical simulation of the special-shaped multi-mode sensor. The application guarantees the simulation accuracy of the real-time beam pointing of the semi-physical simulation of the sensor, reduces the target radiation capacity loss in the simulation process, and improves the reliability of the semi-physical simulation system.

Systems and methods disclosed herein for pointing a steerable antenna system (22) onboard a satellite (10) exploit advantageous image-processing techniques that provide a computationally-efficient and accurate way of determining the pointing error of the steerable antenna system (22) and determining corresponding pointing corrections. Received-signal power measurements for individual array elements in an antenna array of the steerable antenna system provide the basis for forming a power-distribution image (70) that reveals where an uplink signal (42) falls on the array (50), which in turn provides a basis for determining the appropriate pointing correction.

The present invention relates to a method and system for the joint adjustment of optical images and laser altimetry data. The method comprises the following steps: acquiring image data to establish a strict optical image model, and converting the rectangular coordinates in the imaging model into geodetic coordinates; incorporating a systematic error affine model into the imaging model, and using a dither harmonic function in the compensation function to compensate for low-order systematic errors; introducing a tie point error equation, an elevation control point error equation, and a virtual control point error equation to establish a normal equation, employing a strategy of eliminating variables to modify the normal equation for solution, eliminating the object coordinate correction, constructing a new modified normal equation, and performing adjustment calculations to obtain systematic error compensation parameters. Compared with the prior art, the present invention can effectively compensate for the effects of satellite platform dither and improve the elevation positioning accuracy of images.

The invention provides a pointing error correction method and device of a beam waveguide system, equipment and a storage medium, which can be applied to the technical field of antennas. The method comprises the following steps: acquiring laser incident to a beam waveguide system along a current beam transmission direction every time an antenna rotates to an angle; laser is reflected to the target through first to Sth plane mirrors in the beam waveguide system, a first laser point is obtained, and the first to Sth plane mirrors are plane mirrors which are closer to the target in sequence; determining an angle error according to the first laser point, the second laser point incident to the Sth plane mirror and the target point; rotating angles of waveguide reflectors are adjusted, angle errors are corrected, the waveguide reflectors are used for reflecting a current wave beam, and a plane mirror is placed in the center of each waveguide reflector; re-acquiring the first laser point, and determining a displacement error according to the re-acquired first laser point and the target point; and adjusting the displacement of the waveguide reflector, and correcting the displacement error.

The present invention discloses a method for correcting the non-linear pointing error of a telescope based on kernel weight function estimation. The specific steps are as follows: First, track and observe multiple stars on a moving platform. Through the observation data and the pointing error correction method, calculate the azimuth angle and elevation angle of each star in the inertial navigation system, and calculate the residual non-linear azimuth pointing error and elevation pointing error of the telescope for each star after correction by the pointing error correction method. Then, establish a kernel weight function estimation model for the non-linear azimuth pointing error and elevation pointing error of the target, and use the generalized cross-validation method to determine the window width parameter required for kernel weight function estimation. Finally, according to the position information of the target, on the basis of correcting the linear pointing error by the pointing error correction method, use the established kernel weight function estimation model to estimate the non-linear azimuth pointing error and elevation pointing error of the target, and then obtain the further corrected guiding value to guide the telescope to point at the target quickly and with high precision. The correction accuracy of the present invention is high.

The application belongs to the technical field of heliostat measurement, and particularly relates to a method for measuring pointing error of heliostat by using moonlight and a camera, comprising the following steps: rotating the heliostat, guiding the moonlight reflected by the heliostat to the camera; detecting the actual rotation angle of the heliostat when the center of the reflected light beam is located at the position of the camera; at the same time, calculating the theoretical rotation angle of the heliostat at the position based on the heliostat coordinates, the camera coordinates and the moonlight azimuth vector; the difference between the actual rotation angle and the theoretical rotation angle is the pointing error of the heliostat at the current position. The method has the advantages that the moon azimuth changes naturally with time, theoretically, infinite measurement azimuths can be provided, and an unmanned aerial vehicle or an additional calibration tower is not needed, so that the system cost is significantly reduced.