无人机光电侦测平台目标定位误差分析

Error analysis for target localization with unmanned aerial vehicle electro-optical detection platform

针对无人机光电侦测平台在目标定位过程中测量误差因素繁多、分析困难等问题,提出了一种基于多因素分析的误差建模与分析方法。在系统总体结构的基础上,根据目标从空间直角坐标系到光电传感器坐标系的映射关系,建立目标定位模型,以载机位置、姿态误差以及光电侦测平台转角、测距误差等9项因数为变量,推导出目标定位误差计算公式。采用飞行实验数据验证了该误差计算方法的有效性,并通过仿真实验分析了载机位置、姿态角误差、光电传感器方位角、高低角误差以及激光测距误差对目标定位精度的影响,同时指出实际应用中无人机测量点位置与目标定位精度的关系,载机高度越低、视轴指向角越大,目标定位精度越高。

Aiming at the problems of excessive measurement error factors and analysis difficulty of unmanned aerial vehicle （UAV） electro-optical detection platform （EODP） in target locating process, an error modeling and analysis method based on multi-factor theory is proposed. On the basis of the overall structure of UAV EODP, a target localiza- tion model is established according tO the mapping relationship of the target from the geodetic coordinate system to photo-sensor coordinate system. Tbe 9 factors, including UAV position and attitude error, EODP angle, range error and etc. , are selected as variables;a target localization error calculation formula is derived. The flight experiment data are used to verify the effectiveness of this error calculation method. With simulation experiments, the influence of UAV position, attitude angle error, electro-optical sensor azimuth angle and elevation angle errors and laser ranging error on localization precision is analyzed ; at the same time, the relationship between the measuring point of UAV and localiza- tion precision in actual application is pointed out：the lower the plane and the larger the pointing angle, the higher the target localization precision.