主动雷达与惯导设备安装夹角的标校

Setting Angle Calibration of Active Radar and Inertial Navigation Equipment

针对主动雷达与惯导设备安装夹角引起的测角误差问题,提出了一种高效、高精度的标校方法。采用差分全球定位系统(Global Positioning System,GPS)分别测量目标和雷达在大地坐标系中的位置信息,并转换到目标地理坐标系中;同时通过雷达和惯导测量的雷达坐标系下的目标角度、距离信息,建立目标地理坐标系和雷达坐标系的转换方程,计算出雷达和惯导在目标地理坐标系下的安装夹角。性能分析和仿真结果表明,在确保差分GPS坐标、惯导输出姿态角和雷达测量角精度的条件下,所提方法能有效和高精度的测量出安装夹角。该方法通过了外场试验标定和机载试验验证,可推广到车载或机载雷达与惯导设备的安装夹角标校中。

An effective and accuracy calibration method is proposed to solve the problem of angle measuring error caused by setting angle of active radar and inertial navigation equipment.The method uses differential global positioning system(GPS)to measure and convert the geodetic longitude and latitude coordinate of the target and radar to target geographic coordinate,measures the angles and distance in radar coordinate by radar and inertial navigation,establishes the coordinate transform equation between target geographic coordinate and radar coordinate,and finally calculates the setting angle.Performance analysis and simulation shows that the proposed method can calculate the setting angle effectively and efficiently while keeping the right accuracy of GPS coordinate,attitude angle and angle measuring error.It has been proved by site and airborne experiments.This method can be used in calibration of vehicular radar and airborne radar.