基于四元数的地面光电探测系统指向标定

Direction calibration of ground optoelectronic detection system based on quaternion

目标定位精度是地面光电探测系统的重要指标,直接依赖于光电探测系统初始指向标定的精度高低。本文提出了一种基于四元数坐标变换的光电探测系统指向标定方法,实现了高精度的方位、俯仰初始指向标定,为地面光电探测系统实现高精度的目标搜索、定位、跟踪、识别功能奠定基础。首先,基于四元数和坐标变换的理论建立了初始标定的数学模型;其次,给出了一种由测量值求解得到相关标定参数的算法及方案;再次,测得靶标高精度WGS84坐标信息以计算标定参数;最后,应用标定并分析误差。实验表明,对于2 km处的目标,光电探测系统跟踪误差小于0.05°,满足一般地面光电探测系统高精度定位的要求。该方法已经在一批地面光电探测系统中得到实际应用。

Target positioning accuracy is an important indicator of the ground optoelectronic detection system, which directly depends on the accuracy of the initial direction calibration of the optoelectronic detection system.In this paper, a method of direction calibration for an optoelectronic detection system based on quaternion coordinate transformation is proposed, which achieves high-precision azimuth and pitches initial direction calibration, laying a foundation for the ground optoelectronic detection system to achieve high-precision target search, positioning, tracking, and recognition functions basis.Firstly, the mathematical model of initial calibration is established based on the theory of quaternion and coordinate transformation;secondly, an algorithm and scheme for obtaining the relevant calibration parameters from the measured value are given.Thirdly, the information of high-precision WGS84 geographic coordinates of of targets is measured to calculate the calibration parameters;finally, the calibration is applied and the errors are analyzed.The experiments show that the tracking error of the optoelectronic detection system is less than 0.05° at 2 km, which meets the high-precision positioning requirements of general ground optoelectronic detection systems.This method has been practically applied in a number of ground optoelectronic detection systems.