基于准直激光的跟踪合作目标小范围二维姿态测量方法研究

Research on the small-range two-dimensional attitude measurement method of tracked cooperative target based on collimating laser

为了解决远距离激光跟踪合作目标的高精度二维姿态测量问题,提出了一种基于准直激光的跟踪合作目标小范围二维姿态高精度测量方法。首先,详细阐述了角锥棱镜的光学特性与基于角锥棱镜的激光跟踪原理;其次提出了一种利用开孔角锥棱镜和光电探测器的二维姿态测量方法,并分析了激光光束向量、开孔角锥棱镜、光电探测器与合作目标的数学关系,建立了姿态解算模型,并设计了一款合作目标靶标;最后构建了高精度姿态测量系统,进行了实验数据采集与参数模型标定,并通过验证实验进行了精度分析与评价。实验结果表明,本文所提出的测量装置精巧实用,在±5°的工作范围内测角误差不超过0.011°,满足高精度的工程应用需求。

To solve the problem of high-precision two-dimensional attitude measurement for long-distance laser tracking cooperative targets,a small-range two-dimensional attitude measurement method based on the collimated laser is proposed in this article.Firstly,the optical characteristics of the angular prism and the principle of laser tracking based on the angular prism are described in detail.Secondly,a two-dimensional attitude measurement method using a cube-corner prism with incision and photodetector is proposed,and the mathematical relationship among laser beam vector,cube-corner prism with incision,photodetector,and the cooperative target is analyzed,the attitude solution model is established,and a cooperative target is designed.Finally,a high-precision attitude measurement system is established.Experimental data acquisition and parameter model calibration are carried out,and accuracy analysis and evaluation are implemented through verification experiments.The experimental results show that the proposed measuring device is ingenious and practical.The measuring angle error is less than 0.011°in the working range of±5°,which meets the demand of high-precision engineering applications.