第21卷第3期 2013年3月
文章编号
1004-924X(2013)03-0782-08
光学精密工程
Optics and Precision Engineering
Vol. 21No. 3 Mar.2013
车载光电跟踪系统跟踪转台的初始标定
徐涛1.2，李博"，刘廷霞"，薛乐堂12，陈涛1
（1.中国科学院长春光学精密机械与物理研究所，吉林长春130033：
2.中国科学院大学，北京100039)
摘要：提出了基于坐标变换的目标跟踪转台初始标定方法，用于提高车载光电跟踪系统的跟踪精度。首先，运用坐标变换理论，建立了转台精标定的数学模型，求解了转台标定的变换矩阵；然后，根据转台标定的实际需要，通过合理地分析和近似，推导了一种转台的粗标定方案；最后，将粗标定与精标定方法相结合对跟踪转台进行初始标定实验。实验结果表明，该标定方法提高了初始标定的效率，对大于等于10km的远距离目标，精标定之后的转台跟踪误差小于0.1"完全
满足车载光电跟踪系统的精度要求。该标定方法已在一批车载光电跟踪系统中得到了成功应用。关键调：车载光电跟踪系统；初始标定；跟踪转台；坐标变换
中图分类号：V556
文献标识码：A
doi:10.3788/OPE.20132103.0782
Initialcalibration of tracking turntablefor vehicle-borneopto-electronictrackingsystem
XU Taol-2-, LI Bo', LIU Ting-xia', XUE Le-tangl-*, Chen Tao(l.ChangchunInstituteof Optics,FineMechanics and Physics, ChineseAcademy of Sciences,Changchun130033,China:
2. University of Chinese Academy of Sciences, Beijing 100039,China)
*Correspondingauthor，E-mail:zut@ciomp.ac.cn
Abstract: An initial turntable calibration method based on coordinate transformation was proposed to improve the target tracking precision of a vehicle-borne tracking system. First, according to the coor dinate transformation theory, a precise turntable calibration model was established and a transforma tion matrix for the turntable calibration was obtained. Then, an approximate calibration approach based on the practical need was derived with reasonable analysis and careful approximation, Finally, a combined calibration method by using both approximate calibration and precise calibration was imple-mented in the turntable initial calibration process for a practical vehicle-borne opto-electronic tracking system. Experimental results show that the combined calibration method can improve the efficiency of turntable initial calibration. After precise calibration, the tracking error of the turntable is smaller than O. 1° for a remote target larger than 1o km away, which completely satisfies the precision require ments of the vehicle-borne opto-electronic tracking system. This calibration method has been success-fully used in several vehicle-borne opto-electronic tracking systems.
Key words: vehicle-borne opto-electronic tracking system; initial calibration; tracking turntable; coor
dinatetransformation
收稿日期：2012-10-19；修订日期：2013-01-13.
基金项目：中国科学院长春光学精密机械与物理研究所三期创新工程资助项目（No.061X20C060）