兵工自动化2026，Vol.45Issue(3)：22-28,63,8.DOI:10.7690/bgzdh.2026.03.004
机载光电载荷传递对准及误差动态补偿算法
Algorithm of Airborne Optoelectronic Load Transfer Alignment and Error Dynamic Compensation
张璐 1全鹏 2李茂 1雷超 1陈思宇 1王宇倩1
作者信息
- 1. 中国兵器装备集团自动化研究所有限公司无人机事业部,四川 绵阳 621000
- 2. 陆军装备部驻重庆地区军事代表局驻广元地区军事代表室,四川 广元 628017
- 折叠
摘要
Abstract
A transfer alignment algorithm based on multi-source dynamic error compensation is proposed to solve the problem that the performance of airborne optoelectronic payload is short due to the accumulation of device noise and the inability of static alignment caused by installation error in complex dynamic environment.The"velocity+attitude"matching model between the main inertial navigation system of UAV and the micro-inertial navigation system of photoelectric payload is constructed,and the navigation information of the high-precision main inertial navigation system is used to correct the error of the low-precision sub-inertial navigation system.Combined with the 21-dimensional state space equation and measurement equation,the real-time estimation and compensation of multi-source errors,such as attitude misalignment angle,sensor bias,installation error and flexure deformation,are realized.Simulation results show that the proposed method can significantly improve the alignment accuracy.After compensating the lever arm effect,the speed error can be controlled within 0.01 m/s.The flexure deformation angle compensation significantly reduces the fluctuation amplitude of the misalignment angle in each direction,enhances the system stability,and effectively controls the misalignment angle at a lower level.The error compensation strategy is effective.关键词
机载光电载荷/传递对准/误差动态补偿/扩展卡尔曼滤波Key words
airborne electro-optical payload/transfer alignment/error dynamic compensation/extended Kalman filter分类
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张璐,全鹏,李茂,雷超,陈思宇,王宇倩..机载光电载荷传递对准及误差动态补偿算法[J].兵工自动化,2026,45(3):22-28,63,8.
