基于RTK定位无人机的光电经纬仪姿态角测量精度检测方法  

Method for Determining Attitude Measurement Accuracy of Photoelectric Theodolites for Positioning Unmanned Aerial Vehicles Based on RTK

作　　者：袁光福 于潮 王伟超 李刚平 吴伟国 Yuan Guangfu;Yu Chao;Wang Weichao;Li Gangping;Wu Weiguo(95859 Troop,the Chinese People’s Liberation Army,Jiuquan 735018,Gansu,China)

机构地区：[1]中国人民解放军95859部队,甘肃酒泉735018

出　　处：《激光与光电子学进展》2024年第5期232-237,共6页Laser & Optoelectronics Progress

摘　　要：光电经纬仪测量飞行目标的姿态角是重要的测姿手段。提出了一种利用实时动态载波相位差分技术(RTK)定位的无人机对光电经纬仪的测姿精度进行检测的方法。该方法将无人机RTK天线中心点与地面基准点构成的连线作为待测姿态角的轴线,通过RTK定位值计算出轴线与基准面之间的夹角,并以此作为姿态角的标准值来检测光电经纬仪测姿精度。介绍了测姿精度检测原理,对RTK定位精度和检测精度进行了不确定度分析,探讨了在精度检测时的设备布站规则。理论分析和实验结果表明:所提方法可以用于光电经纬仪测姿精度的外场检测。Photoelectric theodolites are important instruments for measuring the attitude of flying targets.We present a method for determining the attitude measurement accuracy of a photoelectric theodolite using a real time kinematic carrier phase difference technology(RTK)positioning unmanned aerial vehicle(UAV).The method uses the line formed between the center point of the UAV RTK antenna and a reference point as the axis of the attitude angle to be measured,calculates the included angle between that axis and the datum plane through the RTK positioning value,and uses the angle as the standard attitude against which the attitude measurement accuracy of the photoelectric theodolite is tested.In this paper,the principle of measuring attitude precision is introduced,the uncertainty in RTK and measuring precision are analyzed,and the rule of equipment distribution is discussed.Theoretical analysis and experimental results show that the proposed method can be used for measurement of the attitude accuracy of photoelectric theodolites.

关 键 词：姿态角 精度检测 实时动态载波相位差分技术 无人机 

分 类 号：TJ760.6[兵器科学与技术—武器系统与运用工程]