Modeling, test and correction of static pointing error for remotion platform

Hui Li; Hongjie Fan; Qianrong Chen; Qianjin Zou

doi:10.3788/IRLA20210161

Journals >Infrared and Laser Engineering >Volume 50 >Issue 12 >Page 20210161 > Article

Infrared and Laser Engineering
Vol. 50, Issue 12, 20210161 (2021)

Modeling, test and correction of static pointing error for remotion platform

Hui Li, Hongjie Fan, Qianrong Chen, and Qianjin Zou

Author Affiliations

State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System, Luoyang 471003, China

show less

DOI: 10.3788/IRLA20210161 Cite this Article

Hui Li, Hongjie Fan, Qianrong Chen, Qianjin Zou. Modeling, test and correction of static pointing error for remotion platform[J]. Infrared and Laser Engineering, 2021, 50(12): 20210161 Copy Citation Text

show less

Abstract

According to the axis offset, arosed by rotation of azimuth or pitching axis, was biggish than index in the test of certain remotion platform, the error sources were analyzed comprehensively. And then, a kind of error test and compensation plan was proposed based on this, multi-body kinematics theory was used to setup correction model of axis pointing deviation of the remotion platform. Subsequently, the test experiment of pointing deviation was designed to gain the actual pointing error, the unknown parameter of the correction model were obtained by measured data. Finally, model simulation and experimental test results after compentation both show that the horizontal axis offset error has been reduced from 176.1″ to 1″, the vertical axis pointing accuracy has been improved from 18″to 9″ after correction of error sources, and the error test and correction method has been successfully used in the actual test of the remotion platform, which satisfied the normal requirements.

Keywords

error correction error test multi-system modeling optical pointing offset remotion platform

$\left[ {

\begin{matrix} {\boldsymbol r}_{i} \\ 0 \end{matrix}

} \right] = {{{\boldsymbol L}}_{01}}{{{\boldsymbol L}}_{12}}{{{\boldsymbol L}}_{23}}{{{\boldsymbol L}}_{34}}{{{\boldsymbol L}}_{45}}\left[ {

\begin{matrix} \boldsymbol r \\ 0 \end{matrix}

} \right]$

(1)

View in Article

$ {{\boldsymbol{L}}_{01}} = \left[ {

\begin{matrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & δ_{z} \\ 0 & 0 & 0 & 1 \end{matrix}

} \right]\;\;{{\boldsymbol{L}}_{12}} = \left[ {

\begin{matrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & δ_{y} \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix}

} \right]\;\;{{\boldsymbol{L}}_{45}} = \left[ {

\begin{matrix} 1 & 0 & 0 & l_{3} \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix}

} \right] $

(2)

View in Article

$ {{\boldsymbol{L}}_{23}} = \left[ {

\begin{matrix} \cos A & 0 & \sin A & l_{1} \\ 0 & 1 & 0 & 0 \\ - \sin A & 0 & \cos A & 0 \\ 0 & 0 & 0 & 1 \end{matrix}

} \right]\;{{\boldsymbol{L}}_{34}} = \left[ {

\begin{matrix} \cos E & - \sin E & 0 & l_{2} \\ \sin E & \cos E & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{matrix}

} \right] $

(3)

View in Article

${{\boldsymbol{r}}_i} = \left[ {

\begin{matrix} \cos A \cos E \\ \sin E \\ - \cos E \sin A \end{matrix}

} \right]$

(4)

View in Article

\begin{aligned} {\boldsymbol L}^{'}_{34} = & [\begin{array}{c} 1 & 0 & 0 & l_{2} \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{array}] \times [\begin{array}{c} \cos Δ_{4 y} & 0 & \sin Δ_{4 y} & 0 \\ \cos Δ_{4 y} & 0 & \sin Δ_{4 y} & 0 \\ 0 & 1 & 0 & 0 \\ - \sin Δ_{4 y} & 0 & \cos Δ_{4 y} & 0 \\ 0 & 0 & 0 & 1 \end{array}] \times [\begin{array}{c} 1 & 0 & 0 & 0 \\ 0 & \cos Δ_{4 x} & - \sin Δ_{4 x} & 0 \\ 0 & \sin Δ_{4 x} & \cos Δ_{4 x} & 0 \\ 0 & 0 & 0 & 1 \end{array}] \times \\ [\begin{array}{c} \cos E^{'} & - \sin E^{'} & 0 & 0 \\ \sin E^{'} & \cos E^{'} & 0 & 0 \\ 0 & 0 & 1 & 0 \\ 0 & 0 & 0 & 1 \end{array}] \times [\begin{array}{c} \cos e_{4 y} & 0 & \sin e_{4 y} & 0 \\ 0 & 1 & 0 & 0 \\ - \sin e_{4 y} & 0 & \cos e_{4 y} & 0 \\ 0 & 0 & 0 & 1 \end{array}] \times [\begin{array}{c} 1 & 0 & 0 & 0 \\ 0 & \cos e_{4 x} & - \sin e_{4 x} & 0 \\ 0 & \sin e_{4 x} & \cos e_{4 x} & 0 \\ 0 & 0 & 0 & 1 \end{array}] \end{aligned}

(5)

View in Article

\begin{array}{r} [\begin{array}{c} {\boldsymbol r}_{a} \\ 0 \end{array}] = \boldsymbol L_{01}^{'} \boldsymbol L_{12}^{'} \boldsymbol L_{23}^{'} \boldsymbol L_{34}^{'} \boldsymbol L_{45}^{'} [\begin{array}{c} \boldsymbol r \\ 0 \end{array}] \end{array}

(6)

View in Article

\begin{aligned} {\boldsymbol r}_{a} = & [\cos (A) \cos (E) - (e_{4 y} + Δ_{5 y}) \sin (A) - Δ_{2 z} \sin (E) - (Δ_{4 y} + e_{A}) \cos (E) \sin (A) - (Δ_{5 z} + e_{3 z} + e_{E}) \cos (A) \sin (E) + \\ (Δ_{4 x} + e_{3 x}) \sin (A) \sin (E) \sin (E) + (e_{E} + Δ_{5 z} + e_{3 z} + Δ_{2 z} \cos (A) + Δ_{2 x} \sin (A)) \cos (E) Δ_{2 x} \sin (E) - \\ (Δ_{4 y} + e_{A}) \cos (A) \cos (E) + (Δ_{5 z} + e_{3 z} + e_{E}) \sin (A) \sin (E) + (Δ_{4 x} + e_{3 x}) \cos (A) \sin (E)] \end{aligned}

(7)

View in Article

$\left\{

\begin{array}{l} δ θ_{y} = \arctan (\frac{- r_{z a}}{r_{x a}}) - \arctan (\frac{- r_{z i}}{r_{x i}}) \\ δ θ_{z} = \arcsin (r_{y a}) - \arcsin (r_{y i}) \end{array}

\right.$

(8)

View in Article

$\left\{

\begin{array}{l} δ θ_{y} = a_{1} + a_{2} \tan (E) + a_{3} \sec (E) + a_{4} \sin (A) \tan (E) + \\ a_{5} \cos (A) \tan (E) \\ δ θ_{z} = a_{4} \cos (A) - a_{5} \sin (A) + a_{6} \end{array}

\right.$

(9)

Hui Li, Hongjie Fan, Qianrong Chen, Qianjin Zou. Modeling, test and correction of static pointing error for remotion platform[J]. Infrared and Laser Engineering, 2021, 50(12): 20210161

Download Citation

Tools

Save the article for my favorites

Paper Information

微信扫一扫：分享

微信扫一扫：分享