Autonomous Position And Orientation Technology For Trailer-mounted Theodolite

Trailer-mounted theodolite is the one of the most popular direction of shooting range optics measuring instrument, after changing baselines,the exact positions and reference azimuth of the instrument must be measured in order to provide spatial origion for trajectory. Trailer-mounted theodolite autonomous position and orientation means get site acronomical coordinates and zero reference azimuth—the true north by astronomical observation with its own optics telescope system.Triangle navigation formula is derived firstly,then celestial location and orientation method technology is introduced, by analyzing the generation of vertical deflection, the prinple that ballistic trajectory measuring by optical instrument must using astronomical coordinates is insured. Intersection method of theodolite is investigated, how position and orientation error as while as vertical deflection acts on angle error is given in addition, also the trajectory error caused by position and orientation error in only one or muti-sites situation is put forward in simulation,results shows that the maximal error lead by signal diffrerence.In order to reduce the axis error of the telescope,zenith-inserted-method is impr- oved combined with feature of system,multi-star vector positon mehod and least squa -res optimal estimation is used to compute astronomical coordinates,the method of compensate initial level error is also put forward,the relationship of tilt quantity and tilt azimuth between plane 3D movement is given by the coordinate rotation ,The nine parameter model is derived for the cinetheodolites field calibration. Star ima -ge is filted by CL multi-wavelet tansformation and the centroid is computed by gauss curve plane method ,then assume the zenith point as the main star to form a new star identifacaion algorithm.Time and site positon error are the primary error source of hour mehod, besides,some kind of correction are needed during switching star horizontal-position to apparent position. By reason of random error, dual-axis inclinometer is used to observe attitude change wihle theodolite working on the trailer,in the other hand,kalman filter is used in star back- scan course to improve pointing precision.Finally ,directional precision is showen by actual data.