The Research Of Coordinate Transformation And Calibration Technology In Point Targets Projection Hardware-in-the-loop Simulation System

Point Targets Projection hardware-in-the-loop simulation is used to test the tracking and hitting performance of tanks or artillery,and has become a popular research topic.It is multiple subsystems coordination work,so the data needs convert into the same coordinate system to give the control and evaluation by frequent coordinate transformation between the subsystems.As important parameters of coordinate transformation,the precision and maneuverability of the calibration result of subsystems relative position will affect the using range and test conditions of the simulation system.So the coordinate transformation scheme and the calibration method are important parts of the system design.For this purpose,the following work was studies and completed:1?The system coordinate transformation scheme of the point Targets Projection hardware-in-the-loop simulation system was established.Set the ball screen as the world coordinate system,and the three parameter model was adopted to establish coordinate transformation relations of the target in the subsystem and in the ball screen system.Finally the coordinate transformation relations between subsystems were got.An analysis of transformation process of image coordinate system and the world coordinate system was completed.The relation between two-axis turntable angle parameters and coordinates of the projected target spot were derived based on the theory of quaternion.2?A calibration method based on the TLS was presented.A G-M model was established in the calibration system coordinates,which was used to solve the center of the sphere.The TLS theory was used to solve the model.Considering there was measurement error,the orthogonal experiment method was used to select the most representative sampling combination.An analysis of the error factor that affect the calibration accuracy was completed,and a simple and high precision calibration method was proposed.The function of the system projection target in accordance with the designated track was realized.3?A field calibration device was designed.The calibrator design scheme was proposed and its optical design,mechanical design and assembly were completed.4 ? The experimental platforms of coordinate transformation and system calibration were set up.The coordinate transformation plan was evaluated through the path tracking results.The calibrator angle calibration experiment was completed.A simulation ball screen was designed and system calibration experiment was carried out under the condition of laboratory.The experimental results validated the correctness and applicability of six point calibration method.