An initial turntable calibration method based on coordinate transformation was proposed to improve the target tracking precision of a vehicle-borne tracking system. First, according to the coordinate transformation theory, a precise turntable calibration model was established and a transformation matrix for the turntable calibration was obtained. Then, an approximate calibration approach based on the practical need was derived with reasonable analysis and careful approximation. Finally, a combined calibration method by using both approximate calibration and precise calibration was implemented in the turntable initial calibration process for a practical vehicle-borne opto-electronic tracking system. Experimental results show that the combined calibration method can improve the efficiency of turntable initial calibration. After precise calibration, the tracking error of the turntable is smaller than 0. 1° for a remote target larger than 10 km away, which completely satisfies the precision requirements of the vehicle-borne opto-electronic tracking system. This calibration method has been successfully used in several vehicle-borne opto-electronic tracking systems.%提出了基于坐标变换的目标跟踪转台初始标定方法,用于提高车载光电跟踪系统的跟踪精度.首先,运用坐标变换理论,建立了转台精标定的数学模型,求解了转台标定的变换矩阵;然后,根据转台标定的实际需要,通过合理地分析和近似,推导了一种转台的粗标定方案;最后,将粗标定与精标定方法相结合对跟踪转台进行初始标定实验.实验结果表明,该标定方法提高了初始标定的效率,对大于等于10 km的远距离目标,精标定之后的转台跟踪误差小于0.1°,完全满足车载光电跟踪系统的精度要求.该标定方法已在一批车载光电跟踪系统中得到了成功应用.
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