公开(公告)号：DE4020019A1

公开(公告)日：1992-01-02

申请号：DE4020019

申请日：1990-06-20

Applicant: CUBA ACAD CIENCIAS

Inventor： LINK ALFRED

IPC: B64G1/36 ,  G01D18/00

Abstract: An arrangement for calibrating optical sensors for positioning objects in space has a memory (S) contg. sensor measurement values, weighting factors and spatial system reference coordinates. Signal processing components (HS,DRW) derive centres of brightness and rotation angles from the stored values. The signal processing components for centre of brightness (HS), main direction (HR) and rotation angle (DRW) determination and for transformation (TR), inverse quaternion multiplication (QIM1,QIM2) and correction (KM) are interconnected. A further processing component (DQS) estimates a differential quaternion signal for use in correction. ADVANTAGE - Enables stochastic measurement disturbances to be suppressed and accurate positioning under real-time conditions.