基于MLE的靶场光电经纬仪高精度定位方法研究

为解决靶场光电经纬仪现用交会定位解算模型作用范围小、与目标实际位置偏差大等问题，提高目标航迹解算精度和模型的适应范围，根据目标跟踪距离和测角误差分量关系，建立了经纬仪空间测量误差模型，优化了异面交会定位加权系数。基于最大似然估计（Maximum Likelihood Estimate,MLE）理论，提出了一种新的更高精度的定位方法，并推导了精度估算公式。详细分析了交会角度、跟踪距离和测角精度对定位误差的影响。试验证明,该方法较现用定位方法适用测量区域增加一倍以上，定位精度提高20%，更适合多测站、不等精度、远距离跟踪等工程场景，具有推广价值。

High Precision Positioning Method of Photoelectric Theodolite in Shooting Range Based on MLE

In order to solve the problems of small range of action and large deviation from the actual position of the target in the current intersection positioning calculation model of the photoelectric theodolite in the shooting range,and to improve the accuracy of target trajectory calculation and the adaptability range of the model,a theodolite spatial measurement error model based on the relationship between target tracking distance and angle measurement error components is established,the weighting coefficients of different plane intersection positioning is optimized.Based on the maximum likelihood estimation (MLE) theory,a new and more accurate positioning method is proposed,and an accuracy estimation formula is derived.The impact of intersection angle,tracking distance,and angle measurement accuracy on positioning error is analyzed in detail.Experimental results show that this method is more than twice as suitable for measuring areas and improves positioning accuracy by 20% compared to current positioning methods.It is more suitable for engineering scenarios such as multiple measurement stations,unequal accuracy,and long-distance tracking,and has promotion value.