基于坐标变换的视频跟踪误差角的计算方法

推导的算法主要用于两轴转台的视频跟踪。一般情况下，在进行视频跟踪时，常用目标相对视场中心的夹角来直接修正转台的方位角和俯仰角，这种粗略的计算方法仅当俯仰角在零值附近时有很好的近似度，俯仰角越大误差越大。文章基于坐标变换理论建立数学模型，分析推导所得的计算方法适用性强（各个象限均可计算）、精度高、输入输出明确。

Angle error algorithm for video tracking based on coordinate transform

The algorithm developed in this article is mainly used in video tracking of two-axis turntable.The methods using angle deviation between target and the video center to correct the azimuth and pitching angle error directly can achieve good performance only when the pitching angle is close to zero.Large pitching angle will result in big error.To resolve the problem,a mathematic model based on coordinate transform was made,and the new algorithm based on the model can be used in any situation with high precision,and the inputs and outputs of the algorithm is definite.