Patent ID: 9423256
Filing Date: 2016-08-23
CPC Classification: G01C

Claim Text:
1. A method of calibration of a navigation and pointing system including a navigation unit integrally connected to a pointing device, the navigation unit being configured to measure the position and the orientation of a reference system of said navigation unit, the pointing device including an emission device configured to emit a beam in a pointing direction and a means for varying the pointing direction, the pointing device being configured to measure a pointing signal as a function of the pointing direction in a reference system linked to the pointing device, the calibration method comprising the following steps of calibration of the angles between the reference system of said navigation unit and the reference system linked to the pointing device: a. estimating an approached navigation reference system, the approached navigation reference system being inclined with respect to the navigation reference system with misalignment Euler angles (φ, θ, Ψ); b. selecting a first planar surface; c. determining a vector (N d. directing the navigation and pointing system in a plurality of distinct angular orientations with respect to the first planar surface, said plurality of angular orientations being determined in the reference system of the navigation unit; e. varying the pointing direction to acquire, by the pointing device, for each of the orientations of said plurality of orientations with respect to the first planar surface, a series of pointing measurements along a scan line on the first planar surface; f. processing each of said series of pointing measurements along a scan line on the first planar surface, to determine, in the reference system linked to the pointing device, an approached direction vector (û g. processing a plurality of approached direction vectors (û h. calculating at least one misalignment angle (φ, θ, Ψ) between the approached normal vector ({circumflex over (N)}