中文摘要：

针对升降式光电探测平台的高精度目标定位要求,提出了一种基于多体系统理论的误差分析与建模方法。在系统总体结构的基础上,采用低序体阵列和齐次坐标变换矩阵,分别描述系统的拓扑结构和各坐标系之间的转换关系。同时,详细分析了各项误差因素的特性和产生机理,建立目标定位误差模型,并给出误差概率分布列表。Monte Carlo仿真实验表明：影响定位精度的主要因素为轴系零位误差、光轴一致性误差、轴系垂直度误差、姿态测量组合和传递装置安装误差。外场实验表明：误差校准后,系统的最终测角精度优于0.07°。

英文摘要：

An error analysis and modeling method based on multi-body kinematic theory is proposed to achieve high accuracy positioning for lift electro-optical detection platform（LEODP）.On the basis of the structure of LEODP,low-order array and homogeneous transformation matrix are used to describe the topology structure and transformation relations between each coordinates respectively.Subsequently,the characteristics of error sources are analyzed in detail to structure the error model,and error sources are also listed in a table.Numerical experiments based on Monte Carlo method have been carried out and the results demonstrate that the positioning accuracy is mostly influenced by several error sources,including zero position error,consistency errors,perpendicularity error and misalignment errors.The field experiment shows that the positioning accuracy is superior to 0.07° after error sources are calibrated.