CN114166240A - Method and device for correcting and calibrating baseline of target range test - Google Patents
Method and device for correcting and calibrating baseline of target range test Download PDFInfo
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Abstract
The invention provides a method and a device for correcting and calibrating a test baseline of a target range, wherein the method comprises the steps of respectively leveling an emitting device and a photoelectric tracker in a control system; rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device to adjust the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data; calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data; and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data. The method can realize the function of calculating the baseline data between the photoelectric tracker of the control system and the transmitting device and can realize the function of zero calibration of the photoelectric tracker of the control system and the transmitting device. The installation error between control system equipment can be eliminated, the control system is ensured to accurately track the moving target, and the control system is ensured to carry out precision test in a target range.
Description
Technical Field
The invention relates to the field of control, in particular to a method and a device for correcting and calibrating a test baseline of a target range.
Background
The method is based on the placement flexibility of the transmitting device and the photoelectric tracker of the control system, and the problems that the installation base line and the zero calibration between the transmitting device and the photoelectric tracker need to be solved on site according to actual conditions, and the installation base line is flexible and uncertain between target range test equipment on site.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a device for correcting and calibrating a target range test baseline, which are used for solving the technical problem that the installation baseline is flexible and uncertain among field target range test equipment in the prior art.
According to a first aspect of the present invention, there is provided a method of drone test baseline correction and calibration, the method comprising the steps of:
step S101: leveling the transmitting device and the photoelectric tracker in the control system respectively;
step S102: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data;
step S104: and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data.
According to a second aspect of the present invention, there is provided a device for correcting and calibrating a baseline of a shooting range test, the device comprising:
step S101: leveling the transmitting device and the photoelectric tracker in the control system respectively;
step S102: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data;
step S104: and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data.
According to a third aspect of the present invention, there is provided a system for correcting and calibrating a baseline of a shooting range test, comprising:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are stored in the memory and loaded by the processor to perform the method of target range trial baseline correction and calibration as described above.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having a plurality of instructions stored therein; the instructions are used for loading and executing the method for correcting and calibrating the baseline of the shooting range test by the processor.
According to the scheme of the invention, the function of calculating the baseline data between the photoelectric tracker of the control system and the transmitting device and the function of zero calibration of the photoelectric tracker of the control system and the transmitting device are realized. The elimination of installation errors among control system devices is a basic guarantee for the control system to accurately track the moving target. The function of calculating the baseline data between the photoelectric tracker of the control system and the transmitting device can be realized, and the function of zero calibration of the photoelectric tracker of the control system and the transmitting device can be realized. The invention provides a new method for correcting and calibrating a target range test base line aiming at the characteristic that the installation base line between target range test equipment is flexible and uncertain, acquires related data and calculates accurate base line data of a photoelectric tracker and an emitting device. The invention utilizes the prior control system to participate in the test equipment, measures the related data, obtains the baseline accurate data of the photoelectric tracker and the transmitting device through the algorithm, eliminates the installation error between the control system equipment and ensures that the control system accurately tracks the moving target.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method for correction and calibration of a target range test baseline according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the position relationship between the emitting device and the photoelectric tracker according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the horizontal position relationship between the emitting device and the photoelectric tracker according to an embodiment of the present invention;
FIG. 4 is a first schematic diagram of the calculation of horizontal side distance according to the present invention;
FIG. 5 is a second schematic of the invention for calculating horizontal side distance;
fig. 6 is a block diagram of a configuration of a device for correction and calibration of a target range test baseline according to an embodiment of the present invention.
Detailed Description
Firstly, a flow of a method for correcting and calibrating a target range test baseline according to an embodiment of the present invention is described with reference to fig. 1, wherein the method comprises the following steps:
step S101: leveling the transmitting device and the photoelectric tracker in the control system respectively;
step S102: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data;
step S104: and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data.
The step S101: the emitting device and the photoelectric tracker are respectively leveled in the control system by acquiring the placing situation of each device in the control system and respectively leveling the emitting device and the photoelectric tracker based on the placing situation.
As shown in fig. 2, the placement situation of each device in the control system is obtained, the O coordinate system is a rectangular coordinate system with the emitting device as the origin, the O 'coordinate system is a rectangular coordinate system with the photoelectric tracker as the origin, and the O ″ coordinate system is a rectangular coordinate system with the emitting device as the origin, and the O' coordinate system is horizontally projected. The N-axis represents true north, the H-axis represents day, and the X-axis represents east. At the level of the photoelectric tracker, there is the relationship shown in fig. 3.
The mode of respectively leveling the transmitting device and the photoelectric tracker in the control system comprises the following steps:
for the photoelectric tracker, a level gauge is placed on the horizontal reference surface of the photoelectric tracker rotary table, the photoelectric tracker rotary table is rotated, the bubble position of the level gauge is observed, the quantity of gaskets is adjusted according to the inclination direction of the bubbles, and the horizontal reference surface of the photoelectric tracker rotary table is adjusted, so that the horizontal reference surface of the photoelectric tracker rotary table is in a horizontal state.
And for the launching device, placing the optical fiber compass on a horizontal reference plane of the launching device, reading the inclination angle of the launching device on a notebook computer connected with the optical fiber compass, and adjusting four support columns of a vehicle of the launching device so that the horizontal installation base plane of the launching device is kept horizontal.
The step S102: rotating the photoelectric tracker revolving stage, aiming emitter's transmitting tube, adjusting emitter frame position, until photoelectric tracker's optical axis is coaxial with emitter's transmitting tube, samples data, and the sampling data includes: the heading of the ship of the our party is marked as Kw, the unit is rad, and the ship is sampled by an optical fiber rod; the bulwark angle represents the azimuth frame position of the transmitting device, is recorded as qw, has the unit of rad, and is sampled by the transmitting device; the high and low angles represent the high and low frame positions of the transmitting device, are marked as epsilon and are sampled by the transmitting device; the photoelectric bulwark angle represents the azimuth angle of the photoelectric tracker, is recorded as qw _ gd, has the unit of rad, and is sampled by the photoelectric tracker; the photoelectric high-low angle represents the high-low angle of the photoelectric tracker, is marked as epsilon _ gd, has the unit of rad, and is sampled by the photoelectric tracker; the horizontal side distance represents the horizontal distance between the photoelectric tracker and the side surface of the emitting device and is recorded as d' with the unit of m; one-half the width of the vehicle in which the launching device is placed, denoted c, in m.
The step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampled data, comprising:
step S1031: calculating the horizontal distance d between the photoelectric tracker and the transmitting device:
In this embodiment, the horizontal distance d' between the photoelectric tracker and the side surface of the emitting device, and the meaning of half the width c, the angle α, and the angle β of the vehicle on which the emitting device is placed are known as shown in fig. 4-5, and the horizontal distance d between the photoelectric tracker and the emitting device in the figure is calculated:
when | qw | < 90 °, the calculation principle is as shown in fig. 4, and when | qw | > 90 °, the calculation principle is as shown in fig. 5. Step S1032: calculating the base line of the photoelectric tracker relative to the launching device in a stable naval vessel coordinate system,
Hcpd × tan (e) (formula 5)
XcpD × sin (qw) (equation 6)
YcpD × cos (qw) (equation 7)
Wherein HcpFor stabilizing the h axis of the naval vessel coordinate system relative to the transmitting device by the photoelectric trackerA position component of (A), XcpIs the position component, Y, of the photoelectric tracker relative to the emitting device on the x axis of the stable naval vessel coordinate systemcpIs the position component of the photoelectric tracker relative to the emitting device on the y axis of the stable vessel coordinate system.
Step S1033: calculating the base line of the photoelectric tracker relative to the emitting device under the geodetic coordinates
H′cp＝Hcp(formula 8)
Wherein, H'cpIs a position component, X ', of the photoelectric tracker relative to the emitting device on the h axis of the geodetic coordinate system'cpIs a position component, Y ', of the opto-electronic tracker relative to the emitting device on the x-axis of the geodetic coordinate system'cpIs the position component of the photoelectric tracker relative to the emitting device on the y-axis of the geodetic coordinate system.
Step S104: based on the sampled data, calculating a zero error of the photoelectric tracker relative to the transmitting device, comprising:
step S1041: and calculating zero errors delta B and delta epsilon of the photoelectric tracker relative to the transmitting device, wherein the calculation formula is as follows:
Δ B-qw-pi-qw _ gd (equation 11)
Δ ε ═ ε - ε _ gd (equation 12)
Step S1042: correcting the fire control angle, substituting the zero errors delta B and delta epsilon into the sampling data of the photoelectric tracker by the system console, and performing fire control calculation and display
qw _ hk ═ qw _ gd + Δ B (equation 10)
E — hk ∈ — gd + Δ ∈ (equation 11).
Furthermore, the baseline data and the zero error of the photoelectric tracker relative to the transmitting device are used for fire control adjustment, wherein the baseline data comprise the baseline of the photoelectric tracker relative to the transmitting device in a stable vessel coordinate system and the baseline of the photoelectric tracker relative to the transmitting device in the stable vessel coordinate system, and the installation error and the zero error among control system equipment can be eliminated.
The new baseline correction and calibration method adopted by the invention eliminates the installation error among the control system devices, and is a basic guarantee for the control system to accurately track the moving target.
The embodiment of the invention further provides a device for correcting and calibrating the baseline of the firing ground test, as shown in fig. 6, the device comprises:
step S101: leveling the transmitting device and the photoelectric tracker in the control system respectively;
step S102: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data;
step S104: and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data.
The embodiment of the invention further provides a system for correcting and calibrating the test base line of the target range, which comprises the following steps:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are stored in the memory and loaded by the processor to perform the method of target range trial baseline correction and calibration as described above.
The embodiment of the invention further provides a computer readable storage medium, wherein a plurality of instructions are stored in the storage medium; the instructions are used for loading and executing the method for correcting and calibrating the baseline of the shooting range test by the processor.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a physical machine Server, or a network cloud Server, etc., and needs to install a Windows or Windows Server operating system) to perform some steps of the method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are still within the scope of the technical solution of the present invention.
Claims (8)
1. A method for correcting and calibrating a baseline of a target range test is characterized by comprising the following steps:
step S101: leveling the transmitting device and the photoelectric tracker in the control system respectively;
step S102: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampling data;
step S104: and calculating the zero error of the photoelectric tracker relative to the transmitting device based on the sampling data.
2. The method for baseline correction and calibration of a firing ground test of claim 1, wherein said step S101: the mode of respectively leveling the transmitting device and the photoelectric tracker in the control system comprises the following steps:
for the photoelectric tracker, a level gauge is placed on the horizontal reference surface of the photoelectric tracker rotary table, the photoelectric tracker rotary table is rotated, the bubble position of the level gauge is observed, the quantity of gaskets is adjusted according to the inclination direction of the bubbles, and the horizontal reference surface of the photoelectric tracker rotary table is adjusted, so that the horizontal reference surface of the photoelectric tracker rotary table is in a horizontal state.
And for the launching device, placing the optical fiber compass on a horizontal reference plane of the launching device, reading the inclination angle of the launching device on a notebook computer connected with the optical fiber compass, and adjusting four support columns of a vehicle of the launching device so that the horizontal installation base plane of the launching device is kept horizontal.
3. The method for baseline correction and calibration of a firing ground test of claim 2, wherein said step S102 comprises: rotating the photoelectric tracker revolving stage, aiming emitter's transmitting tube adjustment emitter frame position, until photoelectric tracker's optical axis is coaxial with emitter's transmitting tube, samples data, and the sampling data includes: the heading of the ship of the our party is marked as Kw, the unit is rad, and the ship is sampled by an optical fiber rod; the bulwark angle represents the azimuth frame position of the transmitting device, is recorded as qw, has the unit of rad, and is sampled by the transmitting device; the high and low angles represent the high and low frame positions of the transmitting device, are marked as epsilon and are sampled by the transmitting device; the photoelectric bulwark angle represents the azimuth angle of the photoelectric tracker, is recorded as qw _ gd, has the unit of rad, and is sampled by the photoelectric tracker; the photoelectric high-low angle represents the high-low angle of the photoelectric tracker, is marked as epsilon _ gd, has the unit of rad, and is sampled by the photoelectric tracker; the horizontal side distance represents the horizontal distance between the photoelectric tracker and the side surface of the emitting device and is recorded as d' with the unit of m; one-half the width of the vehicle in which the launching device is placed, denoted c, in m.
4. The method for baseline correction and calibration of a firing ground test of claim 3, wherein said step S103: calculating a baseline of the photoelectric tracker relative to the emitting device based on the sampled data, comprising:
step S1031: calculating the horizontal distance d between the photoelectric tracker and the transmitting device:
step S1032: calculating the base line of the photoelectric tracker relative to the launching device in a stable naval vessel coordinate system,
Hcpd × tan (e) (formula 5)
XcpD × sin (qw) (equation 6)
YcpD × cos (qw) (equation 7)
Wherein HcpIs the position component, X, of the photoelectric tracker relative to the emitting device on the h axis of the stable naval vessel coordinate systemcpIs the position component, Y, of the photoelectric tracker relative to the emitting device on the x axis of the stable naval vessel coordinate systemcpThe position component of the photoelectric tracker relative to the emitting device on the y axis of the stable naval vessel coordinate system is shown;
step S1033: calculating the base line of the photoelectric tracker relative to the emitting device under the geodetic coordinates
H′cp＝Hcp(formula 8)
Wherein, H'cpIs a position component, X ', of the photoelectric tracker relative to the emitting device on the h axis of the geodetic coordinate system'cpIs a position component, Y ', of the opto-electronic tracker relative to the emitting device on the x-axis of the geodetic coordinate system'cpIs the position component of the photoelectric tracker relative to the emitting device on the y-axis of the geodetic coordinate system.
5. The method for baseline correction and calibration of a firing ground test of claim 4, wherein step S104: based on the sampled data, calculating a zero error of the photoelectric tracker relative to the transmitting device, comprising:
step S1041: and calculating zero errors delta B and delta epsilon of the photoelectric tracker relative to the transmitting device, wherein the calculation formula is as follows:
Δ B-qw-pi-qw _ gd (equation 11)
Δ ε ═ ε - ε _ gd (equation 12)
Step S1042: correcting the fire control angle, substituting the zero errors delta B and delta epsilon into the sampling data of the photoelectric tracker by the system console, and performing fire control calculation and display
qw _ hk ═ qw _ gd + Δ B (equation 10)
E — hk ∈ — gd + Δ ∈ (equation 11).
6. An apparatus for correcting and calibrating a baseline of a shooting range test, the apparatus comprising:
leveling module: configured to level the transmitting device and the opto-electronic tracker, respectively, in the control system;
a sampling module: rotating a rotary table of the photoelectric tracker, aiming at a transmitting tube of a transmitting device, adjusting the frame position of the transmitting device until an optical axis of the photoelectric tracker is coaxial with the transmitting tube of the transmitting device, and sampling data;
a baseline calculation module: configured to calculate a baseline of the photoelectric tracker relative to the emitting device based on the sampled data;
a zero error calculation module: and calculating a zero error of the photoelectric tracker relative to the transmitting device based on the sampled data.
7. A system for correcting and calibrating a test baseline of a target range is characterized by comprising:
a processor for executing a plurality of instructions;
a memory to store a plurality of instructions;
wherein the instructions are for storage by the memory and for loading and executing by the processor the method of range trial baseline correction and calibration of any of claims 1-5.
8. A computer-readable storage medium having stored therein a plurality of instructions; the plurality of instructions for loading and executing by a processor the method of range trial baseline correction and calibration of any of claims 1-5.
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| US20070104353A1 (en) * | 2003-12-16 | 2007-05-10 | Michael Vogel | Calibration of a surveying instrument |
| US20110261193A1 (en) * | 2009-02-25 | 2011-10-27 | Light Prescriptions Innovators, Llc | Passive electro-optical tracker |
| CN108759873A (en) * | 2018-07-30 | 2018-11-06 | 武汉华之源网络科技有限公司 | The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel |
| CN112130134A (en) * | 2020-08-17 | 2020-12-25 | 河北汉光重工有限责任公司 | Real-time baseline correction method based on time compensation |
| CN213599930U (en) * | 2020-09-09 | 2021-07-02 | 河南中光学集团有限公司 | Multi-optical-axis zero position calibration instrument for gun weapon system |
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2021
- 2021-10-25 CN CN202111251731.XA patent/CN114166240B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070104353A1 (en) * | 2003-12-16 | 2007-05-10 | Michael Vogel | Calibration of a surveying instrument |
| US20110261193A1 (en) * | 2009-02-25 | 2011-10-27 | Light Prescriptions Innovators, Llc | Passive electro-optical tracker |
| CN108759873A (en) * | 2018-07-30 | 2018-11-06 | 武汉华之源网络科技有限公司 | The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel |
| CN112130134A (en) * | 2020-08-17 | 2020-12-25 | 河北汉光重工有限责任公司 | Real-time baseline correction method based on time compensation |
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