CN106500663A - A kind of gradient laser measurement method and system - Google Patents
A kind of gradient laser measurement method and system Download PDFInfo
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- CN106500663A CN106500663A CN201710009812.6A CN201710009812A CN106500663A CN 106500663 A CN106500663 A CN 106500663A CN 201710009812 A CN201710009812 A CN 201710009812A CN 106500663 A CN106500663 A CN 106500663A
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- missile airframe
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The present invention discloses a kind of gradient laser measurement method and system.The present invention obtains the distance between laser range finder and missile airframe first；According to the initial coordinate that the distance calculates the missile airframe section center of circle；With the initial coordinate as iteration initial value, by iterating to calculate the accurate coordinates for obtaining the missile airframe section center of circle；Radius and the accurate coordinates according to the missile airframe calculates the gradient of the missile airframe.Method and system disclosed by the invention, the real-time measurement that body gradient is realized using two laser range finders, measuring method is flexible, can achieve scene non-cpntact measurement, high precision, is particularly well-suited to the measurement and monitoring of large cylinder structures slope degree, and by estimating to the initial coordinate of body section home position first, then the method for computing is iterated again, it is achieved that the quick calculating of body gradient.
Description
Technical field
The present invention relates to laser measuring technique field, more particularly to a kind of gradient laser measurement method and system.
Background technology
Launching silo confession under directions guided missile vertical storage, preparation and the underground engineering facility for implementing to launch.Liquid strategic missile
Under liquid propellant static pressure long term, the stress level inside its guided missile structure is very high, can produce larger deformation, makes to lead
Play structure and small uneven or barycenter generation minor shifts occur, so as to cause position of the body in silo to shift.
Under big uneven Static behavior, guided missile structure can be damaged, and original initial imperfection further can develop, particularly on ground
Under the impact loadings such as shell motion, object shock, due to the fluid structure interaction between propellant and tank, guided missile structure is made
Generation forced vibration, causes guided missile structure deformation to be significantly increased, and stress level is significantly improved, and guided missile structure is in high-caliber dynamic
State stress-strain state, body are further glanced off in silo, and now easily recurring structure is damaged.If initial lack
Fast development is fallen into, guided missile can be made to face the risk of recurring structure destruction after propellant leakage and MISSILE LAUNCHING, the peace of guided missile is caused
Quan Xing, validity and guard rate are substantially reduced.Therefore, the deflection of real-time monitoring missile airframe structure, can be the analysis palm
The configuration state for holding guided missile provides sufficient technical guarantee.
Gradient measurement technology is widely used in the fields such as building, bridge, at present mainly using micrometer instrument et al.
Work means are completed, it is impossible to realize real-time online automatic measurement.And the structure of the similar cylinder such as large-scale liquid missile is directed to, even more
Lack corresponding online inclination measurement method.
Content of the invention
It is an object of the invention to provide a kind of gradient laser measurement method and system, for missile airframe structure due to ground
Tilt problem caused by the factors such as shell motion, external force, the real-time survey for realizing body gradient using two sets of laser range finders
Amount.
For achieving the above object, the invention provides following scheme：
A kind of gradient laser measurement system, it is characterised in that the system includes：Launching silo, missile airframe and
Two sets of laser range finders；The missile airframe is located in the launching silo, and the missile airframe bottom is fixed；Described two
Set laser range finder on the borehole wall that same level is fixed on the launching silo, install by two sets of laser range finders
The line in position to the launching silo cross section center of circle is orthogonal.
The invention also discloses a kind of gradient laser measurement method, methods described includes：
Obtain the distance between laser range finder and missile airframe；
According to the initial coordinate that the distance calculates the missile airframe section center of circle；
With the initial coordinate as iteration initial value, the accurate of the missile airframe section center of circle is obtained by iterating to calculate
Coordinate；
Radius and the accurate coordinates according to the missile airframe calculates the gradient of the missile airframe.
According to the specific embodiment that the present invention is provided, the invention discloses following technique effect：
1st, the real-time measurement to missile airframe gradient is realized using two laser range finders, measuring method is flexible,
Scene non-cpntact measurement is can achieve, high precision is particularly well-suited to the measurement of large cylinder structures slope degree.
2nd, missile airframe section central coordinate of circle is calculated using the distance between laser range finder and missile airframe directly
Solution procedure is sufficiently complex and amount of calculation is excessive, and for the defect of the computational methods, the present invention proposes a kind of quickly succinct
Missile airframe section central coordinate of circle computational methods, are estimated to the initial coordinate of missile airframe section home position, so first
It is iterated the accurate coordinates that computing obtains the missile airframe section center of circle afterwards again, and then achieves the quick of missile airframe gradient
Calculate.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing for using is needed to be briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can be with according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of schematic cross-section of gradient laser measurement system embodiment of the invention；
Fig. 2 is a kind of flow chart of gradient laser measurement method embodiment of the invention.
Specific embodiment
Accompanying drawing in below in conjunction with the embodiment of the present invention, to the embodiment of the present invention in technical scheme carry out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiment.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide a kind of gradient laser measurement method and system.
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings and concrete real
The present invention is further detailed explanation to apply mode.
Fig. 1 is a kind of schematic cross-section of gradient laser measurement system embodiment of the invention.
Referring to Fig. 1, a kind of gradient laser measurement system, including：Missile airframe 101, launching silo 102, first set
Laser range finder 103 and second set of laser range finder 104.
101 bottom of missile airframe is fixed in launching silo 102, and in Fig. 1, solid line circle represents 102 borehole wall of launching silo
Certain cross section, the installation site of the cross section and two sets laser range finders is in same level.Broken circle generation in Fig. 1
Certain horizontal cross-section of table missile airframe 101, the horizontal cross-section are equally located at same with the installation site of two sets of laser range finders
On horizontal plane.That is, the cross section of 102 borehole wall of launching silo and the horizontal cross-section of missile airframe 101 and two sets shown in Fig. 1
The installation site of laser range finder is respectively positioned in same level.First set laser range finder 103 and second set of laser range finder
Two positions of A, B on 104 boreholes wall for being individually fixed in launching silo 102 on same level cross section, two sets of laser
The line of installation site A, B of rangefinder to 102 cross section center of circle O of the launching silo is orthogonal, i.e., two sets Laser Measurings
Distance meter differs 90 ° along the borehole wall and is fixed on the borehole wall.First set laser range finder 103 and the survey of second set of laser range finder 104
Accuracy of measurement is above 1mm.
First set laser range finder 103 is used for measuring installation site A point to missile airframe 101 apart from l1, second set is swashed
Optar 104 is used for measuring installation site B point to missile airframe 101 apart from l2.O points are 102 cross section of launching silo
The center of circle, and the initial position in the 101 horizontal cross-section center of circle of missile airframe.O ' is 101 horizontal cross-section of missile airframe after inclining
Home position, O ' coordinate representations be (x, y).α is the angle of O ' and y-axis, and β is the angle of O ' and x-axis.Represent O points to leading with h
The vertical range of 101 bottom of body is played, represents that missile airframe 101 deviates the angle of its preferable axial line (z-axis), i.e. guided missile with γ
The body gradient of body 101.The radius of launching silo 102 and missile airframe 101 is respectively R1 and R2.
Fig. 2 is a kind of flow chart of gradient laser measurement method embodiment of the invention.
Referring to Fig. 2, a kind of gradient laser measurement method, including：
Step 201：Obtain the distance between laser range finder and missile airframe.
The A points of 103 measurement of acquisition first set laser range finder are to missile airframe 101 apart from l1With second set of laser ranging
The B points of the measurement of instrument 104 are to missile airframe 101 apart from l2.
Step 202：Calculate the initial coordinate in the missile airframe section center of circle.
According to described apart from l1With apart from l2, use equation groupCalculate Missile Body
Initial coordinate (the x in the body section center of circle0, y0).
Step 203：Calculate the accurate coordinates in the missile airframe section center of circle.
Initial coordinate (x with the above-mentioned missile airframe section center of circle0, y0) it is iteration initial value, use equation groupIterative calculation the missile airframe section center of circle accurate coordinates (x, y), control 10 step of iterative steps or
Precision reaches 0.1mm and completes to iterate to calculate, and obtains the accurate coordinates (x, y) in the missile airframe section center of circle.
Step 204：Calculate the gradient of missile airframe.
Use formulaCalculate gradient γ of missile airframe.
The above-mentioned technical proposal of the present invention, the real-time survey for realizing missile airframe gradient using two laser range finders
Amount, measuring method flexibly, can achieve scene non-cpntact measurement, and high precision, its two sets of laser range finders are solid along 90 ° of borehole wall difference
Schedule the measurement that the structure on the borehole wall is particularly well-suited to large cylinder structures slope degree.The present invention additionally uses a kind of quick letter
The computational methods of clean missile airframe section central coordinate of circle, estimate to the initial coordinate of missile airframe section home position first
Calculate, be then iterated the accurate coordinates that computing obtains the missile airframe section center of circle again, and then realize missile airframe gradient
Quick calculating.
And the method for calculating missile airframe gradient in prior art, be directly using laser range finder and missile airframe it
Between distance calculating the central coordinate of circle in missile airframe section, its calculating process is as follows：
Formula is obtained according to Fig. 1 first：
Equation group (1) is deformed into equation group (2)：
Equation group (2) is deformed into equation group (3) further：
Two equations in equation group (3) are carried out subtracting each other and obtains formula (4)：
2(R1-l1)x+2(R1-l2)y+(R1-l1)2-(R1-l2)2=0 (4)
Formula (4) is deformed into formula (5)：
Second equation that formula (5) is brought in equation group (3) can be obtained：
Wushu (6) carries out deformation and can obtain formula (7)：
Make Δ l1=R1-l1, Δ l2=R1-l2, then formula (7) be changed into：
Formula (8) is solved and is obtained：
Obtain y1,2Value after, by y1,2Value bring formula (5) into and obtain x1,2Value, then judge again which group solution be correct
Solution.The gradient of missile airframe could be solved after having judged correct solution according to the value of (x, y).It can be seen that, above-mentioned prior art straight
Connect solution procedure sufficiently complex, amount of calculation is excessive.For this defect of the direct solution process, the present invention proposes one kind more
The quick calculating of missile airframe gradient is realized for succinct fast iterative algorithm.
Used as another specific embodiment of the present invention, its scheme is as follows：
Assume that the radius of launching silo 102 and missile airframe 101 in Fig. 1 is respectively：R1=4000mm, R2=
Vertical range h=20000mm of 1625mm, launching silo cross section center of circle O point to missile airframe bottom.Obtain first set to swash
The A points of the measurement of optar 103 are to missile airframe 101 apart from l1=2732mm, the B of second set of measurement of laser range finder 104
Point is to missile airframe 101 apart from l2=2152mm.
According to above-mentioned acquisition apart from l1And l2, use equation groupTry to achieve guided missile
The initial coordinate in the body section center of circle is (357mm, 223mm).
With the initial coordinate (357mm, 223mm) of the above-mentioned missile airframe section home position that tries to achieve for iteration initial value,
Use equation groupThe accurate coordinates that the missile airframe section center of circle is obtained through 10 step iteration are
(329mm, 256mm).
Then formula is adoptedIt is calculated gradient γ=1.1941 ° of missile airframe.
Further, it is also possible to use equation groupCalculate missile airframe section center of circle O ' and y-axis after inclining,
The angle α of x-axis, β, carry out the gradient of auxiliary judgment missile airframe.α is tried to achieve for 11.68 ° according to above-mentioned equation group, β is 9.07 °.
It can be seen that the above-mentioned technical proposal of the present invention, and directly led to calculate using the distance between laser range finder and body
The solution procedure for playing body section central coordinate of circle is compared, the central coordinate of circle for calculating missile airframe section that can be quickly succinct,
It is achieved thereby that the quick calculating of missile airframe gradient.
Specific case used herein is set forth to the principle of the present invention and embodiment, and above example is said
Bright it is only intended to help and understands the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (2)
1. a kind of gradient laser measurement system, it is characterised in that the system includes：Launching silo, missile airframe and two
Set laser range finder；The missile airframe is located in the launching silo, and the missile airframe bottom is fixed；Described two sets
Laser range finder on the borehole wall that same level is fixed on the launching silo, two sets of laser range finder installation positions
The line for putting the launching silo cross section center of circle is orthogonal.
2. a kind of gradient laser measurement method, it is characterised in that methods described includes：
Obtain the distance between laser range finder and missile airframe；
According to the initial coordinate that the distance calculates the missile airframe section center of circle；
With the initial coordinate as iteration initial value, by iterating to calculate the accurate seat for obtaining the missile airframe section center of circle
Mark；
Radius and the accurate coordinates according to the missile airframe calculates the gradient of the missile airframe.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109668543A (en) * | 2019-01-22 | 2019-04-23 | 南京理工大学 | Inclination measurement method based on laser radar |
| CN110695948A (en) * | 2019-08-30 | 2020-01-17 | 江西洪都航空工业集团有限责任公司 | Missile marking method adaptive to automatic mounting |
| CN111649715A (en) * | 2020-07-14 | 2020-09-11 | 临沂矿业集团菏泽煤电有限公司 | Method for measuring eccentricity of azimuth angle of winch drum of main shaft and auxiliary shaft |
| CN115389156A (en) * | 2022-07-14 | 2022-11-25 | 中国航空工业集团公司哈尔滨空气动力研究所 | Half-module support model three-dimensional space loaded deformation measurement and collision detection method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109668543A (en) * | 2019-01-22 | 2019-04-23 | 南京理工大学 | Inclination measurement method based on laser radar |
| CN110695948A (en) * | 2019-08-30 | 2020-01-17 | 江西洪都航空工业集团有限责任公司 | Missile marking method adaptive to automatic mounting |
| CN111649715A (en) * | 2020-07-14 | 2020-09-11 | 临沂矿业集团菏泽煤电有限公司 | Method for measuring eccentricity of azimuth angle of winch drum of main shaft and auxiliary shaft |
| CN115389156A (en) * | 2022-07-14 | 2022-11-25 | 中国航空工业集团公司哈尔滨空气动力研究所 | Half-module support model three-dimensional space loaded deformation measurement and collision detection method |
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Application publication date: 20170315 |