CN109490254B - Target omnidirectional light scattering measurement system and method - Google Patents
Target omnidirectional light scattering measurement system and method Download PDFInfo
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- CN109490254B CN109490254B CN201910007104.8A CN201910007104A CN109490254B CN 109490254 B CN109490254 B CN 109490254B CN 201910007104 A CN201910007104 A CN 201910007104A CN 109490254 B CN109490254 B CN 109490254B
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
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- G01N2021/4711—Multiangle measurement
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Abstract
The invention discloses a target omnidirectional light scattering measurement system and a target omnidirectional light scattering measurement method, and relates to the technical field of optical measurement. The target omnidirectional light scattering measurement system comprises a radiation source, a target to be measured, a detector and a controller; the radiation source is fixedly arranged and used for emitting incident light to a target to be measured; the detector faces the target to be detected and can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position; the controller is used for determining the motion attitude information of the target to be detected according to the set incidence angle and the detection angle and determining the travel distance information of the detector according to the detection angle; and the detector is also used for controlling the target to be detected to adjust the motion attitude according to the motion attitude information and controlling the detector to horizontally move to the specified position according to the travel distance information. The technical scheme can effectively solve the problems of overlarge measurement distance, high moving difficulty of a radiation source and a detector and the like in the conventional measurement scheme, and is particularly suitable for the omnidirectional light scattering measurement of large-size targets.
Description
Technical Field
The invention relates to the technical field of optical measurement, in particular to a target omnidirectional light scattering measurement system and a target omnidirectional light scattering measurement method.
Background
At present, the existing light scattering measurement scheme is to keep the target still, move the radiation source around the target to realize the change of the radiation irradiation angle, and move the detection device around the target to realize the change of the detection angle. In the prior omnidirectional measurement, particularly when a large-size target is measured, the required radiation source has a large scale, and at the moment, if a traditional measurement scheme (that is, the target is not fixed and the radiation source and the detector move around the target) is adopted to realize angle change, the problem that the lifting range of the radiation source and the detector is too large exists. Further, the problems of complex actual light scattering measurement system, high implementation difficulty, huge cost and the like are caused. In addition, for the situation that the radiation source and the detector are heavy, the traditional light scattering measurement method has the problem that the moving difficulty of the radiation source and the detector is large.
Therefore, in view of the above shortcomings, there is a need to provide a new target omnidirectional light scattering measurement system and method.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problems of large measurement distance, large moving difficulty of a radiation source and a detector and the like in the conventional light scattering measurement scheme.
(II) technical scheme
To solve the above technical problem, in one aspect, the present invention provides a target omnidirectional light scattering measurement system.
The target omnidirectional light scattering measurement system of the present invention comprises: the device comprises a radiation source, a target to be detected, a detector and a controller; the radiation source is fixedly arranged and used for emitting incident light to the target to be measured; the detector faces the target to be detected and can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position; the controller is used for determining the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determining the travel distance information of the detector according to the detection angle of the detector; and the detector is also used for controlling the target to be detected to adjust the motion attitude according to the motion attitude information and controlling the detector to horizontally move to an appointed position according to the travel distance information of the detector.
Optionally, the radiation source, the object to be measured and the detector are located at the same level.
Optionally, the system further comprises: a circumferential test vehicle; the circumferential test vehicle is arranged on the circular guide rail and is used for horizontally moving along the circular guide rail under the control of the controller; the detector is installed on the circumferential test vehicle and can move along with the circumferential test vehicle.
Optionally, the incident angle of the radiation source includes an incident azimuth angle and an incident pitch angle, and the detection angle of the detector includes a detection azimuth angle and a detection pitch angle; the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and the motion attitude information comprises the following steps: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, and phi11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
Optionally, the determining, by the controller, the travel distance information of the detector according to the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
In order to solve the above technical problem, in another aspect, the present invention further provides a target omnidirectional light scattering measurement method.
The target omnidirectional light scattering measurement method comprises the following steps: the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determines the travel distance information of the detector according to the detection angle of the detector; the controller controls the target to be detected to adjust the motion attitude according to the motion attitude information and controls the detector to horizontally move to a specified position according to the travel distance information of the detector; the detector detects the reflected light of the target to be detected at the specified position; the radiation source is fixedly arranged and used for emitting incident light to the target to be measured; the detector faces the target to be detected, and the detector can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position.
Optionally, the method further comprises: the radiation source, the object to be measured, and the detector are previously placed at the same level.
Optionally, the method further comprises: arranging a circumferential test vehicle on a circular guide rail in advance, and mounting the detector on the circumferential test vehicle; and the step of controlling the horizontal movement of the detector to the designated position by the controller according to the travel distance information of the detector comprises: and the controller controls the circumferential test vehicle to move along the circular guide rail according to the travel distance information of the detector, so that the detector moves to a specified position along with the circumferential test vehicle.
Optionally, the incident angle of the radiation source includes an incident azimuth angle and an incident pitch angle, and the detection angle of the detector includes a detection azimuth angle and a detection pitch angle; the step that the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector comprises the following steps: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, and phi11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
Optionally, the step of the controller determining the travel distance information of the detector according to the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
(III) advantageous effects
The technical scheme of the invention has at least one of the following advantages:
1. the problems of large measurement distance, large moving difficulty of a radiation source and a detector and the like in the existing light scattering measurement scheme can be effectively solved by fixing the radiation source, horizontally detecting the detector and changing the motion posture of the target to be measured to realize the change of the incidence angle of the radiation source and the detection angle of the detector.
2. The technical scheme can greatly reduce the height of the system, easily realize long-distance illumination and detection, and is particularly suitable for the omnidirectional light scattering measurement of large-size targets.
3. By arranging the detector and the radiation source at the same level, it is also not necessary to lift the detector and the radiation source for larger objects to be measured.
Drawings
Fig. 1 is a schematic structural diagram of a target omnidirectional light scattering measurement system according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a target omnidirectional light scattering measurement system according to a second embodiment of the present invention;
FIG. 3 is a schematic view of omnidirectional simulation of a target omnidirectional light scattering measurement angle according to a second embodiment of the present invention;
FIG. 4 is a second schematic view of omni-directional simulation of the target omni-directional light scattering measurement angle according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart of a target omnidirectional light scattering measurement method according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Before describing the embodiments of the present invention in detail, the measurement principle according to the embodiments of the present invention will be explained first.
The measurement principle related to the embodiment of the invention comprises the following steps: the radiation source generates incident light which is reflected by the object to be measured to form reflected light, and the reflected light is detected by the detection device to obtain the characteristics required by the light scattering measurement. By varying the angle of incidence of the radiation source (i.e. the angle of incidence of the incident light) and the detection angle of the detection device, the scattering properties of the object under different conditions can be obtained.
Example one
As shown in fig. 1, a target omnidirectional light scattering measurement system provided by the embodiment of the present invention includes: a radiation source 101, an object to be measured 102, a controller 103 and a detector 104.
The radiation source 101 is fixedly arranged for emitting incident light towards the object 102 to be measured. The radiation source 101 may be a light source such as a solar simulator. In particular, the radiation source 101 may be fixed to the ground.
The target 102 to be measured may be mounted on a turntable, and may change the motion posture under the control of the controller 103.
The detector 104 is directed toward the object 102 to be measured, and the detector 104 can be horizontally moved to a specified position under the control of the controller 103 to detect the reflected light of the object 102 to be measured at the specified position. Illustratively, the detector 104 may be a detection device such as a visible light imager.
The controller 103 is used for determining motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determining the travel distance information of the detector according to the detection angle of the detector; and the controller is further configured to control the object to be detected 102 to adjust the motion attitude according to the motion attitude information, and control the detector 104 to horizontally move to the designated position according to the travel distance information of the detector.
In the system of the embodiment of the invention, the problems of large measurement distance, large moving difficulty of the radiation source and the detector and the like in the existing light scattering measurement scheme can be effectively solved by fixing the radiation source, horizontally detecting the detector and changing the incident angle of the radiation source and the detection angle of the detector by changing the motion posture of the target to be measured. In addition, the embodiment of the invention can greatly reduce the height of the system, is easy to realize long-distance illumination and detection, and is particularly suitable for the omnidirectional light scattering measurement of large-size targets.
Example two
As shown in fig. 2, a target omnidirectional light scattering measurement system provided by the embodiment of the present invention includes: the device comprises a radiation source 201, an object 202 to be measured, a detector 203, a circular track 204, a circumferential measuring vehicle 205 and a controller (not shown in the figure).
The radiation source 201 is fixedly arranged for emitting incident light to the object 202 to be measured. Illustratively, the radiation source 201 may be a light source such as a solar simulator. In particular, the radiation source 201 may be fixed to the ground.
The object 202 to be measured may be erected on the turntable by a support rod, which may change the moving posture under the control of the controller.
The detector 203 faces the object 202 to be measured, and the detector 203 can move horizontally to a specified position under the control of the controller to detect the reflected light of the object 202 to be measured at the specified position. Specifically, the prober 203 is mounted on a circumferential test cart 205, and the circumferential test cart 205 is disposed on a circular track 204. When the circumferential test car 205 moves horizontally along the circular guide rail 204 under the control of the controller, the detector 203 can move along with the circumferential test car 205 to move to a specified position to detect the reflected light of the object 202 to be detected. In the embodiment of the invention, the change of the detection azimuth angle can be realized by enabling the detector to horizontally move along the circular guide rail.
Further, in the embodiment of the present invention, the radiation source 201, the object 202 to be measured, and the detector 202 are located at the same level. In the embodiment of the invention, by arranging the detector and the radiation source at the same horizontal height, the detector and the radiation source do not need to be lifted for a larger object to be measured.
The controller is used for determining the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determining the travel distance information of the detector according to the detection angle of the detector; and is further configured to control the object 202 to be detected to adjust the motion attitude according to the motion attitude information, and control the detector 203 to horizontally move to the designated position according to the travel distance information of the detector.
The incidence angle of the radiation source comprises an incidence azimuth angle and an incidence pitch angle, and the detection angle of the detector comprises a detection azimuth angle and a detection pitch angle.
In an alternative embodiment, the determining the motion attitude information of the object to be measured according to the set incident angle of the radiation source and the detection angle of the detector by the controller comprises: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12；
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, and phi11For soundingElevation angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
In an alternative embodiment, the controller determining the travel distance information of the detector according to the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
The system of the embodiment of the invention at least has the following advantages: the problems of large measuring distance, large moving difficulty of a radiation source and a detector and the like in the existing light scattering measuring scheme can be effectively solved by fixing the radiation source, horizontally detecting the detector and changing the incident angle of the radiation source and the detection angle of the detector by changing the motion posture of the target to be measured; the height of the system can be greatly reduced, long-distance illumination and detection can be easily realized, and the system is particularly suitable for the omnidirectional light scattering measurement of large-size targets; by arranging the detector and the radiation source at the same level, it is also not necessary to lift the detector and the radiation source for larger objects to be measured.
The following describes an exemplary flow of solving the corresponding relationship in the second embodiment of the present invention with reference to fig. 3 and 4. The solving process comprises the following steps:
step a, constructing a body coordinate system of the target to be detected, and defining an incidence azimuth angle, an incidence pitch angle, a detection azimuth angle and a detection pitch angle in the coordinate system.
In this step, a body coordinate system oxyz of the object to be measured is constructed as shown in fig. 4. The target principal vector (i.e., the target principal axis in fig. 2) is set to (0,0, 1). Wherein phi11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is an incident azimuth angle
And b, determining the values of the incident direction unit vector (also called radiation irradiation unit vector) and the detection direction unit vector (also called detector observation unit vector) in the body coordinate system of the target to be detected.
Wherein, the unit vector A of the incident direction is in the body coordinate of the target to be measuredThe value in series oxyz is (cos Φ)21cosΦ22,cosΦ21sinΦ22,sinΦ21) The value of the detection direction unit vector B in the body coordinate system oxyz of the target to be detected is (cos phi)11cosΦ12,cosΦ11sinΦ12,sinΦ11)。
And c, constructing a measurement coordinate system, and determining the value of the coordinate axis vector in the measurement coordinate system in the body coordinate system of the target to be measured.
In this step, the constructed measurement coordinate system is oxbyzb, as shown in fig. 3. The Xb axis vector is an incident direction unit vector, the Zb axis vector is a vector which is perpendicular to a plane formed by the radiation source and the detector and points upwards, and the Yb axis vector is a vector which meets the right-hand rule with the Xb axis vector and the Zb axis vector.
After determining the values of the incident direction unit vector a and the detection direction unit vector B in the body coordinate system of the object to be measured, the values of the coordinate axis vectors in the body coordinate system of the object to be measured can be calculated according to the following formula:
Xb＝A；
Zb＝A×B；
Yb＝Zb×Xb
wherein the operator "x" represents a vector cross product operation.
And d, calculating the cosine values of the included angles of the target body vector and the three coordinate axis vectors of the measurement coordinate system, and taking the calculation result of the cosine values of the included angles as the corresponding relation.
In this step, assuming that cosine values of included angles between the target ontology vector and three coordinate axis vectors of the measurement coordinate system are cos δ, cos epsilon and cos ζ, respectively, the calculation result of the cosine values of the included angles is:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12；
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, and phi11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
EXAMPLE III
The embodiment of the invention provides a target omnidirectional light scattering measurement method. The method applies the target omnidirectional light scattering measurement system provided by the invention, and the system comprises a radiation source, a target to be measured, a controller and a detector. The radiation source is fixedly arranged and used for emitting incident light to the target to be measured; the detector faces the target to be detected, and the detector can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position.
As shown in fig. 5, a target omnidirectional light scattering measurement method provided by the embodiment of the present invention includes the following steps:
step S501, the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determines the travel distance information of the detector according to the detection angle of the detector.
The incidence angle of the radiation source comprises an incidence azimuth angle and an incidence pitch angle, and the detection angle of the detector comprises a detection azimuth angle and a detection pitch angle. In an alternative embodiment, the step of determining the motion attitude information of the object to be measured by the controller according to the set incident angle of the radiation source and the detection angle of the detector comprises: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, and phi11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
In an alternative embodiment, the step of the controller determining the travel distance information of the detector according to the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
And S502, the controller controls the target to be detected to adjust the motion attitude according to the motion attitude information and controls the detector to horizontally move to the designated position according to the travel distance information of the detector.
Further, the method of the embodiment of the invention further comprises the following steps: and arranging a circumferential test vehicle on the circular guide rail in advance, and installing the detector on the circumferential test vehicle. Further, the step of controlling the horizontal movement of the detector to a designated position by the controller according to the travel distance information of the detector includes: and the controller controls the circumferential test vehicle to move along the circular guide rail according to the travel distance information of the detector, so that the detector moves to a specified position along with the circumferential test vehicle.
And S503, detecting the reflected light of the target to be detected at the specified position by the detector.
Further, the method of the embodiment of the present invention may further include the steps of: the radiation source, the object to be measured, and the detector are previously placed at the same level.
The method of the embodiment of the invention at least has the following advantages: the problems of large measuring distance, large moving difficulty of a radiation source and a detector and the like in the existing light scattering measuring scheme can be effectively solved by fixing the radiation source, horizontally detecting the detector and changing the incident angle of the radiation source and the detection angle of the detector by changing the motion posture of the target to be measured; the height of the system can be greatly reduced, long-distance illumination and detection can be easily realized, and the system is particularly suitable for the omnidirectional light scattering measurement of large-size targets; by arranging the detector and the radiation source at the same level, it is also not necessary to lift the detector and the radiation source for larger objects to be measured.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A light scattering measurement system, characterized in that the system comprises: the device comprises a radiation source, a target to be detected, a detector and a controller;
the radiation source is fixedly arranged and used for emitting incident light to the target to be measured;
the detector faces the target to be detected and can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position;
the controller is used for determining the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determining the travel distance information of the detector according to the detection angle of the detector; the detector is also used for controlling the target to be detected to adjust the motion attitude according to the motion attitude information and controlling the detector to horizontally move to a specified position according to the travel distance information of the detector;
the incidence angle of the radiation source comprises an incidence azimuth angle and an incidence pitch angle, and the detection angle of the detector comprises a detection azimuth angle and a detection pitch angle; the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and the motion attitude information comprises the following steps: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, delta, epsilon and zeta are included angles between a target body vector and three coordinate axis vectors of a measurement coordinate system respectively, and phi is11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
2. The system of claim 1, wherein the radiation source, the object to be measured, and the detector are located at the same level.
3. The system of claim 1, further comprising: a circumferential test vehicle; the circumferential test vehicle is arranged on the circular guide rail and is used for horizontally moving along the circular guide rail under the control of the controller; the detector is installed on the circumferential test vehicle and can move along with the circumferential test vehicle.
4. The system of claim 3, wherein the controller determining distance traveled information of the detector from the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
5. A method of light scattering measurement, the method comprising:
the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector, and determines the travel distance information of the detector according to the detection angle of the detector;
the controller controls the target to be detected to adjust the motion attitude according to the motion attitude information and controls the detector to horizontally move to a specified position according to the travel distance information of the detector;
the detector detects the reflected light of the target to be detected at the specified position;
the radiation source is fixedly arranged and used for emitting incident light to the target to be measured; the detector faces the target to be detected and can horizontally move to a specified position under the control of the controller so as to detect the reflected light of the target to be detected at the specified position;
the incidence angle of the radiation source comprises an incidence azimuth angle and an incidence pitch angle, and the detection angle of the detector comprises a detection azimuth angle and a detection pitch angle; the step that the controller determines the motion attitude information of the object to be detected according to the set incidence angle of the radiation source and the detection angle of the detector comprises the following steps: inputting the set incidence azimuth angle, incidence pitch angle, detection azimuth angle and detection pitch angle into the following corresponding relation to obtain the motion attitude information of the target to be detected:
cosδ＝sinΦ21；
cosζ＝cosΦ21cosΦ22cosΦ11sinΦ12-cosΦ21sinΦ22cosΦ11cosΦ12
wherein cos delta, cos epsilon and cos zeta are motion attitude information of the target to be measured, delta, epsilon and zeta are included angles between a target body vector and three coordinate axis vectors of a measurement coordinate system respectively, and phi is11For detecting pitch angle, phi12For detecting azimuth angle, phi21At angle of incidence pitch, [ phi ]22Is the incident azimuth angle.
6. The method of claim 5, further comprising:
the radiation source, the object to be measured, and the detector are previously placed at the same level.
7. The method of claim 5, further comprising:
arranging a circumferential test vehicle on a circular guide rail in advance, and mounting the detector on the circumferential test vehicle; and the number of the first and second groups,
the step of controlling the horizontal movement of the detector to a designated position according to the travel distance information of the detector by the controller includes: and the controller controls the circumferential test vehicle to move along the circular guide rail according to the travel distance information of the detector, so that the detector moves to a specified position along with the circumferential test vehicle.
8. The method of claim 7, wherein the step of the controller determining distance traveled information of the detector from the detection angle of the detector comprises: and the controller determines the travel distance information of the detector according to the detection azimuth angle of the detector and the radius of the circular guide rail.
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