CN113686327B - System and calculation method for calibrating attitude among rocket gun tubes - Google Patents
System and calculation method for calibrating attitude among rocket gun tubes Download PDFInfo
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- CN113686327B CN113686327B CN202110597884.3A CN202110597884A CN113686327B CN 113686327 B CN113686327 B CN 113686327B CN 202110597884 A CN202110597884 A CN 202110597884A CN 113686327 B CN113686327 B CN 113686327B
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Abstract
The application provides a system for calibrating the posture between rocket gun barrels, which comprises: the device comprises a target, a photoelectric calibration device matched with the target and an upper computer; five measuring points A, B, C, D, O are distributed on the target; the measurement point O is a central measurement point, wherein three measurement points A, O, B are distributed on one straight line, the other three measurement points C, O, D are distributed on the other straight line, and the straight line where the measurement point A, O, B is located is crossed with the straight line where the measurement point C, O, D is located; the photoelectric calibration device comprises a collimation device, a digital imaging sensor and a mechanical shaft; the mechanical shaft, the digital imaging sensor and the collimation device are connected in sequence; wherein the mechanical axis is coincident with the optical axis of the photo-alignment device; the mechanical shaft is matched with the caliber of the gun barrel; the upper computer is used for calculating the attitude calibration among rocket gun tubes. The application further provides a calculation method for calibrating the attitude among rocket gun tubes.
Description
Technical Field
The application relates to the technical field of artillery, in particular to a system and a calculation method for calibrating the posture among rocket gun tubes.
Background
The traditional methods for parallelism among pipes are based on a reference pipe and adopt a 'remote aiming point method' or a 'target checking method', and have the defects and shortcomings: the accuracy of the inspection target placement is high, and the error in the vertical direction is difficult to overcome; the requirements on the field are high, such as the space size and the light intensity; the operation requires more personnel, needs manual aiming for multiple times, and is time-consuming and labor-consuming; when the visibility is low, aiming points or cross lines cannot be seen from the needle striking holes, so that the eyes of people are tired; human operation errors are easy to generate, and the detection precision is affected; the actual gun adjusting angle cannot be output; the precision is low.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provides a rocket gun barrel-to-barrel attitude calibration system and a calculation method. In order to achieve the technical purpose, the application adopts the following technical scheme:
in a first aspect of the present application, a system for calibrating attitude between rocket barrels is provided, comprising: the device comprises a target, a photoelectric calibration device matched with the target and an upper computer;
five measuring points A, B, C, D, O are distributed on the target; the measurement point O is a central measurement point, wherein three measurement points A, O, B are distributed on one straight line, the other three measurement points C, O, D are distributed on the other straight line, and the straight line where the measurement point A, O, B is located is crossed with the straight line where the measurement point C, O, D is located;
the photoelectric calibration device comprises a collimation device, a digital imaging sensor and a mechanical shaft; the mechanical shaft, the digital imaging sensor and the collimation device are connected in sequence; wherein the mechanical axis is coincident with the optical axis of the photo-alignment device; the mechanical shaft is matched with the caliber of the gun barrel;
the upper computer is connected with the photoelectric calibration device and used for calculating and displaying the posture calibration among rocket barrels.
Further, the measuring points on the target are in the form of crosses or dots.
Further, the target of interest is a mechanical target, or a photoelectric analog target of interest.
In a second aspect of the present application, a method for calculating a rocket inter-barrel pose calibration is provided, suitable for a rocket inter-barrel pose calibration system as described above, comprising:
step S1, obtaining the distance between five measuring points on a target, wherein H1 is the distance from a measuring point O to A, H2 is the distance from a measuring point O to B, H3 is the distance from a measuring point O to C, and H4 is the distance from a measuring point O to D;
step S2, aiming through the gun barrel, obtaining an included angle alpha 1 of gun barrel rotation when a first gun barrel serving as a reference gun barrel is respectively aligned with a measuring point O, B and an included angle alpha 2 of gun barrel rotation when the first gun barrel is respectively aligned with a measuring point A, B;
the central position of the muzzle of the first gun barrel is G1, and the intersection point of the normal line of the straight line where the measuring point A, O, B is located and the straight line where the measuring point A, O, B is located is set as E; the distance from the measuring point B to the intersection point E is H, and the distance from the G1 to the intersection point E is L;
α // for the included angle between the axis of the first gun barrel when aligning to the measuring point B and the normal line of the straight line where the target measuring point A, O, B is located, alpha is calculated // The specific calculation formula is as follows:
by the formulas (1 a) - (3 a), we get:
alpha is calculated by the formula (4 a) // ；
Step S3, aiming through the gun barrels, obtaining an included angle alpha 3 of gun barrel rotation when a first gun barrel serving as a reference gun barrel is respectively aligned with a measuring point O, D and an included angle alpha 4 of gun barrel rotation when the first gun barrel is respectively aligned with a measuring point C, D;
the central position of the muzzle of the first gun barrel is G1, and the intersection point of the normal line of the straight line where the measuring point C, O, D is located and the straight line where the measuring point C, O, D is located is set as F; the distance from the measuring point D to the intersection point F is H ', and the distance from the G1 to the intersection point F is L';
α ⊥ for the included angle between the axis of the first gun barrel when aligning to the measuring point D and the normal line of the straight line where the target measuring point C, O, D is located, alpha is calculated ⊥ The specific calculation formula is as follows:
by the formulas (5 a) - (6 a), we get:
alpha is calculated by the formula (8 a) ⊥ ；
By alpha // And alpha ⊥ The first barrel can be made parallel to the normal of the target;
step S4, the same is done to obtain the included angle beta between the axis of the second gun tube when aligning to the measuring point A and the normal line of the straight line where the target measuring point A, O, B is located // And an angle beta between the axis of the second tube when aligned with the measurement point C and the normal to the line of the target measurement point C, O, D ⊥ ；
By beta // And beta ⊥ The second barrel can be made parallel to the normal of the target.
The application has the advantages that: and determining the posture among the gun barrels by judging the relative angle position between the photoelectric calibration device and the target through machine vision, and adjusting the gun barrels to be parallel to each other. The operation method is simple and convenient, does not require the distance between the target and the rocket gun, and simplifies the operation process.
Drawings
Fig. 1 is a schematic diagram of a system for calibrating attitude between rocket barrels in an embodiment of the present application.
FIG. 2 is a schematic diagram of a target in an embodiment of the application.
FIG. 3 is a schematic plan view of a computing aspect of an embodiment of the present application.
FIG. 4 is a schematic plan view of a second embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As shown in fig. 1, an embodiment of the present application proposes a system for calibrating attitude between rocket barrels, including: the device comprises a target 1, a photoelectric calibration device 2 matched with the target 1 and an upper computer 5;
five measuring points A, B, C, D, O are distributed on the target 1; the measurement point O is a central measurement point, wherein three measurement points A, O, B are distributed on one straight line, the other three measurement points C, O, D are distributed on the other straight line, and the straight line where the measurement point A, O, B is located is crossed with the straight line where the measurement point C, O, D is located;
the target 1 can be a mechanical target or a photoelectric simulation target, wherein the photoelectric simulation target can generate a target with a fixed distance according to the requirement, such as 300m, 600mm, 1200m or infinity;
the measuring point on the target 1 may be in the form of a cross or a dot, and when the cross is adopted, the center of the cross represents the position of the measuring point;
the photoelectric calibration device 2 comprises a collimation device 201, a digital imaging sensor 202 and a mechanical shaft 203; the mechanical shaft 203, the digital imaging sensor 202 and the collimating device 201 are connected in sequence; wherein the mechanical axis 203 coincides with the optical axis of the photo-alignment device 2; the mechanical shaft 203 is matched with the caliber of the gun barrel to ensure that the mechanical shaft 203 is combined with the rocket gun barrel with high precision after the mechanical shaft 203 is inserted into the gun muzzle of the gun barrel, thereby ensuring that the mechanical shaft 203 is consistent with the axis of the gun barrel and the axis of the gun barrel is consistent with the optical shaft of the photoelectric calibration device 2;
the upper computer 5 is connected with the photoelectric calibration device 2 and is used for calculating and displaying the attitude calibration among rocket gun tubes (including image interpretation, data processing and the like);
for rocket cannons, which have a reference barrel, the first barrel 3 in fig. 1 is set as the reference barrel; the second gun barrel 4 is one of other gun barrels; the rocket gun is provided with a rocket gun adjusting system which is used for aiming and acquiring parameters such as an included angle and the like;
as shown in fig. 2, 3 and 4, the embodiment of the application further provides a calculation method for calibrating the attitude between rocket barrels, which comprises the following steps:
step S1, obtaining the distance between five measuring points on a target, wherein H1 is the distance from a measuring point O to A, H2 is the distance from a measuring point O to B, H3 is the distance from a measuring point O to C, and H4 is the distance from a measuring point O to D;
step S2, aiming through the gun barrel, obtaining an included angle alpha 1 of gun barrel rotation when the first gun barrel 3 serving as a reference gun barrel is respectively aligned with the measuring point O, B and an included angle alpha 2 of gun barrel rotation when the first gun barrel is respectively aligned with the measuring point A, B;
the central position of the muzzle of the first gun barrel 3 is G1, and the intersection point of the normal line of the straight line where the measuring point A, O, B is located and the straight line where the measuring point A, O, B is located is set as E; the distance from the measuring point B to the intersection point E is H, and the distance from the G1 to the intersection point E is L;
α // for the angle between the axis of the first barrel 3 when it is aligned with the measuring point B and the normal of the line where the target measuring point A, O, B is located, alpha is calculated // The specific calculation formula is as follows:
by the formulas (1 a) - (3 a), we get:
alpha is calculated by the formula (4 a) // ；
Step S3, aiming through the gun barrel, obtaining an included angle alpha 3 of gun barrel rotation when the first gun barrel 3 serving as a reference gun barrel is respectively aligned with the measuring point O, D and an included angle alpha 4 of gun barrel rotation when the first gun barrel 3 is respectively aligned with the measuring point C, D;
the central position of the muzzle of the first gun barrel 3 is G1, and the intersection point of the normal line of the straight line where the measuring point C, O, D is located and the straight line where the measuring point C, O, D is located is set as F; the distance from the measuring point D to the intersection point F is H ', and the distance from the G1 to the intersection point F is L';
α ⊥ for the angle between the axis of the first barrel 3 when it is aligned with the measuring point D and the normal of the line where the target measuring point C, O, D is located, alpha is calculated ⊥ The specific calculation formula is as follows:
by the formulas (5 a) - (6 a), we get:
alpha is calculated by the formula (8 a) ⊥ ；
By alpha // And alpha ⊥ The rocket gun system automatically installs the surface, so that the first gun tube 3 is parallel to the normal line of the target;
step S4, obtaining the straight line where the axis of the second gun tube 4 is aligned with the measuring point A and the target measuring point A, O, BAngle beta between normals // And the angle beta between the axis of the second barrel 4 when aligned with the measuring point C and the normal of the line in which the target measuring point C, O, D is located ⊥ ；
In fig. 3 and 4, the muzzle centre position of the second barrel 4 is G2;
by beta // And beta ⊥ The rocket gun system automatically installs the surface, so that the second gun tube 4 is parallel to the normal line of the target;
the first barrel 3 and the second barrel 4 are thus rendered barrel-parallel.
The calculation and operation can be performed in the same way for the remaining barrels.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present application without departing from the spirit and scope of the technical solution of the present application, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present application.
Claims (3)
1. The calculation method of the rocket inter-barrel attitude calibration is suitable for a rocket inter-barrel attitude calibration system, and the rocket inter-barrel attitude calibration system comprises the following components: the device comprises a target (1), a photoelectric calibration device (2) matched with the target (1) and an upper computer (5);
five measuring points A, B, C, D, O are distributed on the target (1); the measurement point O is a central measurement point, wherein three measurement points A, O, B are distributed on one straight line, the other three measurement points C, O, D are distributed on the other straight line, and the straight line where the measurement point A, O, B is located is crossed with the straight line where the measurement point C, O, D is located;
the photoelectric calibration device (2) comprises a collimation device (201), a digital imaging sensor (202) and a mechanical shaft (203); the mechanical shaft (203), the digital imaging sensor (202) and the collimation device (201) are connected in sequence; wherein the mechanical axis (203) coincides with the optical axis of the photo-alignment device (2); the mechanical shaft (203) is matched with the caliber of the gun barrel;
the upper computer (5) is connected with the photoelectric calibration device (2) and is used for calculating the posture calibration among rocket barrels;
the method is characterized by comprising the following steps:
step S1, obtaining the distance between five measuring points on a target, wherein H1 is the distance from a measuring point O to A, H2 is the distance from a measuring point O to B, H3 is the distance from a measuring point O to C, and H4 is the distance from a measuring point O to D;
step S2, aiming through the gun barrel, obtaining an included angle alpha 1 of gun barrel rotation when a first gun barrel (3) serving as a reference gun barrel is respectively aligned with a measuring point O, B and an included angle alpha 2 of gun barrel rotation when the first gun barrel is respectively aligned with a measuring point A, B;
the central position of the muzzle of the first gun barrel (3) is G1, and the intersection point of the normal line of the straight line where the measuring point A, O, B is located and the straight line where the measuring point A, O, B is located is E; the distance from the measuring point B to the intersection point E is H, and the distance from the G1 to the intersection point E is L;
α // for the included angle between the axis of the first gun barrel (3) aligning with the measuring point B and the normal line of the straight line where the target measuring point A, O, B is located, alpha is calculated // The specific calculation formula is as follows:
by the formulas (1 a) - (3 a), we get:
alpha is calculated by the formula (4 a) // ；
Step S3, aiming through the gun barrel, obtaining an included angle alpha 3 of gun barrel rotation when the first gun barrel (3) serving as a reference gun barrel is respectively aligned with the measuring point O, D and an included angle alpha 4 of gun barrel rotation when the first gun barrel is respectively aligned with the measuring point C, D;
the central position of the muzzle of the first gun barrel (3) is G1, and the intersection point of the normal line of the straight line where the measuring point C, O, D is located and the straight line where the measuring point C, O, D is located is F; the distance from the measuring point D to the intersection point F is H ', and the distance from the G1 to the intersection point F is L';
α ⊥ for the included angle between the axis of the first gun barrel (3) aligning with the measuring point D and the normal line of the straight line where the target measuring point C, O, D is located, alpha is calculated ⊥ The specific calculation formula is as follows:
by the formulas (5 a) - (6 a), we get:
alpha is calculated by the formula (8 a) ⊥ ；
By alpha // And alpha ⊥ The first barrel (3) can be made parallel to the normal of the target;
step S4, the same is done to obtain the included angle beta between the axis of the second gun barrel (4) aligning with the measuring point A and the normal line of the straight line where the target measuring point A, O, B is // And the axis of the second barrel (4) is aligned with the normal to the line of the target measurement point C, O, D when the second barrel is aligned with the measurement point CIncluded angle beta between ⊥ ；
By beta // And beta ⊥ The second barrel (4) can be made parallel to the normal of the target.
2. A method of calculating an inter-rocket tube pose calibration according to claim 1,
the measuring points on the target (1) are in the form of crosses or dots.
3. A method of calculating an inter-rocket tube pose calibration according to claim 1,
the target (1) is a mechanical target or a photoelectric simulation target.
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| CN207095517U (en) * | 2017-02-28 | 2018-03-13 | 北京卓力新航科技有限责任公司 | Cannon multibarrel axis parallel degree optical alignment set |
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