CN114034207B - Composite axis tracking aiming performance testing device and testing method thereof - Google Patents
Composite axis tracking aiming performance testing device and testing method thereof Download PDFInfo
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- CN114034207B CN114034207B CN202111242718.8A CN202111242718A CN114034207B CN 114034207 B CN114034207 B CN 114034207B CN 202111242718 A CN202111242718 A CN 202111242718A CN 114034207 B CN114034207 B CN 114034207B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
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Abstract
The invention relates to a composite axis tracking aiming performance testing device and a testing method thereof, wherein the testing method comprises the following steps: the device comprises a support frame and an optical simulation target source, wherein the optical simulation target source is used for emitting a light beam; a main revolving shaft which is mounted on the supporting frame and can rotate relative to the supporting frame; the sub-revolving shaft is arranged on the main revolving shaft, the sub-revolving shaft can rotate relative to the main revolving shaft, the sub-revolving shaft is provided with a sub-revolving platform, the sub-revolving platform is provided with a semi-transmitting and semi-reflecting mirror and a reflecting mirror which are arranged at intervals, the semi-transmitting and semi-reflecting mirror is used for transmitting partial light beams emitted by the optical simulation target source to form emergent light beams which are approximately parallel to the sub-revolving shaft, and the semi-transmitting and semi-reflecting mirror is used for reflecting partial light beams emitted by the optical simulation target source to the reflecting mirror so that the reflecting mirror is reflected to form emergent light beams which are approximately parallel to the sub-revolving shaft; simultaneous measurements can be made on the coarse and fine tracking detectors.
Description
Technical Field
The invention relates to the technical field of composite axis tracking performance testing, in particular to a composite axis tracking aiming performance testing device and a testing method thereof.
Background
At present, a compound axis tracking and aiming system adopts a coarse and fine two-stage tracking mode, wherein the coarse tracking system realizes the large-range acquisition, detection and tracking of a target in the direction of 0-360 degrees and the pitch of 0-90 degrees through a two-dimensional turntable; the fine tracking system further restrains the residual error of the coarse tracking system by using a high-bandwidth fast-reflecting mirror, and high-precision target tracking is realized. Because the tracking angle precision of the composite shaft tracking and aiming system reaches the mu rad magnitude, a corresponding high-precision tracking and aiming performance testing device is required to be equipped during factory acceptance testing.
In the related art, specific internal field test equipment is provided for tracking performance test in China, wherein the internal field mainly adopts a common photoelectric rotating target for testing. It has the following problems: the performance of a rough tracking system and the performance of a fine tracking system can not be measured simultaneously by a domestic common photoelectric rotary target, if the performance needs to be measured simultaneously, a light splitting load needs to be added to a telescopic cylinder of a composite shaft tracking and aiming system, the balancing state of the whole system to be measured is broken, and the tracking and aiming state of the system can not be reflected really.
Therefore, it is necessary to design a new device and method for testing the tracking and aiming performance of the compound axis to overcome the above problems.
Disclosure of Invention
The embodiment of the invention provides a device and a method for testing the tracking and aiming performance of a composite axis, which are used for solving the problems that the performance of a rough tracking system and the performance of a fine tracking system cannot be simultaneously measured and the tracking and aiming state of the system cannot be truly reflected by a common photoelectric rotary target in the related technology.
In a first aspect, a composite axis tracking and aiming performance testing device is provided, which includes: the device comprises a support frame and an optical simulation target source, wherein the optical simulation target source is used for emitting light beams; a main revolving shaft which is mounted on the supporting frame and can rotate relative to the supporting frame; the sub-revolving shaft is arranged on the main revolving shaft, the sub-revolving shaft can rotate relative to the main revolving shaft, the sub-revolving shaft is provided with a sub-revolving table, the sub-revolving table is provided with a semi-transmitting and semi-reflecting mirror and a reflecting mirror which are arranged at intervals, the semi-transmitting and semi-reflecting mirror is used for transmitting partial light beams emitted by the optical simulation target source to form outgoing light beams which are approximately parallel to the sub-revolving shaft, and the semi-transmitting and semi-reflecting mirror is used for reflecting the partial light beams emitted by the optical simulation target source to the reflecting mirror, so that the reflecting mirror reflects the outgoing light beams which are formed to be approximately parallel to the sub-revolving shaft.
In some embodiments, the main revolving shaft is provided with a main revolving stage, and the optical simulation target source and the sub revolving shaft are both mounted on the main revolving stage.
In some embodiments, the sub-revolving shaft includes a collimator in which a fast-reflecting mirror is disposed, and the fast-reflecting mirror is configured to reflect the light beam emitted from the optical simulation target source to the semi-transparent semi-reflecting mirror.
In some embodiments, a reticle is disposed at the focal plane of the collimator, and the beam reflected by the fast reflector passes through the reticle and irradiates the half-mirror.
In some embodiments, the optical simulation target source includes an imaging projection system and a light guide baffle, and the imaging projection system is configured to perform beam modulation on a dynamic video stream stored in the imaging projection system by switching the light guide baffle and project the dynamic video stream to the half mirror.
In some embodiments, the semi-transparent semi-reflecting mirror and the reflecting mirror can move on the sub-rotating table, and the supporting frame can be lifted up and down; the device for testing the tracking and aiming performance of the composite shaft further comprises a controller, the controller is respectively connected with the main rotating shaft and the sub rotating shaft, and the controller is used for controlling the main rotating shaft and the sub rotating shaft to rotate.
In a second aspect, a testing method using the composite axis tracking and aiming performance testing device is provided, which includes the following steps: according to the imaging positions of light spots detected by two tracking detectors of the composite axis tracking and aiming system, the heights and angles of the main rotating shaft and the sub rotating shaft are adjusted, so that the center of mass of the imaging light spots is positioned in the image centers of the two tracking detectors; rotating the main rotating shaft and the sub rotating shaft, and keeping the composite shaft tracking and aiming system to track the emergent light beam emitted by the composite shaft tracking and aiming performance testing device; and gradually increasing the rotation angular velocities of the main revolving shaft and the sub revolving shaft, increasing the angular velocity and the angular acceleration of the composite shaft tracking system, and when the angular velocity of the composite shaft tracking system reaches the maximum angular velocity or the angular acceleration reaches the maximum angular acceleration, keeping the main revolving shaft and the sub revolving shaft rotating at constant angular velocities.
In some embodiments, in the imaging positions of the light spots detected by the two tracking detectors of the compound axis tracking system, the heights and angles of the main rotating axis and the sub rotating axis are adjusted to make the imaging light spot centroid before the image centers of the two tracking detectors, the method further comprises: and preliminarily adjusting the relative positions of the composite axis tracking and aiming system and the composite axis tracking and aiming performance testing device to ensure that the positions of the two tracking detectors are respectively aligned to the vicinity of a scanning light cone point formed by the two emergent light beams of the composite axis tracking and aiming performance testing device.
In some embodiments, the sub-rotation axis comprises a collimator, and the method further comprises adjusting the height and angle of the main rotation axis and the sub-rotation axis to make the center of mass of the imaging spot before the image centers of the two tracking detectors according to the imaging positions of the spots detected by the two tracking detectors of the compound axis tracking system, and further comprises: and placing a reticle at the focal plane of the collimator tube, so that the light beams emitted by the optical simulation target source are irradiated to the half-transmitting and half-reflecting mirror through the reticle.
In some embodiments, a light guide blocking piece and an imaging projection system are disposed in the optical simulation target source, and the rotating the main rotating shaft and the sub rotating shaft and keeping the composite axis tracking and aiming system tracking the outgoing light beam emitted by the composite axis tracking and aiming performance testing apparatus include: and when the main rotating shaft and the sub rotating shaft are rotated, the light guide blocking sheet is switched at preset time intervals, so that the light beams emitted by the optical simulation target source modulate the dynamic video stream stored in the imaging projection system through the light guide blocking sheet and project the dynamic video stream to the semi-transparent semi-reflective mirror.
The technical scheme provided by the invention has the beneficial effects that:
the embodiment of the invention provides a device and a method for testing the tracking and aiming performance of a composite shaft, wherein a sub-rotating shaft is arranged on a main rotating shaft, and a semi-transparent and semi-reflective mirror and a reflector which are arranged on the sub-rotating shaft can divide a light beam emitted by an optical simulation target source into two emergent light beams, so that the performance of a rough tracking detector and a fine tracking detector of a composite shaft tracking and aiming system can be simultaneously measured, the simultaneous testing of the performance of the rough tracking system and the performance of the fine tracking system can be realized without adding a light splitting load in front of a telescope tube, the re-balancing is not needed, and the tracking and aiming state of a real tracking and aiming system can be reflected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a composite axis tracking and aiming performance testing apparatus according to an embodiment of the present invention.
In the figure:
1. a support frame; 2. optically simulating a target source; 3. a main rotating shaft; 31. a main turntable; 4. a sub-rotating shaft; 41. a sub-turntable; 42. a collimator; 5. a semi-transparent semi-reflective mirror; 6. a mirror; 7. a fast reflecting mirror; 8. a controller;
9. a compound shaft tracking system; 91. a coarse tracking detector; 92. a fine tracking detector.
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.
The embodiment of the invention provides a composite axis tracking aiming performance testing device, which can solve the problems that the performance of a rough tracking system and the performance of a fine tracking system cannot be simultaneously measured by a common photoelectric rotary target in the related technology, and the tracking aiming state of the system cannot be truly reflected.
Referring to fig. 1, a composite axis tracking and aiming performance testing apparatus provided for an embodiment of the present invention is used for testing the tracking performance of a composite axis tracking and aiming system 9, where the composite axis tracking and aiming system 9 may include a coarse tracking detector 91 and a fine tracking detector 92, and the composite axis tracking and aiming performance testing apparatus may include: the device comprises a support frame 1 and an optical simulation target source 2, wherein the optical simulation target source 2 is used for emitting light beams, the optical simulation target source 2 can be arranged on the support frame 1 or at any position around the support frame 1, and the optical simulation target source 2 can emit laser beams; a main revolving shaft 3, which can be mounted on the supporting frame 1, and the main revolving shaft 3 can rotate relative to the supporting frame 1, in this embodiment, the main revolving shaft 3 is mounted on the supporting frame 1 through an inclined bracket, that is, the bracket is fixed relative to the supporting frame 1, and the main revolving shaft 3 can rotate on the bracket, wherein the main revolving shaft 3 can rotate around its axis, and the degree of freedom of rotation of the main revolving shaft 3 can also be designed according to the specific required motion situation; the sub-rotating shaft 4 can be installed on the main rotating shaft 3, the sub-rotating shaft 4 can rotate relative to the main rotating shaft 3, in this embodiment, the sub-rotating shaft 4 can also rotate around the axis of the sub-rotating shaft 4, the sub-rotating shaft 4 is provided with a sub-rotating table 41, the sub-rotating table 41 is provided with semi-transparent semi-reflecting mirrors 5 and reflecting mirrors 6 which are arranged at intervals, in this embodiment, the sub-rotating table 41 and the sub-rotating shaft 4 are fixed together, the sub-rotating table 41 and the sub-rotating shaft 4 are arranged approximately perpendicularly, when the sub-rotating shaft 4 rotates, the sub-rotating table 41 can rotate along with the sub-rotating shaft 4, the semi-transparent semi-reflecting mirror 5 is used for transmitting part of the light beams emitted by the optical simulation target source 2 to form emergent light beams approximately parallel to the sub-rotating shaft 4, namely, the light beams emitted by the optical simulation target source 2 are irradiated onto the semi-transparent semi-reflecting mirror 5, part of the light beams can be directly emitted through the semi-transparent semi-reflecting mirror 5, and the semi-transparent semi-reflecting mirror 5 is further used for reflecting part of the light beams emitted by the optical simulation target source 2 to the reflecting mirrors 6, so that the reflecting mirrors 6 form emergent light beams approximately parallel to the emergent light beams which are approximately parallel to the reflecting the rotating shaft 4.
In the domestic and foreign field tests, generally, the unmanned aerial vehicle carries a target spot meter to realize the tracking and aiming performance test, but the flying speed of the unmanned aerial vehicle is slow, and the measurement of the maximum angular velocity and the maximum angular acceleration of a tracking and aiming system cannot be met even if the unmanned aerial vehicle flies at the maximum speed. According to the method, the sub-rotating shaft 4 is arranged on the main rotating shaft 3, the semi-transparent and semi-reflective mirror 5 and the reflecting mirror 6 which are arranged on the sub-rotating table 41 of the sub-rotating shaft 4 can divide a light beam emitted by the optical simulation target source 2 into two emergent light beams, the relative spatial directions of the two emergent light beams are kept unchanged in the rotating process, the rough tracking detector 91 and the fine tracking detector 92 of the composite shaft tracking system 9 can capture the two emergent light beams respectively and perform closed-loop tracking, the positions of the two emergent light beams can be moved by rotating the main rotating shaft 3 and the sub-rotating shaft 4, the emergent light beams move in two dimensions, the reverse rotation of the sub-rotating shaft 4 can compensate the rotation of the two emergent light beams along with the main rotating shaft 3, the two emergent light beams can be detected by the rough tracking detector 91 and the fine tracking detector 92 in real time, the rough tracking detector 91 and the fine tracking detector 92 focus and image the emergent light beams, the composite shaft tracking system 9 can track the rotating light beams in real time, the performance of the rough tracking detector 91 and the fine tracking detector 92 can measure the rough tracking detector 92 and the fine tracking system at the same time, the performance of the rough tracking detector 91 and the fine tracking system can be measured without the rough tracking system, the high-precision of the rough tracking system, and the high-precision measurement can be measured simply measured at the same time, and the high-precision of the high-tracking system can be measured.
Referring to fig. 1, in some embodiments, the main revolving shaft 3 may be provided with a main revolving stage 31, the optical simulation target source 2 and the sub-revolving shaft 4 are both installed on the main revolving stage 31, specifically, the optical simulation target source 2 may be installed on one side of the main revolving stage 31, the sub-revolving shaft 4 may be installed on the other side of the main revolving stage 31, such that the optical simulation target source 2 and the sub-revolving shaft 4 are arranged at a distance, and the light beam emitted from the optical simulation target source 2 can be irradiated onto the half mirror 5 at a predetermined angle, of course, the optical simulation target source 2 may also be arranged next to the sub-revolving shaft 4. The optical simulation target source 2 and the sub-rotating shaft 4 are both arranged on the main rotating table 31, the main rotating table 31 can synchronously rotate along with the main rotating shaft 3, when the main rotating shaft 3 rotates, the optical simulation target source 2 and the sub-rotating shaft 4 can synchronously rotate, the optical simulation target source 2 is driven to rotate through the main rotating shaft 3, a moving target which can be identified by a photoelectric tracking system is simulated, and the problem that the optical simulation target source 2 needs to be synchronously adjusted when the main rotating shaft 3 rotates is solved.
Referring to fig. 1, further, the sub-rotation shaft 4 may include a collimator 42, the collimator 42 may be provided therein with a fast reflector 7, the fast reflector 7 is configured to reflect the light beam emitted from the optical simulation target source 2 to the half mirror 5, that is, the light beam emitted from the optical simulation target source 2 may be emitted to the fast reflector 7 first, and reflected by the fast reflector 7 to irradiate the light beam to the half mirror 5 along the direction of the sub-rotation shaft 4, the half mirror 5 is preferably disposed on the axis of the sub-rotation shaft 4, a part of the light beam may be directly transmitted through the half mirror 5 to form an outgoing light beam (that is, a main outgoing light beam), a part of the light beam may be reflected to the reflector 6 through the half mirror 5, and reflected by the reflector 6 to form an outgoing light beam (that is, a sub-outgoing light beam) substantially parallel to the sub-rotation shaft 4, and by disposing the collimator 42 and the fast reflector 7, the direction in which the light beam irradiates the half mirror 5 may be accurately adjusted, so as to ensure the outgoing direction of the subsequent light beam.
Referring to fig. 1, in some alternative embodiments, a reticle may be disposed at the focal plane of the collimator 42, and the light beam reflected by the fast-reflection mirror 7 may pass through the reticle to irradiate to the half-transparent mirror 5, wherein, according to specific requirements and different collimator 42, reticles of different sizes and shapes may be disposed, and after the reticle is added, the transmission path of the light beam is: the optical simulation target source 2 emits laser to the fast reflecting mirror 7, the fast reflecting mirror 7 reflects the laser to the reticle, and the laser irradiates the semi-transparent semi-reflecting mirror 5 through the reticle; the shape of the laser image after passing through the reticle can simulate a static surface target.
Referring to fig. 1, in some embodiments, the optical simulation target source 2 may include an imaging projection system (DMD) and a light guide barrier, where the imaging projection system is configured to perform light beam modulation on a dynamic video stream stored in the system by switching the light guide barrier and project the dynamic video stream onto the half mirror 5, that is, laser emitted by the optical simulation target source 2 may be irradiated onto the light guide barrier, and by switching the light guide barrier, the imaging projection system may perform optical modulation on the dynamic video stream containing a target flight attitude trajectory and project the dynamic video stream onto the half mirror 5, and the half mirror 5 transmits a part of the light beam, and the part of the light beam is reflected to the reflector 6 to implement high-speed real-time projection, so as to simulate a dynamic surface target with a scene, thereby being closer to a real combat target.
Referring to fig. 1, in some embodiments, the half mirror 5 and the reflector 6 are both movable on the sub-turntable 41, and the relative positions of different cameras of different composite axis tracking systems 9 can be matched by adjusting the positions of the half mirror 5 and the reflector 6 on the sub-turntable 41, and the support frame 1 can be lifted up and down, specifically, the support frame 1 may include a support mechanism and a height adjustment mechanism, and the support frame is mounted on the support mechanism, so as to ensure that the support frame and the support frame 1 can be kept stable and free from shaking during the high-speed rotation of the main revolving shaft 3, and the height adjustment mechanism may include transmission and guiding parts, and further, with an electromagnetic brake assembly, so as to ensure that the height lifting process of the support frame 1 is smooth.
Further, the composite axis tracking and aiming performance testing device may further include a controller 8, which is connected to the main rotating shaft 3 and the sub rotating shaft 4, respectively, and the controller 8 is configured to control the main rotating shaft 3 and the sub rotating shaft 4 to rotate, specifically, the controller 8 may include an electric control module and a control module, where the electric control module may include a timing terminal, an encoder electric control box, a servo controller 8, and the like, all of which are installed in the integrated control cabinet, and have functions of electric servo control, data recording, and the like; the time system terminal can establish a uniform time synchronization reference between the composite axis tracking and aiming performance testing device and the composite axis tracking and aiming system 9, and provides a time judgment basis for detecting the performance and the function of high-precision photoelectric measuring equipment; the encoder electric cabinet can control the work on-off of the photoelectric encoder; and the servo controller 8 is used for driving the torque motor to realize the motion control of the main rotating shaft 3 and the sub rotating shaft 4. The core of the control module is an industrial control computer, integrates functions of data acquisition, servo control, system management, error processing and the like, is configured in a control cabinet, has the functions of acquiring data, speed and other related parameters of the rotating angle positions of the main rotating shaft 3 and the sub rotating shafts 4, and can also perform control guidance on the main rotating shaft 3 and the sub rotating shafts 4 in a sine mode, a constant speed mode, a fixed point mode and the like through a program, so that the requirement of the motion rule of the programmable control testing device is met.
The embodiment of the invention also provides a test method using the composite axis tracking and aiming performance test device, which comprises the following steps:
step 1: according to the imaging positions of the light spots detected by the two tracking detectors 91 and 92 of the compound axis tracking and aiming system 9, the heights and angles of the main rotating shaft 3 and the sub rotating shaft 4 are adjusted, so that the center of mass of the imaging light spots is positioned in the image centers of the two tracking detectors 91 and 92. That is, in this step, the optical simulation target source 2 needs to be lit up, so that the optical simulation target source 2 emits a light beam, and then the composite axis tracking and aiming performance testing apparatus can form two outgoing light beams, the two tracking detectors 91 and 92 can capture the two outgoing light beams respectively and perform imaging, and the composite axis tracking and aiming performance testing apparatus is finely adjusted according to the light spot imaging position, in this embodiment, the heights of the main rotating shaft 3 and the sub rotating shaft 4 can be adjusted by adjusting the height of the supporting frame 1.
In some embodiments, before step 1, the relative positions of the composite axis tracking and aiming system 9 and the composite axis tracking and aiming performance testing device may be preliminarily adjusted, so that the positions of the two tracking detectors (i.e. the coarse tracking detector 91 and the fine tracking detector 92) are respectively aligned to the vicinity of the scanning light cone point formed by the two emergent light beams of the composite axis tracking and aiming performance testing device; namely, the relative positions of the compound axis tracking and aiming system 9 and the compound axis tracking and aiming performance testing device are roughly adjusted.
Step 2: and rotating the main rotating shaft 3 and the sub rotating shaft 4, and keeping the composite shaft tracking and aiming system 9 to track the emergent light beam emitted by the composite shaft tracking and aiming performance testing device. That is, in this step, the main revolving shaft 3 and the sub-revolving shaft 4 are turned on and rotated, and the composite shaft tracking system 9 is kept constantly tracking stably.
And 3, step 3: the rotation angular velocities of the main revolving shaft 3 and the sub revolving shaft 4 are gradually increased, the angular velocity and the angular acceleration of the composite shaft tracking system 9 are increased, and when the angular velocity of the composite shaft tracking system 9 reaches the maximum angular velocity or the angular acceleration reaches the maximum angular acceleration, the main revolving shaft 3 and the sub revolving shaft 4 rotate at a constant angular velocity. That is, the rotation angular velocities of the main rotating shaft 3 and the sub rotating shaft 4 can be slowly increased, wherein the rotation angular velocities of the main rotating shaft 3 and the sub rotating shaft 4 are equal in magnitude and opposite in direction, and the angular velocity and the angular acceleration of the composite shaft tracking and aiming system 9 are increased along with the increase of the angular velocities of the main rotating shaft 3 and the sub rotating shaft 4, and when the angular velocity of the composite shaft tracking and aiming system 9 reaches the maximum angular velocity required by the examination or the angular acceleration reaches the maximum angular acceleration required by the examination, it is stated that the tracking performance of the composite shaft tracking and aiming system 9 can meet the examination standard, and at this time, the main rotating shaft 3 and the sub rotating shaft 4 can be controlled to rotate at a constant angular velocity.
In some alternative embodiments, the sub-rotation axis 4 may include a collimator 42, and if the simulation of the static surface target needs to be performed, before step 1, the method may further include: a reticle is placed at the focal plane of the collimator 42, so that the beam emitted by the optical simulation target source 2 passes through the reticle and irradiates the half-mirror 5. The size of the static surface target can be changed by changing the shape and the size of the reticle, and the method is suitable for the performance test of the composite axis tracking and aiming system 9 with various calibers and focal lengths.
In some embodiments, the optical simulation target source 2 may be provided with a light guiding baffle and an imaging projection system, and in step 2, the rotating the main revolving shaft 3 and the sub revolving shaft 4 and keeping the composite axis tracking and aiming system 9 tracking the outgoing light beam emitted by the composite axis tracking and aiming performance testing apparatus may include: and when the main rotating shaft 3 and the sub rotating shaft 4 are rotated, the light guide blocking pieces are switched at preset intervals, so that light beams emitted by the optical simulation target source 2 pass through the light guide blocking pieces to modulate dynamic video streams stored in the imaging projection system and project the dynamic video streams to the semi-transparent semi-reflective mirror 5, high-speed real-time projection is realized, and then a dynamic surface target with a scene is simulated, so that the dynamic surface target is closer to a real combat target.
Further, in step 3, in the tracking process, the two tracking detectors 91 and 92 can perform real-time imaging, and the tracking and aiming errors of the two tracking detectors 91 and 92 are obtained through image acquisition and processing in the later stage, so that the tracking performance test of the compound axis tracking and aiming system 9 is realized.
The influence of the half-cone angle alpha (namely the included angle between the emergent beam and the main rotating shaft 3) on the direction of the azimuth angle A and the direction of the pitch angle E of the detected equipment can be deduced according to a coordinate transformation relation formula of the composite axis tracking aiming performance testing device and the composite axis tracking aiming system 9, and the calculation formula of the azimuth angle A and the pitch angle E is as follows:
A＝arcsin(sinα*sinwt/cosE)
E＝arcsin(cosα*sinβ+sinα*cosβ*coswt)
in the formula, w is the rotation angular velocity of the main rotating shaft 3 or the sub rotating shaft 4; beta is the included angle between the main rotating shaft 3 and the horizontal plane.
The azimuth angle speed and the angular acceleration can be obtained by the first and second integral of the azimuth angle to the time, and the calculation method of the pitch angle speed and the angular acceleration is the same as the same.
The half-cone angle alpha of the device can be adjusted so as to simulate the target motion under different speeds and accelerations; when the angle alpha between the emergent beam of the composite axis tracking aiming performance testing device and the main rotating shaft 3 is adjusted and fixed and the angle beta between the main rotating shaft 3 and the horizontal plane is determined, the intersection point O of the main rotating shaft 3 and the sub rotating shaft 4 is the vertex of the target rotating light cone, and the composite axis tracking aiming system 9 tracks the target rotating light cone at the point O to detect the tracking and angle measuring performance of the target rotating light cone.
The aiming error is calculated using the following formula:
Δθ p,x ＝arctan(x c -x 0 )
Δθ p,y ＝arctan(y c -y 0 )
wherein, delta theta p,x For the x-component of the aiming error, Δ θ p,y For the y-component of the aiming error, x c Is an X-direction coordinate, y, of the mass center of the long exposure light spot on a detector c Is a Y-direction coordinate, x, of the mass center of the long exposure light spot on a detector 0 For the X-coordinate, y, of the set aiming point on the detector 0 Is the Y-coordinate of the set aiming point on the detector.
The following formula is used to calculate the tracking error:
wherein, delta theta T,x 、Δθ T,y Respectively an azimuth tracking error component and a pitch tracking error component, delta j,x Is the azimuth component, delta, of the angular deviation value of the short-exposure light spot centroid relative to the long-exposure light spot centroid in the jth data j,y Is group jThe pitch component, delta theta, of the angular deviation value of the short exposure spot centroid relative to the long exposure spot centroid in the data T To be a tracking error.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
It is noted that, in the present invention, relational terms such as "first" and "second", and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a compound axle is trailed and is aimed capability test device which characterized in that, it includes:
the device comprises a support frame (1) and an optical simulation target source (2), wherein the optical simulation target source (2) is used for emitting light beams;
a main rotating shaft (3) which is mounted on the support frame (1), and the main rotating shaft (3) can rotate relative to the support frame (1); the main revolving shaft (3) is provided with a main revolving platform (31);
the auxiliary rotating shaft (4) is arranged on the main rotating shaft (3), the auxiliary rotating shaft (4) can rotate relative to the main rotating shaft (3), the auxiliary rotating shaft (4) is provided with an auxiliary rotating table (41), the auxiliary rotating table (41) is provided with semi-transparent and semi-reflective mirrors (5) and reflectors (6) which are arranged at intervals, the semi-transparent and semi-reflective mirrors (5) are arranged on the axis of the auxiliary rotating shaft (4), the auxiliary rotating shaft (4) is arranged on the main rotating table (31), and the auxiliary rotating shaft (4) is not located on the axis of the main rotating shaft (3);
the semi-transparent semi-reflecting mirror (5) is used for transmitting partial light beams emitted by the optical simulation target source (2) to form emergent light beams approximately parallel to the sub-rotating shaft (4), and the semi-transparent semi-reflecting mirror (5) is used for reflecting the partial light beams emitted by the optical simulation target source (2) to the reflecting mirror (6), so that the reflecting mirror (6) reflects the emergent light beams approximately parallel to the sub-rotating shaft (4).
2. The compound axis tracking aiming performance testing device of claim 1, characterized in that:
the optical simulation target source (2) is mounted to the main turntable (31).
3. The compound axis tracking aiming performance testing device as recited in claim 2, wherein:
the sub-rotating shaft (4) comprises a collimator tube (42), a fast reflecting mirror (7) is arranged in the collimator tube (42), and the fast reflecting mirror (7) is used for reflecting light beams emitted by the optical simulation target source (2) to the semi-transmitting semi-reflecting mirror (5).
4. The compound axis tracking aiming performance testing device as recited in claim 3, wherein:
a reticle is arranged at the focal plane of the collimator tube (42), and the light beam reflected by the fast reflecting mirror (7) irradiates the semi-transmitting and semi-reflecting mirror (5) through the reticle.
5. The compound axis tracking aiming performance testing device as recited in claim 1, wherein:
the optical simulation target source (2) comprises an imaging projection system and a light guide baffle plate, wherein the imaging projection system is used for modulating light beams of dynamic video streams stored in the imaging projection system by switching the light guide baffle plate and projecting the dynamic video streams to the semi-transparent and semi-reflective mirror (5).
6. The compound axis tracking aiming performance testing device of claim 1, characterized in that:
the semi-transparent semi-reflecting mirror (5) and the reflecting mirror (6) can move on the sub-rotary table (41), and the support frame (1) can be lifted up and down;
the composite axis tracking and aiming performance testing device further comprises a controller (8) which is respectively connected with the main rotating shaft (3) and the sub rotating shaft (4), and the controller (8) is used for controlling the main rotating shaft (3) and the sub rotating shaft (4) to rotate.
7. A testing method using the composite axis tracking aiming performance testing device as claimed in claim 1, characterized by comprising the steps of:
according to the imaging positions of light spots detected by two tracking detectors (91, 92) of a composite axis tracking and aiming system (9), the heights and angles of a main rotating shaft (3) and a sub rotating shaft (4) are adjusted, so that the center of mass of an imaging light spot is positioned in the image centers of the two tracking detectors (91, 92);
rotating the main rotating shaft (3) and the sub rotating shaft (4), and keeping the composite shaft tracking and aiming system (9) to track the emergent light beam emitted by the composite shaft tracking and aiming performance testing device;
the rotation angular velocities of the main revolving shaft (3) and the sub revolving shaft (4) are gradually increased, the angular velocity and the angular acceleration of the composite shaft tracking system (9) are increased, and when the angular velocity of the composite shaft tracking system (9) reaches the maximum angular velocity or the angular acceleration reaches the maximum angular acceleration, the main revolving shaft (3) and the sub revolving shaft (4) keep constant angular velocity rotation.
8. The test method according to claim 7, wherein the height and angle of the main pivot axis (3) and the sub pivot axis (4) are adjusted at the imaging positions of the spots detected by the two tracking detectors (91, 92) of the compound axis tracking system (9) so that the center of mass of the imaging spot is located before the image centers of the two tracking detectors (91, 92), further comprising:
and preliminarily adjusting the relative positions of the composite axis tracking and aiming system (9) and the composite axis tracking and aiming performance testing device, so that the positions of the two tracking detectors (91 and 92) are respectively aligned to the vicinity of a scanning light cone point formed by the two emergent light beams of the composite axis tracking and aiming performance testing device.
9. The test method according to claim 7, wherein the sub-rotation axis (4) comprises a collimator (42), and the heights and angles of the main rotation axis (3) and the sub-rotation axis (4) are adjusted to make the imaging spot centroid before the image centers of the two tracking detectors (91, 92) according to the spot imaging positions detected by the two tracking detectors (91, 92) of the compound axis tracking system (9), further comprising:
and placing a reticle at the focal plane of the collimator tube (42), so that the light beam emitted by the optical simulation target source (2) passes through the reticle to irradiate the half-transmitting and half-reflecting mirror (5).
10. The testing method according to claim 7, wherein a light guiding block and an imaging projection system are provided in the optical simulation target source (2), and the rotating the main rotating shaft (3) and the sub rotating shaft (4) and keeping the composite axis tracking and aiming system (9) tracking the outgoing light beam emitted from the composite axis tracking and aiming performance testing apparatus comprises:
and when the main rotating shaft (3) and the sub rotating shaft (4) are rotated, the light guide blocking sheet is switched at preset time intervals, so that the light beams emitted by the optical simulation target source (2) modulate the dynamic video stream stored in the imaging projection system through the light guide blocking sheet and project the dynamic video stream to the semi-transparent semi-reflective mirror (5).
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