CN115574741A - Laser sensor outgoing beam pointing accuracy quantitative measurement system based on theodolite - Google Patents
Laser sensor outgoing beam pointing accuracy quantitative measurement system based on theodolite Download PDFInfo
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- CN115574741A CN115574741A CN202211324635.8A CN202211324635A CN115574741A CN 115574741 A CN115574741 A CN 115574741A CN 202211324635 A CN202211324635 A CN 202211324635A CN 115574741 A CN115574741 A CN 115574741A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0207—Details of measuring devices
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Abstract
The invention belongs to the technical field of precise optical machine adjustment, and discloses a theodolite-based quantitative measurement system for pointing precision of an outgoing beam of a laser sensor, which comprises: the device comprises a laser to be detected, a standard square block, a small standard plane mirror, a parabolic reflector, an optical platform II, laser photosensitive target paper, a laser target paper holder, a high-precision warp and weft instrument, an optical platform I and a level meter; and an off-axis adjusting imaging light path is set up on the first optical platform, the laser target paper is fixed at the focal plane position of the parabolic reflector through a laser target paper rack, the laser to be detected is placed on the second optical platform, and the laser to be detected is adjusted to enable the light-emitting light beam to be converged to the laser target paper through the parabolic reflector. During measurement, after the reference base plane of the laser is determined by the high-precision warp and weft instrument, the light-emitting spot position of the laser to be measured is measured, and the deviation between the laser light-emitting beam and the laser installation base plane and the reference base plane is quantitatively measured. The invention can measure the error quickly and precisely, is easy to assemble, detect and use and effectively ensures the consistency of batch products.
Description
Technical Field
The invention belongs to the technical field of adjustment of precision optical machines, and relates to a theodolite-based quantitative measurement system for pointing precision of an outgoing beam of a laser sensor.
Background
The laser sensor has high directivity, can realize functions of accurate distance measurement, irradiation, communication, dazzling, firing and the like as a directional energy system, and has wide application in the fields of photoelectric reconnaissance, photoelectric information transmission and photoelectric rejection. Therefore, attention has been paid to a method for measuring the pointing accuracy and stability of a laser output beam emitted from a laser.
The laser sensor requires the emitted laser to have accurate pointing accuracy in the using process, so that the spatial included angle relation between the emitted laser of the laser and the installation base surface and the reference base surface is an important assessment index, the direction and the pitching direction of the emitted laser can be effectively restricted, the necessary condition for judging the pointing stability of the laser beam after the laser is used for many times is provided, and the stable light emitting direction is a precondition for stable performance and batch production of the sensor.
At present, a measurement method for the direction of an outgoing light beam of a laser sensor is generally qualitative measurement, and a square tube front mirror is used for detecting based on an installation base plane and a reference base plane, so that the deviation between a laser spot and a division cross center in the square tube front mirror is judged. However, in order to improve the controllability of the light-emitting position of the laser and the stability of mass production, a more precise quantitative measurement method is required.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: aiming at the requirement of quantitative measurement of the pointing of the emergent light beam of the existing laser, a quantitative measurement system of the pointing accuracy of the emergent light beam of a laser sensor based on a theodolite is provided, and the quantitative measurement of the emergent laser of the laser is realized by means of a high-precision theodolite; unifying the laser to be measured and the high-precision theodolite to a horizontal plane by means of a level gauge, and ensuring the measurement accuracy and precision; the reference plane of the laser to be measured is converted by a mode of adding a small standard plane mirror to a standard block, so that the reference plane of the laser is measured, the measurement requirement is met, the measurement scheme can be simplified, and the reliability of a quantitative criterion is ensured; by means of the high-precision theodolite, laser spots are measured through the parabolic mirror, data quantization management is achieved, and stability of batch production of lasers is improved.
(II) technical scheme
In order to solve the above technical problems, the present invention provides a theodolite-based laser sensor outgoing beam pointing accuracy quantitative measurement system, comprising: the device comprises a laser to be measured 10, a standard square block 4, a small standard plane mirror 5, a parabolic reflector 6, a second optical platform 2, laser photosensitive target paper 9, a laser target paper holder 8, a high-precision warp and weft instrument 7, a first optical platform 1, a level meter 3 and a third optical platform.
The third optical platform is arranged on the front side of the first optical platform 1, the parabolic reflector 6 is arranged on the third optical platform, the second optical platform 2, the laser target paper frame 8 and the high-precision warp and weft instrument 7 are arranged on the first optical platform 1, and the level meter 3, the standard block 4 and the laser 10 to be measured are arranged on the second optical platform 2; the level meter 3 is used for adjusting the level of the second optical platform 2, and the parabolic reflector 6 is positioned on the light-emitting side of the front side of the laser 10 to be measured; fixing laser photosensitive target paper 9 on the laser target paper holder 8, and adjusting the relative positions of the parabolic reflector 6, the laser 10 to be detected and the laser target paper holder 8 to ensure that laser beams emitted by the laser 10 to be detected are converged on the laser photosensitive target paper 9 at the focal plane position through the parabolic reflector 6; the small standard plane mirror 5 is sequentially attached to the side surface of the rear side of the standard square block 4 and the reference base surface of the rear side of the laser 10 to be measured, and the high-precision theodolite 7 observes an auto-collimation image through the small standard plane mirror 5 respectively.
The measurement precision of the high-precision theodolite 7 is less than 2'.
The parallelism of the upper surface and the lower surface of the small standard plane mirror 5 is less than 5'.
The verticality of each face of the standard block 4 is less than 5', the planeness is less than 0.008 mm, and the roughness is less than 1.6 micrometers.
The flatness of the bearing surface of the second optical platform 2 is less than 0.008 mm, and the inclination can be manually adjusted in two degrees of freedom, so that the purpose of adjusting the leveling of the small optical platform 2 is achieved.
Based on the quantitative measurement system, the invention also provides a method for quantitatively measuring the pointing accuracy of the outgoing beam of the laser sensor based on the theodolite, which comprises the following steps:
(1) Place standard square 4 on second optical platform 2, the side of standard square 4 is hugged closely to little standard level crossing 5, adjusts the gesture of high accuracy theodolite 7 and standard square 4 for high accuracy theodolite 7 can observe the auto-collimation image through little standard level crossing 5, and fine tuning high accuracy theodolite 7 makes the auto-collimation image be located the upper and lower center of high accuracy theodolite 7 partition, and the pitch data 1 of recording high accuracy theodolite 7 this moment.
(2) The small standard plane mirror 5 is closely attached to a reference base plane of the laser 10 to be measured, the postures of the high-precision theodolite 7 and the laser 10 to be measured are adjusted, so that the high-precision theodolite 7 can observe an auto-collimation image through the small standard plane mirror 5, the high-precision theodolite 7 is adjusted to enable the auto-collimation image to be located in the upper center and the lower center of the division of the high-precision theodolite 7, and the pitching data 2 of the high-precision theodolite 7 at the moment is recorded.
(3) The laser beam emitted by the laser 10 to be measured is reflected by the parabolic reflector 6 and then converged on the laser photosensitive target paper 9 to form a focusing light spot, the direction of the high-precision theodolite 7 is adjusted, so that the high-precision theodolite 7 images the laser focusing light spot through the parabolic reflector 6, an auto-collimation image can be observed through the small standard plane mirror 5, the high-precision theodolite 7 is adjusted to enable the auto-collimation image to be located at the upper center, the lower center and the left center of the high-precision theodolite 7, and the direction data 1 of the high-precision theodolite 7 at the moment is recorded.
(4) And (3) precisely adjusting the high-precision theodolite 7 to enable the division center to coincide with the center of the focusing light spot on the laser photosensitive target paper 9, and acquiring azimuth data 3 and pitching data 3 of the focusing light spot image in the high-precision theodolite 7.
(5) Making a difference between the azimuth data 1 and the pitch data 1 and the corresponding azimuth data 3 and pitch data 3 to obtain the quantitative deviation of the emergent beam pointing direction of the laser 10 to be measured relative to the installation base plane and the reference base plane; and (3) subtracting the pitch data 2 from the pitch data 1 to obtain the verticality data 1 of the reference base plane and the mounting base plane of the laser 10 to be tested, calibrating the processing error of the laser 10 to be tested, and obtaining the mounting base plane of the laser 10 to be tested as the contact surface between the bottom of the laser 10 to be tested and the second optical platform 2.
(III) advantageous effects
The system for quantitatively measuring the pointing accuracy of the outgoing light beam of the laser sensor based on the theodolite, which is provided by the technical scheme, belongs to the quantitative measurement of the pointing of the outgoing light beam of a laser and has the following advantages:
1) The laser to be measured and the precise theodolite are unified to the horizontal plane by means of the gradienter, and the measuring accuracy and precision are improved.
2) The reference plane of the laser is converted by a mode of adding a standard square block and a small standard plane mirror, so that the reference plane is calibrated, the quantitative measurement requirements of various structural forms are met, the measurement requirements are met, and the measurement operability and the reliability of quantitative criteria are improved.
3) By means of the high-precision theodolite, the laser facula is imaged through the parabolic mirror, quantitative calibration of the laser beam emitted by the laser to be tested is achieved, data quantitative management is achieved, and stability of batch production of the laser is improved.
Drawings
FIG. 1 is a three-dimensional diagram of the system for quantitatively measuring the pointing accuracy of an outgoing beam of a laser sensor based on a theodolite according to the present invention;
FIG. 2 is a second optical platform and a high-precision warp and weft instrument calibration scheme of the laser sensor outgoing beam pointing precision quantitative measurement system based on the theodolite;
FIG. 3 is a reference datum calibration measuring scheme of a laser to be measured of the laser sensor outgoing beam pointing accuracy quantitative measuring system based on the theodolite;
FIG. 4 is a three-dimensional diagram of the laser sensor outgoing beam pointing accuracy quantitative measurement system based on theodolite.
Wherein: 1-optical platform, 2-second optical platform, 3-level meter, 4-standard square, 5-small standard plane mirror, 6-paraboloid reflector, 7-high precision warp and weft meter, 8-laser target paper holder, 9-laser photosensitive target paper and 10-laser to be measured.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
Fig. 1 is a three-dimensional view of the components of the laser sensor outgoing beam pointing accuracy quantitative measurement system based on theodolite of the present invention, referring to the figure, the quantitative measurement system includes: the device comprises a laser to be measured 10, a standard square block 4, a small standard plane mirror 5, a parabolic reflector 6, a second optical platform 2, laser photosensitive target paper 9, a laser target paper holder 8, a high-precision warp and weft instrument 7, a first optical platform 1, a level meter 3 and a third optical platform.
The third optical platform is arranged on the front side of the first optical platform 1, the parabolic reflector 6 is arranged on the third optical platform, the second optical platform 2, the laser target paper frame 8 and the high-precision warp and weft instrument 7 are arranged on the first optical platform 1, and the level meter 3, the standard block 4 and the laser 10 to be measured are arranged on the second optical platform 2; the level meter 3 is used for adjusting the second optical platform 2 to be horizontal, and the parabolic reflector 6 is positioned on the light emitting side of the front side of the laser 10 to be measured; fixing laser photosensitive target paper 9 on the laser target paper holder 8, and adjusting the relative positions of the parabolic reflector 6, the laser 10 to be detected and the laser target paper holder 8 to ensure that laser beams emitted by the laser 10 to be detected are converged on the laser photosensitive target paper 9 at the focal plane position through the parabolic reflector 6; the small standard plane mirror 5 is sequentially attached to the side surface of the rear side of the standard square block 4 and the reference base surface of the rear side of the laser 10 to be measured, and the high-precision theodolite 7 observes an auto-collimation image through the small standard plane mirror 5 respectively.
As shown in fig. 2, it is a calibration scheme of the second optical platform 2 and the high-precision warp and weft instrument 7 of the theodolite-based laser sensor outgoing beam pointing accuracy quantitative measurement system of the present invention. The second optical platform 2 and the high-precision warp and weft instrument 7 are placed on the first optical platform 1, and the base of the second optical platform 2 is adjusted to enable the second optical platform 2 to reach a horizontal state according to readings of the level instrument 3 on the horizontal plane in two orthogonal directions; adjusting a base of the high-precision theodolite 7 to enable the high-precision theodolite 7 to reach a horizontal state; the standard square 4 is closely placed on the second optical platform 2 which is adjusted to be horizontal, and the small standard plane mirror 5 is closely attached to the surface, perpendicular to the table top of the second optical platform 2, of the standard square 4; adjusting the lens of the high-precision theodolite 7 to the horizontal direction, adjusting the rotating postures of the standard block 4 and the high-precision theodolite 7 in the horizontal plane at the same time until an auto-collimation cross image appears in the high-precision theodolite 7, further finely adjusting the height angle of the high-precision theodolite 7 through the auto-collimation cross image and the small difference in the horizontal direction of the cross, enabling the auto-collimation cross image to be located at the upper center and the lower center of the division of the high-precision theodolite 7, so as to achieve the purpose of unified adjustment and calibration of the second optical platform 2 and the high-precision theodolite 7, and recording the pitch data 1 of the high-precision theodolite 7 at the moment.
Fig. 3 is a reference datum calibration measurement scheme of the laser 10 to be measured of the theodolite-based laser sensor outgoing beam pointing accuracy quantitative measurement system. The small standard flat mirror 5 is closely attached to the reference base of the laser 10 to be measured. The laser 10 to be measured is closely attached to the second optical bench 2, which has been leveled, with the mounting bottom surface as a reference. And simultaneously adjusting the laser 10 to be measured and the high-precision longitude and latitude instrument 7 to rotate in the horizontal plane until an auto-collimation 'cross' image presented by the small standard plane mirror 5 appears in the high-precision theodolite 7, further finely adjusting the height angle of the high-precision longitude and latitude instrument 7 through the auto-collimation 'cross' image and the small difference in the horizontal direction of the division 'cross', enabling the auto-collimation 'cross' image to be located at the upper center and the lower center of the division of the high-precision theodolite 7, and recording the pitching data 2 of the high-precision theodolite 7 at the moment.
FIG. 4 is a three-dimensional diagram of a quantitative measurement scheme for the pointing accuracy of an outgoing beam of a laser sensor based on a theodolite. Adjusting the direction of a laser 10 to be detected and a high-precision theodolite 7, so that laser emitted by the laser 10 to be detected is converged on laser photosensitive target paper 9 fixed by a laser target paper frame 8 through a parabolic reflector 6 (the laser target paper frame 8 is positioned at the focal position of the parabolic reflector 6), and laser convergence spots are formed; meanwhile, the high-precision theodolite 7 is used for reflecting through the parabolic reflector 6, so that the laser convergence spots on the laser photosensitive target paper 9 can be clearly seen; in addition, the laser 10 to be measured can form an auto-collimation light path by referring to the small standard plane mirror 5 and the high-precision theodolite 7 which are pasted on the base plane, and the height angle and the azimuth angle of the high-precision theodolite 7 are finely adjusted through the auto-collimation 'cross' image and the small difference in the horizontal direction of the division 'cross', so that the auto-collimation 'cross' image is located in the center of the division of the high-precision theodolite 7, and the azimuth data 1 of the high-precision theodolite 7 at the moment is recorded.
And the fine adjustment high-precision theodolite 7 enables the division center to coincide with the center of the focusing light spot on the laser target paper, and the azimuth data 3 and the pitching data 3 of the focusing light spot image in the high-precision theodolite 7 are obtained.
And (3) making a difference between the azimuth data 1 and the azimuth data 3, and making a difference between the pitch data 1 and the pitch data 3, and acquiring the azimuth and pitch quantitative deviation of the laser beam emitted by the laser 10 to be measured relative to the installation base surface and the reference base surface. And (3) subtracting the pitch data 2 from the pitch data 1 to obtain the quantitative deviation of the reference base plane and the installation base plane of the laser 10 to be measured, wherein the quantitative deviation is the verticality data 1 and can be used for calibrating the system processing error.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a laser sensor outgoing beam pointing accuracy quantitative measurement system based on theodolite which characterized in that includes: the device comprises a laser (10) to be tested, a standard square block (4), a small standard plane mirror (5), a parabolic reflector (6), a second optical platform (2), laser photosensitive target paper (9), a laser target paper frame (8), a high-precision warp and weft instrument (7), a first optical platform (1), a level meter (3) and a third optical platform;
the third optical platform is arranged on the front side of the first optical platform (1), the parabolic reflector (6) is arranged on the third optical platform, the second optical platform (2), the laser target paper frame (8) and the high-precision warp and weft instrument (7) are arranged on the first optical platform (1), and the level gauge (3), the standard block (4) and the laser (10) to be measured are arranged on the second optical platform (2); the level gauge (3) is used for adjusting the second optical platform (2) to be horizontal, and the parabolic reflector (6) is positioned on the light emitting side of the front side of the laser (10) to be measured; laser photosensitive target paper (9) is fixed on the laser target paper frame (8), and the relative positions of the parabolic reflector (6), the laser (10) to be detected and the laser target paper frame (8) are adjusted, so that laser beams emitted by the laser (10) to be detected are converged on the laser photosensitive target paper (9) at the focal plane position through the parabolic reflector (6); the small standard plane mirror (5) is sequentially pasted on the side surface of the rear side of the standard square block (4) and the reference base surface of the rear side of the laser (10) to be measured, and the high-precision warp and weft instrument (7) respectively observes an auto-collimation image through the small standard plane mirror (5).
2. The theodolite-based laser sensor exit beam pointing accuracy quantitative measurement system according to claim 1, characterized in that the measurement accuracy of the high precision theodolite (7) is less than 2 ".
3. A theodolite-based laser sensor exit beam pointing accuracy quantitative measurement system according to claim 2, characterized in that the small standard flat mirror (5) has upper and lower surface parallelism less than 5 ".
4. The theodolite-based laser sensor exit beam pointing accuracy quantitative measurement system of claim 3, characterized in that the perpendicularity of the faces of the standard square (4) is less than 5 ", the flatness is less than 0.008 mm, and the roughness is less than 1.6 μm.
5. The theodolite-based laser sensor exit beam pointing accuracy quantitative measurement system of claim 4, characterized in that the bearing surface flatness of the second optical bench (2) is less than 0.008 mm and the tilt can be adjusted manually.
6. A method for quantitatively measuring the pointing accuracy of an outgoing beam of a laser sensor based on a theodolite is characterized in that the quantitative measuring system of any one of claims 1 to 5 is adopted for measurement, and the measuring process comprises the following steps:
s1: placing a standard square block (4) on a second optical platform (2), enabling a small standard plane mirror (5) to be tightly attached to the side face of the rear side of the standard square block (4), adjusting the postures of a high-precision theodolite (7) and the standard square block (4), enabling the high-precision theodolite (7) to observe an auto-collimation image through the small standard plane mirror (5), finely adjusting the high-precision theodolite (7) to enable the auto-collimation image to be located at the upper center and the lower center of a division of the high-precision theodolite (7), and recording the pitching data 1 of the high-precision theodolite (7) at the moment;
s2: the small standard plane mirror (5) is tightly attached to a reference base plane of the laser (10) to be measured, the postures of the high-precision theodolite (7) and the laser (10) to be measured are adjusted, so that the high-precision theodolite (7) observes an auto-collimation image through the small standard plane mirror (5), the high-precision theodolite (7) is adjusted to enable the auto-collimation image to be located at the upper center and the lower center of the division of the high-precision theodolite (7), and the pitching data 2 of the high-precision theodolite (7) at the moment are recorded;
s3: the method comprises the steps that laser beams emitted by a laser (10) to be tested are reflected by a parabolic reflector (6) and then converged on laser photosensitive target paper (9) to form a focusing light spot, the direction of a high-precision theodolite (7) is adjusted, so that the high-precision theodolite (7) images the laser focusing light spot through the parabolic reflector (6), an auto-collimation image can be observed through a small standard plane mirror (5), the high-precision theodolite (7) is adjusted to enable the auto-collimation image to be located at the upper center, the lower center, the left center and the right center of the division of the high-precision theodolite (7), and the direction data 1 of the high-precision theodolite (7) at the moment is recorded;
s4: the fine adjustment high-precision theodolite (7) enables the division center to coincide with the center of a focusing light spot on the laser photosensitive target paper (9), and azimuth data 3 and pitching data 3 of a focusing light spot image in the high-precision theodolite (7) are obtained;
s5: making a difference between the azimuth data 1 and the pitch data 1 and the corresponding azimuth data 3 and pitch data 3 to obtain the quantitative deviation of the direction of the emergent beam of the laser (10) to be measured relative to the installation base plane and the reference base plane; and (3) subtracting the pitching data 2 from the pitching data 1 to obtain the verticality data 1 of the reference base plane and the installation base plane of the laser (10) to be tested, and calibrating the processing error of the laser (10) to be tested.
7. The method for quantitatively measuring the pointing accuracy of the outgoing beam of the theodolite-based laser sensor as set forth in claim 6, wherein in S1, the standard block (4) is placed in front of the second optical platform (2), the level (3) is placed on the second optical platform (2), and the base of the second optical platform (2) is adjusted to level the second optical platform (2) with the readings of the level (3) in two orthogonal directions on the horizontal plane; the high-precision theodolite (7) passes through the level meter (3) in the horizontal state on the first optical platform (1).
8. The method for quantitatively measuring the pointing accuracy of the outgoing beam of the laser sensor based on the theodolite as claimed in claim 7, wherein in S1, the lens of the high-precision theodolite (7) is adjusted to the horizontal direction, and simultaneously the rotation postures of the standard block (4) and the high-precision theodolite (7) in the horizontal plane are adjusted until an auto-collimation cross image appears in the high-precision theodolite (7), and further the elevation angle of the high-precision theodolite (7) is finely adjusted through the difference between the auto-collimation cross image and the division cross horizontal direction, so that the auto-collimation cross image is positioned at the upper and lower centers of the division of the high-precision theodolite (7), and the pitch data 1 of the high-precision theodolite (7) at the moment is recorded.
9. The method for quantitatively measuring the pointing accuracy of the outgoing beam of the laser sensor based on the theodolite as set forth in claim 8, wherein in S2, the laser (10) to be measured and the high-precision theodolite (7) are adjusted to rotate in the horizontal plane until an auto-collimation cross image appears on the small standard plane mirror (5) in the high-precision theodolite (7), and the elevation angle of the high-precision theodolite (7) is finely adjusted by further adjusting the auto-collimation cross image to be located at the upper and lower centers of the division of the high-precision theodolite (7) according to the difference between the auto-collimation cross image and the division of the cross in the horizontal direction, so as to record the pitch data 2 of the high-precision theodolite (7) at the moment.
10. The method for quantitatively measuring the pointing accuracy of the outgoing beam of the laser sensor based on the theodolite as set forth in claim 9, wherein in S3, the laser (10) to be measured forms an auto-collimation optical path with the high-precision longitude and latitude instrument (7) with reference to the small standard plane mirror (5) attached to the base plane, and the auto-collimation "cross" image is located at the center of the division of the high-precision longitude and latitude instrument (7) by finely adjusting the elevation angle and azimuth angle of the high-precision longitude and latitude instrument (7) according to the difference between the auto-collimation "cross" image and the division "cross" in the horizontal direction, and the azimuth data 1 of the high-precision longitude and latitude instrument (7) at the moment is recorded.
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