CN103925842A - Method and device for measuring space pointing direction of gun barrel of tank by using electro-optic theodilites - Google Patents

Abstract

The invention provides a method and a device for measuring the space pointing direction of a gun barrel of a tank by using electro-optic theodilites, and belongs to the technical field of photoelectric measurement. In order to quickly and accurately acquire the high-precision space pointing direction of the axis of the gun barrel of the tank, the gun barrel is arranged on the tank, a feature point (a), a feature point (b) and a feature point (c) are arranged on the upper surface of the tank, a feature point (d) and a feature point (e) are arranged on the gun barrel, and the five feature points can form clear images in a crossed view field of the first electro-optic theodilite and the second electro-optic theodilite; a time terminal not only provides synchronous pulse signals and time information for the first electro-optic theodilite, but also provides synchronous signals and time information for the second electro-optic theodilite; a center computer not only receives target-missing quality of encoder data and the feature points of the first electro-optic theodilite, but also receives target-missing quality of encoder data and the feature points of the second electro-optic theodilite; and position information of the feature points is intersected after data are processed, so that the vector of the axis of the gun barrel, the vector of a chassis of the tank and the vector of a perpendicular surface of the tank are obtained, and the space pointing direction of the gun barrel can be resolved.

Description

Utilize electro-optic theodolite to measure method and the device of Tank Gun Barrel spatial direction

Technical field

The gun tube that the present invention relates to utilize electro-optic theodolite to determine tank with respect to the azimuth on its chassis and the measuring method of the angle of site and and device, belong to photoelectric measurement technical field.

Background technology

Tank, as the important prominent anti-strength of modern war, not only requires firepower powerful, and must possess high hit rate, could effectively eliminate enemy and preserve oneself.And therefore the orientation accuracy of the hit rate of tank gun tube while depending on tank firing is necessary to measure the spatial direction of barrel axis, azimuth and the angle of site of measuring gun tube and tank chassis.Conventional method is that to take the object hanging be at a distance benchmark, directly measures gun tube for the corner of certain benchmark, and then determines its orientation accuracy.The method proposes high requirement to the stability of reference data, and does not consider the strain of gun tube, causes orientation accuracy lower.

Summary of the invention

In order to obtain quickly and accurately the high-accuracy spatial direction of Tank Gun Barrel axis, make up the deficiency of traditional measurement method, the present invention proposes to utilize electro-optic theodolite to measure method and the device of Tank Gun Barrel spatial direction.

Technical scheme of the present invention is, utilizes electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, comprise the following steps,

Step 1: select two characteristic point a, b at tank afterbody upper surface edge, select characteristic point c at characteristic point b homonymy, the plane that characteristic point a, b, c are formed is parallel with tank chassis; In Tank Gun Barrel, select two endless belt d, e that have certain distance;

Step 2: the proceeds posterolateral at tank is laid two electro-optic theodolites, the known O of its coordinate _j(x _j, y _j, z _j) j=1,2, the two in a distance, and the selected characteristic point of step 1 becomes image clearly in each theodolite visual field;

Step 3: two electro-optic theodolites of leveling, by serial line interface, receive the synchronization pulse of time terminal, the two follows the tracks of the characteristic point of tank simultaneously, and acquisition time information and encoder data, the miss distance of extract minutiae;

Step 4: central computer, by the miss distance of serial line interface received code device data and characteristic point, obtains the relative electro-optic theodolite O of characteristic point after synthesizing _jtrue angle (the α of (j=1,2) _ji, λ _ji) i=a, b, c, d, e, in conjunction with the positional information of theodolite, utilizes following formula

$\left\{\begin{array}{c}{m}_{1i}=\cos {\mathrm{\α}}_{1i}(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_{1i}(y_1-y_2)+\sin {\mathrm{\α}}_{1i}(z_1-z_2)\\ m_{2i}=\cos {\mathrm{\α}}_{2i}(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_{2i}(y_2-y_1)+\sin {\mathrm{\α}}_{2i}(z_2-z_1)\\ K_i={(\cos ({\mathrm{\α}}_{2i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})}^2-{\sec }^2{\mathrm{\λ}}_{1i}{\sec }^2{\mathrm{\λ}}_{2i}\\ l_{1i}=\frac{m_{2i}(\cos ({\mathrm{\α}}_{1i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})+m_{1i}{\sec }^2{\mathrm{\λ}}_{2i}}{K_i}\\ l_{2i}=\frac{m_{1i}(\cos ({\mathrm{\α}}_{1i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})+m_{2i}{\sec }^2{\mathrm{\λ}}_{1i}}{K_i}\\ x_i=0.5(x_{1i}+l_{1i}\cos {\mathrm{\α}}_{1i}+x_{2i}+l_{2i}\cos {\mathrm{\α}}_{2i})\\ y_i=0.5(y_{1i}+l_{1i}\mathrm{tg}{\mathrm{\λ}}_{1i}+y_{2i}+l_{2i}\mathrm{tg}{\mathrm{\λ}}_{2i})\\ z_i=0.5(z_{1i}+l_{1i}\sin {\mathrm{\α}}_{1i}+z_{2i}+l_{2i}\sin {\mathrm{\α}}_{2i})\end{array}\right.$ ①

Intersection calculation goes out the locus (x of tank characteristic point _i, y _i, z _i);

Step 5: central computer is determined the direction vector of barrel axis according to characteristic point d, e $\stackrel{\→}{\mathrm{de}}=(x_e-x_d,y_e-y_d,z_e-z_d),$ Rely on a, b, c to obtain $\stackrel{\→}{\mathrm{ab}}=(x_b-x_a,y_b-y_a,z_b-z_a),$ the normal vector of determining tank chassis is and the normal vector of tank chassis vertical plane is , solve respectively so the angle of site of barrel axis and tank chassis is E, the angle of the vertical plane of barrel axis and tank chassis is azimuth A:

$\left\{\begin{array}{cc}E=p& \\ A=q& q\&GreaterEqual;0\\ A=2\mathrm{\&pi;}+q& q<0\end{array}\right.$ ②。

Utilize electro-optic theodolite to measure the applied measurement device of method of Tank Gun Barrel spatial direction,

Gun tube is arranged on tank, and tank upper surface has three characteristic point a, b, c, has two characteristic point d, e on gun tube, and above-mentioned characteristic point all can become image clearly in the intersection visual field of the first electro-optic theodolite and the second electro-optic theodolite;

Time terminal provides synchronization pulse and temporal information by serial line interface for the first electro-optic theodolite; Time terminal provides synchronization pulse and temporal information by serial line interface for the second electro-optic theodolite;

Central computer receives the miss distance of encoder data and the characteristic point of the first electro-optic theodolite by serial line interface; Central computer receives the miss distance of encoder data and the characteristic point of the second electro-optic theodolite by serial line interface; Central computer intersection after data processing goes out the positional information of characteristic point, and then obtains the vector of barrel axis vector, tank chassis and vertical plane thereof, can calculate the spatial direction of gun tube.

The invention has the beneficial effects as follows: under the effect of time terminal, utilize electro-optic theodolite to follow the tracks of the characteristic point of selected tank and gun tube, the miss distance of extract minutiae, after synthetic with encoder data, obtain the angle-data of the relative electro-optic theodolite of characteristic point, positional information in conjunction with electro-optic theodolite, intersection goes out the positional information of characteristic point, solves the vector of barrel axis vector, tank chassis and vertical plane thereof, thereby determines the angle of site and the azimuth of gun tube and tank chassis.The method is simple, certainty of measurement is high, can be used for the production of Tank Gun Barrel and debugs, and also can be used for analyzing the reason that gun tube produces orientation error.

Accompanying drawing explanation

Fig. 1: the present invention utilizes electro-optic theodolite to measure the structural representation of the method device for performing measurements of Tank Gun Barrel spatial direction.

Fig. 2: the present invention utilizes electro-optic theodolite to measure the workflow diagram of the method for Tank Gun Barrel spatial direction.

The specific embodiment

Below in conjunction with accompanying drawing, the present invention is described in further details.

As shown in Figure 1, the present invention utilizes electro-optic theodolite to measure the method device for performing measurements of Tank Gun Barrel spatial direction, and time terminal 3 relies on serial line interface 5 to connect the first electro-optic theodolite 1, and time terminal 3 relies on serial line interface 6 to connect the second electro-optic theodolite 2; Central computer 4 relies on serial line interface 7 to connect the first electro-optic theodolite 1, and central computer 4 relies on serial line interface 8 to connect the second electro-optic theodolite 2.

At tank 9 upper surfaces, get three characteristic point a, b, c, get endless belt d, e as characteristic point on gun tube 10, above-mentioned characteristic point all can become image clearly in the intersection visual field of the first electro-optic theodolite 1 and the second electro-optic theodolite 2.

Time terminal 3 provides synchronization pulse and temporal information by serial line interface 5 for the first electro-optic theodolite 1; Time terminal 3 provides synchronization pulse and temporal information by serial line interface 6 for the second electro-optic theodolite 2.

Central computer 4 receives first encoder data of electro-optic theodolite 1 and the miss distance of characteristic point by serial line interface 7; Central computer 4 receives second encoder data of electro-optic theodolite 2 and the miss distance of characteristic point by serial line interface 8; Central computer 4 intersection after data processing goes out the positional information of characteristic point, and then obtains the vector of gun tube 10 axis vectors, tank chassis and vertical plane thereof, can calculate the spatial direction of gun tube 10.

As shown in Figure 2, utilize electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, performing step is as follows:

Step 1, shown in Fig. 1, selects two characteristic point a, b at the afterbody upper surface edge of the tank 9 with gun tube 10, at characteristic point b homonymy, selects characteristic point c, and the plane that characteristic point a, b, c are formed is parallel with tank chassis; On the gun tube 10 of tank, select two to have endless belt d, the e of certain distance as characteristic point;

Step 2, lays the first electro-optic theodolite 1 and the second electro-optic theodolite 2, the coordinate O of known two theodolites in the proceeds posterolateral of tank 9 _j(x _j, y _j, z _j) (j=1,2), the two in a distance, and the selected characteristic point of step 1 becomes image clearly at the first electro-optic theodolite 1 with in the second electro-optic theodolite 2 visual fields;

Step 3, leveling the first electro-optic theodolite 1 and the second electro-optic theodolite 2, the first electro-optic theodolite 1 receives the synchronization pulse of time terminal 3 by serial line interface 5, electro-optic theodolite 2 receives the synchronization pulse of time terminal 3 by serial line interface 6, the two follows the tracks of characteristic point a, b, c, d and the e of tank simultaneously, and acquisition time information and encoder data, the miss distance of five characteristic points of extraction;

Step 4, central computer 4 receives first encoder data of electro-optic theodolite 1 and the miss distance of characteristic point by serial line interface 7, obtains azimuth and the angle of site (α of relative the first electro-optic theodolite 1 of characteristic point i after synthesizing _1i, λ _1i) i=a, b, c, d, e; Central computer 4 receives second encoder data of electro-optic theodolite 2 and the miss distance of characteristic point by serial line interface 8, obtains azimuth and the angle of site (α of relative the second electro-optic theodolite 2 of characteristic point i after synthesizing _2i, λ _2i) i=a, b, c, d, e; In conjunction with the positional information of theodolite, utilize formula 1. intersection calculation go out the locus (x of tank characteristic point _i, y _i, z _i);

$\left\{\begin{array}{c}{m}_{1i}=\cos {\mathrm{\&alpha;}}_{1i}(x_1-x_2)+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}(y_1-y_2)+\sin {\mathrm{\&alpha;}}_{1i}(z_1-z_2)\\ m_{2i}=\cos {\mathrm{\&alpha;}}_{2i}(x_2-x_1)+\mathrm{tg}{\mathrm{\&lambda;}}_{2i}(y_2-y_1)+\sin {\mathrm{\&alpha;}}_{2i}(z_2-z_1)\\ K_i={(\cos ({\mathrm{\&alpha;}}_{2i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})}^2-{\sec }^2{\mathrm{\&lambda;}}_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}\\ l_{1i}=\frac{m_{2i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}}{K_i}\\ l_{2i}=\frac{m_{1i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{2i}{\sec }^2{\mathrm{\&lambda;}}_{1i}}{K_i}\\ x_i=0.5(x_{1i}+l_{1i}\cos {\mathrm{\&alpha;}}_{1i}+x_{2i}+l_{2i}\cos {\mathrm{\&alpha;}}_{2i})\\ y_i=0.5(y_{1i}+l_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{1i}+y_{2i}+l_{2i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})\\ z_i=0.5(z_{1i}+l_{1i}\sin {\mathrm{\&alpha;}}_{1i}+z_{2i}+l_{2i}\sin {\mathrm{\&alpha;}}_{2i})\end{array}\right.$ ①

Wherein, m, K, l is intermediate variable.

Step 5, central computer 4 is determined the direction vector of gun tube 10 axis according to characteristic point d, e $\stackrel{\&RightArrow;}{\mathrm{de}}=(x_e-x_d,y_e-y_d,z_e-z_d),$ Rely on a, b, c to obtain $\stackrel{\&RightArrow;}{\mathrm{ab}}=(x_b-x_a,y_b-y_a,z_b-z_a),$ the normal vector of determining tank 9 chassis is and the normal vector of tank 9 chassis vertical planes is , solve respectively so, utilize formula 2. to try to achieve the spatial direction of gun tube 10 axis, angle of site E and azimuth A;

$\left\{\begin{array}{cc}E=p& \\ A=q& q\&GreaterEqual;0\\ A=2\mathrm{\&pi;}+q& q<0\end{array}\right.$ ②

Wherein, p, q are intermediate variable.

Claims (2)

1. utilize electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, it is characterized in that, the method comprises the following steps,

Step 1, being with the afterbody upper surface edge of the tank (9) of gun tube (10) to select two characteristic point a, b, selects characteristic point c at characteristic point b homonymy, and the plane that characteristic point a, b, c are formed is parallel with tank chassis; Two endless belt d, e that have certain distance of the upper selection of gun tube (10) at tank;

Step 2, lays electro-optic theodolite (1) and electro-optic theodolite (2), the known O of its coordinate in the proceeds posterolateral of tank (9) _j(x _j, y _j, z _j) j=1,2, the two in a distance, and the selected characteristic point of step 1 becomes image clearly at electro-optic theodolite (1) with in electro-optic theodolite (2) visual field;

Step 3, leveling electro-optic theodolite (1) and electro-optic theodolite (2), electro-optic theodolite (1) receives the synchronization pulse of time terminal (3) by serial line interface (5), electro-optic theodolite (2) receives the synchronization pulse of time terminal (3) by serial line interface (6), the two follows the tracks of characteristic point a, b, c, d and the e of tank simultaneously, and acquisition time information and encoder data, the miss distance of five characteristic points of extraction;

Step 4, central computer (4) receives the encoder data of electro-optic theodolite (1) and the miss distance of characteristic point by serial line interface (7), obtains the true angle (α of the relative electro-optic theodolite of characteristic point (1) after synthesizing _1i, λ _1i) i=a, b, c, d, e; Central computer (4) receives the encoder data of electro-optic theodolite (2) and the miss distance of characteristic point by serial line interface (8), obtains the true angle (α of the relative electro-optic theodolite of characteristic point (2) after synthesizing _2i, λ _2i) i=a, b, c, d, e; In conjunction with the positional information of theodolite, utilize formula 1. intersection calculation go out the locus (x of tank characteristic point _i, y _i, z _i);

$\left\{\begin{array}{c}{m}_{1i}=\cos {\mathrm{\&alpha;}}_{1i}(x_1-x_2)+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}(y_1-y_2)+\sin {\mathrm{\&alpha;}}_{1i}(z_1-z_2)\\ m_{2i}=\cos {\mathrm{\&alpha;}}_{2i}(x_2-x_1)+\mathrm{tg}{\mathrm{\&lambda;}}_{2i}(y_2-y_1)+\sin {\mathrm{\&alpha;}}_{2i}(z_2-z_1)\\ K_i={(\cos ({\mathrm{\&alpha;}}_{2i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})}^2-{\sec }^2{\mathrm{\&lambda;}}_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}\\ l_{1i}=\frac{m_{2i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}}{K_i}\\ l_{2i}=\frac{m_{1i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{2i}{\sec }^2{\mathrm{\&lambda;}}_{1i}}{K_i}\\ x_i=0.5(x_{1i}+l_{1i}\cos {\mathrm{\&alpha;}}_{1i}+x_{2i}+l_{2i}\cos {\mathrm{\&alpha;}}_{2i})\\ y_i=0.5(y_{1i}+l_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{1i}+y_{2i}+l_{2i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})\\ z_i=0.5(z_{1i}+l_{1i}\sin {\mathrm{\&alpha;}}_{1i}+z_{2i}+l_{2i}\sin {\mathrm{\&alpha;}}_{2i})\end{array}\right.$ ①；

Step 5, central computer (4) is determined the direction vector of gun tube (10) axis according to characteristic point d, e $\stackrel{\&RightArrow;}{\mathrm{de}}=(x_e-x_d,y_e-y_d,z_e-z_d),$ Rely on a, b, c to obtain $\stackrel{\&RightArrow;}{\mathrm{ab}}=(x_b-x_a,y_b-y_a,z_b-z_a),$ the normal vector of determining tank (9) chassis is and the normal vector of tank (9) chassis vertical plane is , solve respectively so, utilize formula 2. to try to achieve the spatial direction of gun tube (10) axis, angle of site E and azimuth A;

$\left\{\begin{array}{cc}E=p& \\ A=q& q\&GreaterEqual;0\\ A=2\mathrm{\&pi;}+q& q<0\end{array}\right.$ ②。

2. the applied measurement device of method that utilizes electro-optic theodolite to measure Tank Gun Barrel spatial direction according to claim 1, is characterized in that,

Gun tube (10) is arranged on tank (9), tank (9) upper surface has three characteristic point a, b, c, on gun tube, have two characteristic point d, e, above-mentioned characteristic point all can become image clearly in the intersection visual field of the first electro-optic theodolite (1) and the second electro-optic theodolite (2);

Time terminal (3) is that the first electro-optic theodolite (1) provides synchronization pulse and temporal information by serial line interface (5); Time terminal (3) is that the second electro-optic theodolite (2) provides synchronization pulse and temporal information by serial line interface (6);

Central computer (4) receives the encoder data of the first electro-optic theodolite (1) and the miss distance of characteristic point by serial line interface (7); Central computer (4) receives the encoder data of the second electro-optic theodolite (2) and the miss distance of characteristic point by serial line interface (8); Central computer (4) intersection after data processing goes out the positional information of characteristic point, and then obtains the vector of gun tube (10) axis vector, tank (9) chassis and vertical plane thereof, can calculate the spatial direction of gun tube (10).