CN104764437B - It is a kind of to measure the inclined method of armored hull using electric video - Google Patents
It is a kind of to measure the inclined method of armored hull using electric video Download PDFInfo
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- CN104764437B CN104764437B CN201510164297.XA CN201510164297A CN104764437B CN 104764437 B CN104764437 B CN 104764437B CN 201510164297 A CN201510164297 A CN 201510164297A CN 104764437 B CN104764437 B CN 104764437B
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- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 9
- 239000004020 conductor Substances 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000010304 firing Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention belongs to Tank and Armoured Vehicle fire control system technical field, and in particular to a kind of using the inclined method of electric video measurement armored hull.The method includes：The width for calculating purpose video image is high；Car body horizontal level is marked in purpose video image；Car body horizontal tilt angle is marked in purpose video image；Etc. step.Which initially sets up the coordinate system fixed with car body, then overlapped with distant place the earth horizontal line by rotating coordinate system, calculate the angle for obtaining rotation, car body horizontal tilt angle needed for obtaining, the program have passed through model stand united test, the use requirement of measurement tilting of car body angle is disclosure satisfy that, is currently verified with car.
Description
Technical field
The invention belongs to Tank and Armoured Vehicle fire control system technical field, and in particular to a kind of using electric video measurement dress
The method of first tilting of car body.
Background technology
The lateral attitude of car body, the safe driving and Tank and Armoured Vehicle fire control system ballistic solution to Tank and Armoured Vehicle
As a result there is very big impact, so conventional Tank and Armoured Vehicle and its fire control system are equipped with special inclination measurement instrument.
But, the Tank and Armoured Vehicle inclination measurement instrument of this special inclination measurement instrument especially army's grade, its price often all compare
Costly, after and if inclination measurement instrument breaks down, major part does not degrade the measure for using, and this allows for tank armor
The occupant of vehicle cannot learn the concrete data of tilting of car body.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention：How to provide a kind of using the inclined side of electric video measurement armored hull
Method, makes fire control system be equipped with the angle of inclination that special tilting of car body sensor can just measure car body, can both save
Cost can meet the needs of fire control system ballistic solution again.
(2) technical scheme
To solve above-mentioned technical problem, the present invention provides a kind of using the inclined method of electric video measurement armored hull,
Which comprises the steps：
Step 1：The width for calculating purpose video image is high；
Assume that source video image resolution ratio is M*N, on the premise of sight line is consistent with weapon line, work as fire control system
When the setting angle of the firing data's weapon line for being set is constant, operation setting source video figure of the operating personnel by display and control terminal
As enlargement ratio is n, then the level that the purpose video image after Electronic magnification intercepts source video image is M/n to pixel, vertically
It is N/n to pixel；
Step 2：Car body horizontal level is marked in purpose video image；
Visual field and the car body holding level of CCD are guaranteed when video CCD is installed, that is, ensures that the visual field of CCD is vertical with car body, then
Two groups of line segments of one group of square crossing are done in the center of video, its central point that center is electric video that crosses, level
To line segment be labeled as X-axis, vertically to line segment be labeled as Y-axis, joint is that the central point of video is labeled as point O, is set up with O
Centered on coordinate system；
Step 3：Car body horizontal tilt angle is marked in purpose video image；
When, in the purpose video image of video CCD collection, when there is car body level to tilt condition, the selection in X-axis is appointed
Anticipate 1 point of A；With O as the center of circle, line segment OA is rotated to the earth horizontal line on the basis of the earth horizontal line of a distant place, until line segment OA and greatly
Ground horizontal line is completely superposed, the angle rotated in recording OA rotary courses, the as angle of car body horizontal tilt.
Wherein, in the step 3, following steps are specifically included：
Step 301：According to the resolution ratio and multiplication factor of purpose video image, A coordinates in a coordinate system are calculated, marked
Note as (a, b)；
Step 302：The step number of record line segment OA rotary course middle conductors OA rotations is x；Remember that the angle that line segment OA rotates is
M, then m be car body horizontal tilt angle；
Step 303：Calculate the angle value of tilting of car body；
Purpose video image is vertically N/n to pixel, according to trigonometric function formula, is revolved in purpose video image middle conductor OA
Turning over the minimum angles passed through by each step of journey is：
Then angle m of car body horizontal tilt is calculated according to equation below and is obtained：
(3) beneficial effect
Technical solution of the present invention initially sets up the coordinate system fixed with armored hull, then by rotating coordinate system and a distant place
The earth horizontal line overlaps, and calculates the angle for obtaining rotation, that is, the car body horizontal tilt angle needed for obtaining, the program have passed through type
Number stand united test, disclosure satisfy that the use requirement of measurement tilting of car body angle, is currently verified with car.
Specific embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to embodiment, the concrete reality to the present invention
The mode of applying is described in further detail.
To solve problem of the prior art, the present invention provides a kind of using the inclined side of electric video measurement armored hull
Method, which comprises the steps：
Step 1：The width for calculating purpose video image is high；
Assume that source video image resolution ratio is M*N, on the premise of sight line is consistent with weapon line, work as fire control system
When the setting angle of the firing data's weapon line for being set is constant, operation setting source video figure of the operating personnel by display and control terminal
As enlargement ratio is n, then the level that the purpose video image after Electronic magnification intercepts source video image is M/n to pixel, vertically
It is N/n to pixel；
Step 2：Car body horizontal level is marked in purpose video image；
Visual field and the car body holding level of CCD are guaranteed when video CCD is installed, that is, ensures that the visual field of CCD is vertical with car body, then
Two groups of line segments of one group of square crossing are done in the center of video, its central point that center is electric video that crosses, level
To line segment be labeled as X-axis, vertically to line segment be labeled as Y-axis, joint is that the central point of video is labeled as point O, is set up with O
Centered on coordinate system；
Step 3：Car body horizontal tilt angle is marked in purpose video image；
When, in the purpose video image of video CCD collection, when there is car body level to tilt condition, the selection in X-axis is appointed
Anticipate 1 point of A；With O as the center of circle, line segment OA is rotated to the earth horizontal line on the basis of the earth horizontal line of a distant place, until line segment OA and greatly
Ground horizontal line is completely superposed, the angle rotated in recording OA rotary courses, the as angle of car body horizontal tilt.
Wherein, in the step 3, following steps are specifically included：
Step 301：According to the resolution ratio and multiplication factor of purpose video image, A coordinates in a coordinate system are calculated, marked
Note as (a, b)；
Step 302：The step number of record line segment OA rotary course middle conductors OA rotations is x；Remember that the angle that line segment OA rotates is
M, then m be car body horizontal tilt angle；
Step 303：Calculate the angle value of tilting of car body；
Purpose video image is vertically N/n to pixel, according to trigonometric function formula, is revolved in purpose video image middle conductor OA
Turn over the minimum angles passed through by each step of journey to be approximately：
Then angle m of car body horizontal tilt is calculated according to equation below and is obtained：
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement and deformation can also be made, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (2)
1. it is a kind of using the inclined method of electric video measurement armored hull, it is characterised in which comprises the steps：
Step 1：The width for calculating purpose video image is high；
Assume that source video image resolution ratio is M*N, on the premise of sight line is consistent with weapon line, when fire control system is filled
When the setting angle of fixed firing data's weapon line is constant, operating personnel are put by the operation setting source video image of display and control terminal
Big multiplying power is n, then the level that the purpose video image after Electronic magnification intercepts source video image is M/n to pixel, vertically to picture
Element is N/n；
Step 2：Car body horizontal level is marked in purpose video image；
Visual field and the car body holding level of CCD are guaranteed when video CCD is installed, that is, is ensured visual field and the car body level of CCD, is then being regarded
Two groups of line segments of one group of square crossing are done in the center of frequency, its central point that center is electric video that crosses, horizontal direction line
Segment mark is designated as X-axis, vertically to line segment be labeled as Y-axis, joint is that the central point of video is labeled as point O, is set up centered on O
Coordinate system；
Step 3：Car body horizontal tilt angle is marked in purpose video image；
When in the purpose video image of video CCD collection, when there is car body level to tilt condition, choose any one in X-axis
Point A；With O as the center of circle, line segment OA is rotated to the earth horizontal line on the basis of the earth horizontal line of a distant place, until line segment OA and the earth water
Horizontal line is completely superposed, the angle rotated in recording OA rotary courses, the as angle of car body horizontal tilt.
2. it is as claimed in claim 1 a kind of using the inclined method of electric video measurement armored hull, it is characterised in that described
In step 3, following steps are specifically included：
Step 301：According to the resolution ratio and multiplication factor of purpose video image, A coordinates in a coordinate system are calculated, is labeled as
(a, b)；
Step 302：The step number of record line segment OA rotary course middle conductors OA rotations is x；The angle of note line segment OA rotations is m, then m
The as angle of car body horizontal tilt；
Step 303：Calculate the angle value of tilting of car body；
Purpose video image vertically to pixel be N/n, according to trigonometric function formula, rotate through in purpose video image middle conductor OA
The minimum angles passed through by each step of journey are：
Then angle m of car body horizontal tilt is calculated according to equation below and is obtained：
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| CN201510164297.XA CN104764437B (en) | 2015-04-09 | 2015-04-09 | It is a kind of to measure the inclined method of armored hull using electric video |
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| CN201510164297.XA CN104764437B (en) | 2015-04-09 | 2015-04-09 | It is a kind of to measure the inclined method of armored hull using electric video |
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| CN107101532B (en) * | 2016-02-23 | 2019-06-28 | 信泰光学(深圳)有限公司 | Sighting device with double point of aim mark |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06123612A (en) * | 1992-10-09 | 1994-05-06 | Aisin Seiki Co Ltd | Angle-of-inclination sensor |
| JPH1163952A (en) * | 1997-08-21 | 1999-03-05 | Nippon Steel Corp | Three-dimensional shape measurement target and collimation plane tilt measurement method |
| US6212785B1 (en) * | 1999-07-14 | 2001-04-10 | Craig A. Cox | Omnidirectional angle indicator |
| CN101957194A (en) * | 2009-07-16 | 2011-01-26 | 北京石油化工学院 | Rapid visual orientation and remote monitoring system and method based on embedded mobile robot |
| CN102175219B (en) * | 2011-01-31 | 2013-01-23 | 中国铁道科学研究院基础设施检测研究所 | High-speed contact network locator gradient detection method and apparatus thereof based on video analysis |
| CN203479294U (en) * | 2013-09-09 | 2014-03-12 | 中国科学院西安光学精密机械研究所 | High-precision vertical axis inclination angle measuring system |
| CN104376303B (en) * | 2014-11-18 | 2017-08-25 | 电子科技大学 | A kind of vehicle imaging method in the case of low resolution |
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