CN105758368A - Novel laser tracking measurement system - Google Patents

Abstract

A new type of laser tracking measurement system, which has a laser tracking measuring instrument and a moving target. The laser tracking measuring instrument includes a base, a horizontal rotary platform, a bracket and a vertical shaft. Rotating main horizontal axis; a shaft frame is arranged on the main horizontal axis, and a secondary shaft capable of rotating around its own axis is arranged on the shaft frame; a No. 1 subjective observation device is fixed on the main horizontal axis, and a fixed There is a No. 1 auxiliary observation device, and No. 1 main observation line and No. 1 auxiliary observation line are in the same plane; the moving target has a hemispherical seat and a PSD sensor fixed on the hemispherical seat, and the center of the hemispherical seat is located at the photosensitive position of the PSD sensor. face. The present invention not only satisfies tracking and measurement, but also greatly simplifies the electronic system. The distance measuring process does not need to consider the actual speed of light.

Description

A New Laser Tracking Measurement System

technical field

The invention relates to a laser tracking measurement system.

Background technique

Laser tracking measurement can track space moving objects and measure their space coordinates in real time. Laser tracking measuring instruments currently on the market are mainly provided by LEICA in Switzerland, API in the United States, and FARO in the United States. It integrates the functions of laser interference ranging, photoelectric detection, precision machinery, computer control, and numerical calculation.

When the existing laser tracking measuring instrument works, a moving target is attached to the measured target as a measuring target. When the moving target moves, the tracking head adjusts in real time under the control of the tracking servo mechanism, tracks the moving target and measures. The existing laser tracking measuring instrument adopts laser interference distance measurement. Although the accuracy is very high, the electronic system is very complicated, and a "bird's nest" must be added to the structure to obtain the absolute distance. Existing measurement methods need to ensure that the incident light returns to the original path, which makes the structure of the moving target more complex, such as corner lenses or cat’s eye lenses, which require very high processing accuracy. In addition, its ranging accuracy depends on accurate measurements of the speed of light in the atmosphere. In the actual measurement process, the speed of light is affected by atmospheric temperature, humidity, air pressure, etc. It is necessary to measure these meteorological parameters in advance and make relevant meteorological corrections. Because of the digital temperature and barometer, it becomes the standard accessory of the laser tracking measuring instrument. Generally, the laser tracking measuring instrument is required to measure under the working condition of relatively high temperature indoors. See Chapter 6 of "Principles and Applications of Industrial Measurement Systems", edited by Li Guangyun and Li Zongchun, published by Surveying and Mapping Press in January 2011.

Generally speaking, the existing laser tracking measuring instrument has powerful functions and high precision, but the technology is complicated and is greatly restricted by the environment.

Ranging information plays an important role in laser scanning. According to the principle of ranging, it can be divided into triangulation method, pulse method and phase method. The triangulation method is that a beam of laser light is irradiated on the object, and part of the diffusely reflected laser light is imaged on the photoelectric detection device through a prism. The triangulation method requires many positioning parameters in the application, and it is very cumbersome and time-consuming in the calibration of the measuring equipment. If a certain parameter in the system cannot be accurately obtained during the actual measurement, it will cause errors in the measurement data. Every parameter in the system must be recalibrated when there is a slight change in the measuring equipment. See Xu Zhiqin and Sun Changku, "3D Reverse Engineering" (China Metrology Press, April 2002, first edition) p16.

Edited by He Baoxi, Chapter 2, Section 2 of "Total Station Measurement Technology" published by Yellow River Water Conservancy Publishing House in August 2005, introduces the current ranging principles of total stations, mainly pulse method and phase method. Corresponding complex electronic systems. The pulse method of distance measurement directly measures the time for the pulse sent by the rangefinder to go back and forth to the measured distance. According to Ye Xiaoming and Ling Mo, "Principle Errors of Total Stations" published by Wuhan University Press in March 2004, p8, even if there is a tiny error in the clock frequency used for timing, it will lead to a large measurement error. For example, if the clock frequency is 100MHz, even if there is a frequency error of ±1Hz, the ranging error will reach ±1.5m. Therefore, the measurement accuracy of the pulse method is low, and it is mainly used for remote low-precision measurement. The principle of the phase method is to indirectly measure the propagation time by measuring the phase change of the continuous modulation signal going back and forth over the distance to be measured, so as to obtain the propagation distance. Phase method distance measurement involves complex control and calculation, such as ruler conversion and control, optical path conversion control, automatic dimming control, phase measurement rhythm (sequence control), phase distance conversion, coarse and fine ruler distance connection calculation, etc. (see Ye Xiaoming and Ling Mo, "Principle Error of Total Station" published by Wuhan University Press in March 2004, p15). The measurement electronics are far more complex than the pulse method. This can lead to many problems. Written by Ye Xiaoming and Ling Mo, Chapter 3 of "Principle Errors of Total Stations" published by Wuhan University Press in March 2004 analyzed, for example, the periodic error caused by the same-frequency photoelectric interference signal in the circuit, the internal quartz crystal oscillator Errors due to temperature effects. Editor-in-chief Li Guangyun and Li Zongchun, "Industrial Measurement System Principles and Applications" p134 published by Surveying and Mapping Press in January 2011 also mentioned the ranging error problem caused by the inconsistency between the actual ranging frequency and the design frequency.

There is a problem that is crucial to the ranging accuracy. Regardless of pulse ranging or phase ranging, the ranging accuracy depends on the accurate measurement of the speed of light in the atmosphere. In the actual measurement process, the speed of light is affected by atmospheric temperature, humidity, air pressure, etc. It is necessary to measure these meteorological parameters in advance and make relevant meteorological corrections. According to "Total Station Measurement Technology" p22 edited by Li Zeqiu and published by Wuhan University of Technology Press in July 2012, the meteorological correction of the total station is also related to the wavelength of the ranging light wave used by the total station.

Contents of the invention

The object of the present invention is to propose a novel laser tracking measuring device with accurate measurement and convenient operation.

In order to achieve the above object, the present invention adopts the following first technical scheme: the present invention has a laser tracking measuring instrument and a moving target; On the platform, the vertical shaft is fixedly connected to the base, the horizontal rotary platform is on the base and rotates around the axis of the vertical shaft, a horizontal dial is installed between the vertical shaft and the horizontal rotary platform, and a horizontal and capable The main horizontal axis that rotates around its own axis; the axis line of the main horizontal axis intersects with the axis line of the vertical axis to form a main intersection point; a No. 1 subjective observation device is fixed on the main horizontal axis, and the No. 1 main observation device is A laser, whose optical axis is called the No. 1 subjective observation line; the No. 1 subjective observation line passes through the main intersection point and is perpendicular to the axis center line of the main horizontal axis; A secondary axis that rotates on its own axis; the axis of the secondary axis is perpendicular to the No. 1 subjective observation line, and perpendicularly intersects with the axis of the main horizontal axis to form a secondary intersection point; a secondary axis is fixed on the secondary axis Observation device, the No. 1 sub-observation device is a telescope with a built-in CCD digital camera, and its collimation axis is called No. 1 sub-observation line; The observation line and the No. 1 auxiliary observation line are in the same plane; the main dial is installed between the main horizontal axis and the corresponding part of the support, and the auxiliary dial is installed between the auxiliary shaft and the corresponding part of the shaft frame; the rotation of the above-mentioned horizontal rotary platform is electric. , the rotation of the main horizontal axis is electric, and the rotation of the secondary axis is electric; the moving target has a hemispherical seat and a PSD sensor fixed on the hemispherical seat, and the center of the hemispherical seat is on the photosensitive surface of the PSD sensor.

In order to achieve the above object, the present invention adopts the following second technical solution: the present invention has a laser tracking measuring instrument and a moving target; On the platform, the vertical shaft is fixedly connected to the base, the horizontal rotary platform is on the base and rotates around the axis of the vertical shaft, a horizontal dial is installed between the vertical shaft and the horizontal rotary platform, and a horizontal and capable The main horizontal axis that rotates around its own axis; the axis line of the main horizontal axis intersects with the axis line of the vertical axis to form the main intersection point; the No. 2 main observation device is fixed on the main horizontal axis, and the No. 2 main observation device It is a laser, and its optical axis is called the No. 2 subjective observation line; the No. 2 subjective observation line passes through the main intersection point and is perpendicular to the axis center line of the main horizontal axis; A secondary axis that rotates around its own axis; the axis of the secondary axis is perpendicular to the No. 2 subjective line of observation, and intersects perpendicularly with the axis of the main horizontal axis to form a secondary intersection; fixed on the secondary axis are two The No. 2 sub-observation device is a laser, and its optical axis is called the No. 2 sub-observation line; the No. 2 sub-observation line passes through the sub-intersection and is perpendicular to the axis of the sub-axis; the No. The secondary observation line is on the same plane; the main dial is installed between the main horizontal axis and the corresponding part of the bracket, and the auxiliary dial is installed between the auxiliary shaft and the corresponding part of the shaft frame; the rotation of the above-mentioned horizontal rotary platform is electric, and the main horizontal axis The rotation of the shaft is electric, and the rotation of the auxiliary shaft is electric; the rotation of the above-mentioned horizontal rotary platform, the main horizontal axis and the auxiliary shaft are all electric; the moving target has a hemispherical seat and a PSD sensor fixed on the hemispherical seat. The spherical center of the seat is on the photosensitive surface of the PSD sensor.

The invention has the following positive effects: while satisfying the tracking measurement, the electronic system is greatly simplified, and the distance measurement process does not need to consider the actual speed of light, so before use, there is no need to measure temperature, air pressure, etc., and no meteorological correction is required.

Description of drawings

Fig. 1 is the schematic diagram of embodiment 1.

Fig. 2 is a simplified side view of Fig. 1 .

FIG. 3 is a schematic diagram of measurement angles in Embodiment 1. FIG.

Fig. 4 is a schematic diagram of embodiment 2.

Fig. 5 is a simplified side view of Fig. 4 .

Fig. 6 is a schematic diagram of measurement angles in Embodiment 2.

detailed description

Example 1

Referring to Fig. 1 to Fig. 3, this embodiment has a laser tracking measuring instrument and a moving target. The laser tracking measuring instrument comprises a base 1, a horizontal rotary platform 2, a bracket 4 and a vertical shaft 9, the bracket 4 is fixed on the horizontal rotary platform 2, the vertical shaft 9 is fixedly connected to the base 1, and the horizontal rotary platform 2 is positioned on the base 1 and rotates around the axis 9a of the vertical axis 9, a horizontal dial 3 is installed between the vertical axis 9 and the horizontal rotary platform 2, and the bracket 4 is provided with a horizontal main horizontal axis that can rotate around its own axis. Axis 5; the axis line 5a of the main horizontal axis 5 intersects with the axis line 9a of the vertical axis 9 to form a main intersection point; on the main horizontal axis 5, a No. 1 subjective observation device 6-1 is fixed, and a No. 1 subjective observation device 6- 1 is a laser, and its optical axis is called No. 1 subjective observation line 6-1a; No. 1 main observation line 6-1a passes through the main intersection point and is perpendicular to the axis 5a of the main horizontal axis 5; There is a shaft frame 10, on which a secondary shaft 8 capable of rotating around its own axis line is arranged; the axis line 8a of the secondary shaft 8 is perpendicular to the No. The axis lines 5a of 5 intersect vertically to form a secondary intersection point; on the secondary shaft 8, a No. 1 secondary observation device 7-1 is fixed, and the No. 1 secondary observation device 7-1 is a telescope with a built-in CCD digital camera, and its collimating axis is called It is the No. 1 auxiliary observation line 7-1a; the No. 1 auxiliary observation line 7-1a passes through the auxiliary intersection point and is perpendicular to the axis 8a of the auxiliary axis 8; the No. 1 main observation line 6-1a and the No. 1 auxiliary observation line 7-1a In the same plane; the main dial 11 is installed between the main horizontal axis 5 and the corresponding part of the bracket 4, and the auxiliary dial 12 is installed between the auxiliary shaft 8 and the corresponding part of the shaft frame 10; the above-mentioned horizontal rotary platform 2, the main horizontal axis 5 The rotation of the countershaft 8 and the auxiliary shaft 8 are each driven by a motor, and the motor is either a servo motor or an ultrasonic motor.

The moving target has a hemispherical seat 15 and a PSD sensor 16 fixed on the hemispherical seat, and the center of the hemispherical seat 15 is on the photosensitive surface of the PSD sensor 16 .

The horizontal dial 3 is used to measure the rotation angle of the horizontal rotary platform 2 . The main dial 11 is used to measure the angle between the No. 1 principal observation line 6-1a and the axis 9a of the vertical axis 9, that is, the pitch angle α. The auxiliary dial 12 is used to measure the angle between the No. 1 auxiliary observation line 7 - 1 a and the axis 9 a of the vertical axis 9 , that is, the size of the rotation angle β.

Under the action of the horizontal rotary platform 2, the No. 1 main observation device 6-1 and the No. 1 auxiliary observation device 7-1 can rotate horizontally synchronously. The rotation of the main horizontal axis 5 can drive the No. 1 main observation device 6-1 and the No. 1 sub-observation device 7-1 to pitch synchronously, the rotation of the sub-axis 8 drives the No. 1 sub-observation device 7-1 to rotate, and the No. 1 main observation line 6-1a and No. 1 auxiliary observation line 7-1a are in the same plane, and No. 1 auxiliary observation line 7-1a rotates in the above-mentioned plane, so No. 1 main observation line 6-1a and No. 1 auxiliary observation line 7- 1a can meet at a point.

This embodiment also has a power supply part, a data processing part, a communication interface, a display screen, a keyboard and the like.

Set up a laser tracking measuring instrument at the station, and place a moving target on the scanned object. At the beginning of the measurement, the horizontal rotary platform 2 rotates electrically, the main horizontal axis 5 is driven by the motor to drive the No. 1 main observation device 6-1 to pitch, and automatically searches for the moving target. When the photosensitive surface of the PSD sensor 16 senses No. 1 at the center of the sphere, When the main observation device 6-1 emits laser light, the horizontal dial 3 gives the rotation angle of the horizontal rotary platform 2, and the main dial 11 gives the value of the pitch angle α. The auxiliary shaft 8 is driven by the motor to drive the No. 1 auxiliary observation device 7-1 to pitch until the built-in CCD digital camera observes that the No. 1 main observation device 6-1 shines on the PSD sensor 16 on the No. 1 auxiliary observation line 7-1a The laser irradiation point, the auxiliary dial 12 gives the value of the rotation angle β, and completes the first point measurement. According to the rotation angle β and the distance h between the main intersection point and the minor intersection point, the distance S value of the point from the main intersection point can be obtained. The coordinates of this point relative to the principal intersection point are thus determined. The moving target moves, and according to the feedback from the PSD sensor 16, the No. 1 subjective observation device 6-1 automatically tracks the moving target until the photosensitive surface of the PSD sensor 16 feels the laser light emitted by the No. 1 subjective observation device 6-1 at the center of the sphere. Repeat the above process to complete the measurement of the second point. Thus, tracking measurement is realized.

Example 2

Referring to Fig. 4 to Fig. 6, this embodiment has a laser tracking measuring instrument and a moving target. The laser tracking measuring instrument comprises a base 1, a horizontal rotary platform 2, a bracket 4 and a vertical shaft 9, the bracket 4 is fixed on the horizontal rotary platform 2, the vertical shaft 9 is fixedly connected to the base 1, and the horizontal rotary platform 2 is positioned on the base 1 and rotates around the axis 9a of the vertical axis 9, a horizontal dial 3 is installed between the vertical axis 9 and the horizontal rotary platform 2, and the bracket 4 is provided with a horizontal main horizontal axis that can rotate around its own axis. Axis 5; the axis line 5a of the main horizontal axis 5 intersects the axis line 9a of the vertical axis 9 to form a main intersection point; on the main horizontal axis 5, No. 2 subjective observation device 6-2 and No. 2 subjective observation device 6 are fixed. -2 is a laser, and its optical axis is called No. 2 subjective observation line 6-2a; No. 2 main observation line 6-2a passes through the main intersection point and is perpendicular to the axis 5a of the main horizontal axis 5; on the main horizontal axis 5 A pedestal 10 is provided, and the pedestal 10 is provided with a secondary shaft 8 capable of rotating around its own axis; the axis 8a of the secondary shaft 8 is vertical to the No. The axis 5a of the shaft 5 intersects perpendicularly to form a secondary intersection point; the secondary observation device 7-2 is fixed on the secondary shaft 8, and the secondary observation device 7-2 is a laser, and its optical axis is called the secondary observation device 7-2. Observation line 7-2a; No. 2 auxiliary observation line 7-2a passes through the auxiliary intersection point and is perpendicular to the axis 8a of auxiliary axis 8; No. 2 main observation line 6-2a and No. 2 auxiliary observation line 7-2a are in the same plane; The main dial 11 is installed between the main horizontal axis 5 and the corresponding part of the bracket 4, and the auxiliary dial 12 is installed between the auxiliary shaft 8 and the corresponding part of the shaft frame 10; the rotation of the above-mentioned horizontal rotary platform 2 is electric, and the main horizontal axis 5 The rotation of the motor is electric, and the rotation of the auxiliary shaft 8 is electric; the rotation of the above-mentioned horizontal rotary platform 2, the main horizontal shaft 5 and the auxiliary shaft 8 is driven by a motor, and the motor is a servo motor or an ultrasonic motor. The moving target has a hemispherical seat 15 and a PSD sensor 16 fixed on the hemispherical seat, and the center of the hemispherical seat 15 is on the photosensitive surface of the PSD sensor 16 .

The horizontal dial 3 is used to measure the rotation angle of the horizontal rotary platform 2 . The main dial 11 is used to measure the angle between the No. 2 principal observation line 6-2a and the axis line 9a of the vertical axis 9, that is, the pitch angle α. The auxiliary dial 12 is used to measure the angle between the second auxiliary observation line 7-2a and the axis 9a of the vertical axis 9, that is, the size of the rotation angle β.

Under the action of the horizontal rotary platform 2, the No. 2 main observation device 6-2 and the No. 2 auxiliary observation device 7-2 can rotate horizontally synchronously. The rotation of the main horizontal axis 5 can drive the No. 2 main observation device 6-2 and the No. 2 sub-observation device 7-2 to do synchronous pitching, the rotation of the sub-axis 8 makes the No. 2 sub-observation device 7-2 rotate, and the No. 2 main observation line 6-2a and No. 2 auxiliary observation line 7-2a are in the same plane, and No. 2 auxiliary observation line 7-2a rotates in the above-mentioned plane, so No. 2 main observation line 6-2a and No. 2 auxiliary observation line 7-2a can meet at one point.

This embodiment also has a power supply part, a data processing part, a communication interface, a display screen, a keyboard and the like.

Set up laser tracking and measuring equipment at the station, and place a moving target on the scanned object. When the measurement starts, the No. 2 main observation device 6-2 is turned on, and the No. 2 sub-observation device 7-2 is turned off. The horizontal rotary platform 2 rotates electrically, the main horizontal axis 5 is driven to drive the No. 2 main observation device 6-2 to pitch, and automatically searches for a moving target. When the photosensitive surface of the PSD sensor 16 senses the No. 2 main observation device 6-2 at the center of the sphere 2 When the laser is emitted, the horizontal dial 3 gives the rotation angle of the horizontal rotary platform 2, the main dial 11 gives the value of the pitch angle α, the No. 2 main observation device 6-2 is closed, and the No. 2 auxiliary observation device 7-2 Open. The secondary shaft 8 is driven to drive the No. 2 sub-observation device 7-2 to pitch until the photosensitive surface of the PSD sensor 16 feels the laser emitted by the No. 2 main observation device 7-2 at the center of the sphere, and the first point measurement is completed. At this time, the auxiliary dial 12 gives the value of the rotation angle β, the distance h between the main intersection point and the auxiliary intersection point is determined, and the value of the distance S is obtained through data processing. The coordinates of this point relative to the principal intersection point are thus determined. The No. 2 auxiliary observation device 7-2 is closed, and the No. 2 main observation device 6-2 is opened. The moving target moves, and according to the feedback of the PSD sensor 16, the No. 2 main observation device 6-2 automatically tracks the moving target until the photosensitive surface of the PSD sensor 16 feels the laser emitted by the No. 2 main observation device 6-2 at the center of the sphere. Repeat the above process to complete the second point measurement. Thus, tracking measurement is realized.

The built-in CCD digital camera telescope mentioned in the above embodiment can be seen in the second chapter of "Total Station Measurement Technology" edited by He Baoxi and published by Yellow River Water Conservancy Publishing House in August 2005. See also Mei Wensheng and Yang Hong, Chapter 2 of "Development and Application of Measuring Robots" published by Wuhan University Press in November 2011.

Claims (2)

1. A new type of laser tracking measurement system, with a laser tracking measuring instrument and a moving target, characterized in that: the laser tracking measuring instrument includes a base (1), a horizontal rotary platform (2), a bracket (4) and a vertical axis (9), the bracket (4) is fixed on the horizontal rotary platform (2), the vertical axis (9) is fixedly connected with the base (1), the horizontal rotary platform (2) is on the base (1) and surrounds the vertical axis ( 9) The axis line (9a) rotates, a horizontal dial (3) is installed between the vertical axis (9) and the horizontal rotary platform (2), and the bracket (4) is equipped with a horizontal The main horizontal axis (5) for rotation; the axis line (5a) of the main horizontal axis (5) intersects the axis line (9a) of the vertical axis (9) to form a main intersection point; on the main horizontal axis (5) There is a No. 1 main observation device (6-1) fixed, and the No. 1 main observation device is a laser, and its optical axis is called the No. 1 main observation line (6-1a); the No. 1 main observation line (6-1a) passes through the main intersection point And perpendicular to the axis line (5a) of the main horizontal axis (5); on the main horizontal axis (5) there is a pedestal (10), and the pedestal (10) is provided with a shaft that can rotate around its own axis. Secondary axis (8); the axis line (8a) of the auxiliary axis (8) is vertical to the No. 1 main observation line (6-1a), and vertically intersects the axis line (5a) of the main transverse axis (5) , forming a secondary intersection point; on the secondary axis (8), there is a No. 1 secondary observation device (7-1), which is a telescope with a built-in CCD digital camera, and its collimation axis is called the No. 1 secondary observation line ( 7-1a); No. 1 secondary observation line (7-1a) passes through the secondary intersection point and is perpendicular to the axis (8a) of the secondary axis (8); No. 1 main observation line (6-1a) and No. 1 secondary observation line (7-1a) are on the same plane; install the main dial (11) between the main horizontal axis (5) and the corresponding part of the bracket (4), and install it between the auxiliary shaft (8) and the corresponding part of the shaft frame (10) The auxiliary dial (12); the rotation of the above-mentioned horizontal rotary platform (2), the main horizontal axis (5) and the auxiliary axis (8) are all electric; the moving target has a hemispherical seat (15) and is fixed on the hemispherical seat On the PSD sensor (16), the spherical center of the hemisphere seat (15) is on the photosensitive surface of the PSD sensor (16). 2. A new type of laser tracking measurement system, with a laser tracking measuring instrument and a moving target, characterized in that: the laser tracking measuring instrument includes a base (1), a horizontal rotary platform (2), a bracket (4) and a vertical axis (9), the bracket (4) is fixed on the horizontal rotary platform (2), the vertical axis (9) is fixedly connected with the base (1), the horizontal rotary platform (2) is on the base (1) and surrounds the vertical axis ( 9) The axis line (9a) rotates, a horizontal dial (3) is installed between the vertical axis (9) and the horizontal rotary platform (2), and the bracket (4) is equipped with a horizontal The main horizontal axis (5) for rotation; the axis line (5a) of the main horizontal axis (5) intersects the axis line (9a) of the vertical axis (9) to form a main intersection point; on the main horizontal axis (5) The No. 2 main observation device (6-2) is fixed, and the No. 2 main observation device is a laser, and its optical axis is called the No. 2 main observation line (6-2a); the No. 2 main observation line (6-2a) passes through the main observation line intersection point and perpendicular to the axis line (5a) of the main horizontal axis (5); a shaft frame (10) is provided on the main horizontal axis (5), and the shaft frame (10) is provided with a shaft that can rotate around its own axis line. The secondary axis (8); the axis (8a) of the secondary axis (8) is vertical to the No. 2 main observation line (6-2a), and perpendicular to the axis (5a) of the main transverse axis (5) Intersect to form a secondary intersection point; on the secondary axis (8) is fixed the No. 2 sub-observation device (7-2), the No. 2 sub-observation device is a laser, and its optical axis is called the No. 2 sub-observation line (7-2a) ; The second auxiliary observation line (7-2a) passes through the auxiliary intersection point and is perpendicular to the axis (8a) of the auxiliary axis (8); the second main observation line (6-2a) and the second auxiliary observation line (7-2a ) on the same plane; install the main dial (11) between the main horizontal axis (5) and the corresponding part of the bracket (4), and install the auxiliary dial ( 12); the above-mentioned horizontal rotary platform (2), the rotation of the main horizontal axis (5) and the auxiliary axis (8) are all electric; the moving target has a hemispherical seat (15) and a PSD sensor fixed on the hemispherical seat (16), the spherical center of the hemispherical seat (15) is on the photosensitive surface of the PSD sensor (16).