CN101169323A - Method for indoor measuring for TV theodolite dynamic angle measurement accuracy using rotary target - Google Patents

Abstract

The invention relates to a method for measuring the dynamic angle measuring precision of a TV transit instrument indoors by using a rotating drone, and pertains to a detecting method in the technical field of photoelectric measuring. Aiming at solving the main technical problem of providing a method for measuring the dynamic angle measuring precision of the TV transit instrument by using rotating drone indoors, the invention has the technical proposal that: firstly, a rotating drone is selected; the rotating drone needs to be provided with an angle measuring coder on the rotating shaft of the rotating arm; the optical system on the rotating arm forms an optical cone provided with an optical cone peak through rotation; secondly, the rotating drone and the light path of the detected TV for tracing the transit instrument are abut-jointed so as to form a measuring system; thirdly, the measurement of the dynamic angle measuring precision of the TV transit instrument is implemented; fourthly, the data treatment is carried out that: the value of the drone coder is substituted into the coordinate changing formula to get the space indication value of the drone so as to account the dynamic angle measuring precision of the transit instrument according to the Bessel formula. The method solves the detection of dynamic angle measuring precision of the TV transit instrument indoors.

Description

Method at indoor rotary target mapping amount tv theodolite dynamic testing angle precision

One, technical field

The invention belongs to relate in the photoelectric measurement technical field a kind of and TV is followed the tracks of the method that transit carries out the dynamic testing angle precision detection at indoor rotation target.

Two, background technology

It is to adopt the television measurement, TV measurement technology that TV is followed the tracks of transit, has the large photoelectric measuring equipment from motion tracking and enforcement measurement function, is mainly used in the measurement of the movement locus of aircraft, steamer, celestial body and other moving objects.TV is followed the tracks of the transit dynamic testing angle precision and is meant that transit is under the angular velocity and angular acceleration motion state of regulation, the real-time object space sensing value of measuring and the error of theoretical value or true value, usually represent with the root-mean-square error of spatial direction value, often it is projected on surface level and the vertical plane in the application, be called dynamic orientation angle root-mean-square error and dynamic angle of pitch root-mean-square error.

Dynamic testing angle precision is one of important technology index of weighing tv theodolite complete machine performance, for a long time, the testing of this index is carried out in the outfield always, transit is surveyed a certain airbound target data that obtain and the data that other high-acruracy survey equipment records and is compared, and assesses the dynamic testing angle precision of TV tracking transit.At present, we also do not find indoor and can detect coherent detection equipment or the method that TV is followed the tracks of the transit dynamic testing angle precision.

Three, summary of the invention

In order to remedy the deficiencies in the prior art, the objective of the invention is to set up and a kind ofly can follow the tracks of the method that the transit dynamic testing angle precision detects to TV indoor, so that TV is followed the tracks of the manufacturer of transit, before dispatching from the factory, can follow the tracks of the transit dynamic testing angle precision to TV and detect indoor, thereby can make valuable evaluation the complete machine performance that TV is followed the tracks of transit.

The technical problem to be solved in the present invention is: a kind of method at indoor rotary target mapping amount tv theodolite dynamic testing angle precision is provided.The technical scheme of technical solution problem is:

At first, select a kind of suitable rotation target, this rotary target is marked on the scrambler that angle measurement in real time must be housed in the rotating shaft of pivot arm, and the optical system on the pivot arm will form circular light cone by rotation, has the light cone summit.Rotary target target structure is as shown in Figure 1: comprise target bracing frame 1, motor 2, scrambler 3, pivot arm 4, catoptron 5, parallel light tube 6, target switch board 8.Motor 2 is installed on the target bracing frame 1, the axle of motor 2 and a coaxial and installation that is connected of scrambler 3.Pivot arm 4 is fixed on motor 2 turning axles, and an end of pivot arm 4 is equipped with parallel light tube 6, and the other end is equipped with catoptron 5, and the optical axis of the normal of catoptron 5 and parallel light tube 6 forms an angle.When 4 rotations of motor 2 driven rotary arms, the light that parallel light tube 6 sends has formed the cone space simulated target with a fixed angular speed and angular acceleration rotation after catoptron 5 reflections;

Secondly, the light path that rotation target and tested TV are followed the tracks of transit 7 is docked, form measuring system, the intersection point of adjusting three on tv theodolite transverse axis, vertical pivot, the optical axis overlaps with the summit that target rotates light cone, this point is defined as measures true origin O, time the unify time system butt joint of transit with target makes both have identical absolute time and synchronous sampling signal;

The 3rd, the measurement of transit 7 dynamic testing angle precisions is followed the tracks of in enforcement to TV: starter motor 2, allow motor 2 drive 4 rotations of target pivot arm, the control TV is followed the tracks of transit 7 and is followed the tracks of target light cone target automatically, real time record target direction angle, the angle of pitch and miss distance, the angle value of the computer recording target scrambler 3 of target switch board 8 simultaneously;

The 4th, carry out data processing: the formula that the value substitution of target scrambler 3 of record is obtained according to the spherical trigonometry theorem:

E＝arcsin(cosasinb+sinacosbcosθ)

A＝arcsin(sinasintθ/cosE)

In the formula: a is the angle between target rotation light cone and the turning axle, and b is the angle of target turning axle and surface level, and A is the position angle of transit 7, and E is the angle of pitch of transit 7, and θ is the angle of target scrambler 3; (this formula can be in " photoelectric measurement " book of publishing National Defense Industry Press in October, 2002 the 251st page find, this formula is used for the data coordinates conversion between target and transit, utilize this formula to finish the conversion of target spatial direction value, this spatial direction value is to calculate the foundation of angle measurement accuracy).

By the above spatial direction value that calculates target, with this spatial direction true value as the target target, is the benchmark align data with the target directing value of transit survey with time with pointing to true value, according to the dynamic testing angle precision of Bezier formula calculating transit, represent with position angle root-mean-square error and angle of pitch root-mean-square error:

${\mathrm{\σ}}_A=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(A_i^{\′}-A_{i0})}^2}{n-1}}$

${\mathrm{\σ}}_E=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(E_i^{\′}-E_{i0})}^2}{n-1}}$

In the formula: σ _ABe transit orientation dynamic testing angle precision, σ _EBe transit pitching dynamic testing angle precision, n is the data sum of one-period, A _I0Be the bearing sense value of target at i point place, E _I0Be the pitching sensing value of target at i point place, A _i' be the position angle that transit is measured at i point place, E _i' be the angle of pitch that transit is measured at i point place.

Principle of work explanation: see Fig. 2, a is the angle between target rotation light cone and the turning axle, b is the angle of target turning axle and surface level, A is the position angle of transit, E is the angle of pitch of transit, and ω is the target angular velocity of rotation, and t is that target forwards the used time of S1 point to from the S0 point, θ=ω t is the anglec of rotation of target scrambler, and OR is the turning axle of target.Can get according to the spherical trigonometry theorem:

E＝arcsin(cosasinb+sinacosbcosθ)

A＝arcsin(sinasintθ/cosE)

Any scrambler angle is θ if target is in the space _i, in the above-mentioned formula of substitution, obtain target directing (A to putting _I0, E _I0).If this point target of transit survey is pointed to (A _i', E _i'), the dynamic testing angle precision of transit then:

${\mathrm{\σ}}_A=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(A_i^{\′}-A_{i0})}^2}{n-1}}$

${\mathrm{\σ}}_E=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(E_i^{\′}-E_{i0})}^2}{n-1}}$

In the formula: σ _ABe orientation dynamic testing angle precision, σ _EBe the pitching dynamic testing angle precision, n is the data sum of one-period.

Good effect of the present invention: the invention solves the problem that TV is followed the tracks of the indoor detection of transit dynamic testing angle precision, this method is initiative at home, successfully detected the dynamic testing angle precision of many TV tracking equipments with this method, respond well, fill up a blank in photoelectric measurement field, obtained relevant expert's approval.

Four, description of drawings

Fig. 1 is that target docks synoptic diagram with the tv theodolite light path.

Fig. 2 is target and transit coordinate transform graph of a relation.

Five, embodiment

The present invention implements by the step that proposes in the technical scheme.Choosing of target scrambler precision can be decided according to the accuracy requirement of equipment under test, generally speaking, can choose high-precision 23 absolute type encoders; The pedestal of target should be stablized with pivot arm work and should stablize, and preferably is controlled at 2 " in; Target should have same time reference and identical sample frequency with equipment under test, system terminal in the time of can in target and equipment under test, installing additional respectively, and the method synchronous by time system solves this problem; Stable for equipment is followed the tracks of, and obtain high accuracy data, target should have the speed stabilizing control system; The parallel light tube focal length of target can be selected 1m; The a angle of target can be selected 20 °～30 °, and the b angle can be selected 20 °～40 °; Target and equipment under test should be tested on same independent ground.

Claims (1)

1. in the method for indoor rotary target mapping amount tv theodolite dynamic testing angle precision, it is characterized in that at first, select a kind of suitable rotation target, this rotary target is marked on the scrambler that angle measurement in real time must be housed in the rotating shaft of pivot arm, optical system on the pivot arm will form circular light cone by rotation, has the light cone summit; Rotary target target structure comprises target bracing frame (1), motor (2), scrambler (3), pivot arm (4), catoptron (5), parallel light tube (6), target switch board (8).Motor (2) is installed on the target bracing frame (1), the axle of motor (2) and a coaxial and installation that is connected of scrambler (3).Pivot arm (4) is fixed on motor (2) turning axle, and an end of pivot arm (4) is equipped with parallel light tube (6), and the other end is equipped with catoptron (5), and the optical axis of the normal of catoptron (5) and parallel light tube (6) forms an angle.When motor (2) driven rotary arm (4) rotated, the light that parallel light tube (6) sends had formed the cone space simulated target with a fixed angular speed and angular acceleration rotation after catoptron (5) reflection;

Secondly, to rotate target docks with the light path that tested TV is followed the tracks of transit (7), form measuring system, the intersection point of adjusting three on tv theodolite transverse axis, vertical pivot, the optical axis overlaps with the summit that target rotates light cone, this point is defined as measures true origin O, time the unify time system butt joint of transit with target makes both have identical absolute time and synchronous sampling signal;

The 3rd, the measurement of transit (7) dynamic testing angle precision is followed the tracks of in enforcement to TV: starter motor (2), allow motor (2) drive target pivot arm (4) rotation, the control TV is followed the tracks of transit (7) and is followed the tracks of target light cone target automatically, real time record target direction angle, the angle of pitch and miss distance, the angle value of the computer recording target scrambler (3) of target switch board (8) simultaneously;

The 4th, carry out data processing: the formula that the value substitution of target scrambler (3) of record is obtained according to the spherical trigonometry theorem:

E＝arcsin(cosasinb+sinacosbcosθ)

A＝arcsin(sinasintθ/cosE?)

In the formula: a is the angle between target rotation light cone and the turning axle, and b is the angle of target turning axle and surface level, and A is the position angle of transit (7), and E is the angle of pitch of transit (7), and θ is the angle of target scrambler (3);

Can obtain the spatial direction value of target by above calculating, with this spatial direction true value as the target target, with the target directing value and the target sensing true value of transit actual measurement is the benchmark align data with time, calculate the dynamic testing angle precision of transit, represent with position angle root-mean-square error and angle of pitch root-mean-square error:

${\mathrm{\σ}}_A=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(A_i^{\′}-A_{i0})}^2}{n-1}}$

${\mathrm{\σ}}_E=\sqrt{\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(E_i^{\′}-E_{i0})}^2}{n-1}}$

In the formula: σ _ABe transit orientation dynamic testing angle precision, σ _EBe transit pitching dynamic testing angle precision, n is the data sum of one-period, A _I0Be the bearing sense value of target at i point place, E _I0Be the pitching sensing value of target at i point place, A _i' be the position angle that transit is measured at i point place, E _i' be the angle of pitch that transit is measured at i point place.

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