CN101586965A - Method of testing angle tracking error of photoelectronic tracking device - Google Patents

Method of testing angle tracking error of photoelectronic tracking device Download PDF

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Publication number
CN101586965A
CN101586965A CNA2009101580677A CN200910158067A CN101586965A CN 101586965 A CN101586965 A CN 101586965A CN A2009101580677 A CNA2009101580677 A CN A2009101580677A CN 200910158067 A CN200910158067 A CN 200910158067A CN 101586965 A CN101586965 A CN 101586965A
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China
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tracker
target
optronic
laser tracker
tracking
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CNA2009101580677A
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Chinese (zh)
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CN101586965B (en
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崔岩梅
李涛
师会生
冷杰
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中国航空工业第一集团公司北京长城计量测试技术研究所
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Abstract

The invention provides a method of testing angle tracking error of photoelectronic tracking device, comprising the steps of: (1) taking earth as standard, establishing spatial polar coordinate system taking laser tracker as center; (2) fixing large target, small target on rotating table, the laser tracker and photoelectronic tracking device being capable of tracking the large target; (3) the laser tracker firstly aiming at the small target, rotating the photoelectronic tracking device, collecting the coordinate of the small target and ball fitting the data; (4) establishing spatial polar coordinate system taking ball coordinate of the photoelectronic tracking device as center, the laser tracker and the photoelectronic tracking device simultaneously aiming at the large target, and the laser tracker and the photoelectronic tracking device simultaneously tracking the large target, the computer controlling the laser tracker and the photoelectronic tracking device, simultaneously collecting the coordinate data of the large target, and comparing and computing the angle measurement data, thereby obtaining angle tracking error of photoelectronic tracking device. The technical proposal of the invention has better protective effects to the quality of the related products, and has considerable market prospect, and has large technical economic significance.

Description

Method of testing angle tracking error of photoelectronic tracking device

Technical field

The present invention is a kind of method of testing angle tracking error of photoelectronic tracking device, belongs to the optical testing technology field.

Background technology

The test of angle tracking error of photoelectronic tracking device generally is that optronic tracker is placed on the turntable, adjusts its axle to be measured and turntable rotating shaft coaxle, carries out the calibration of angle tracking error.This method has three big shortcomings: one, most of optronic tracker volume is bigger, can't design the turntable of size match with it, thereby is difficult to realize test; Two, be in the optronic tracker of user mode, during the inconvenience dismounting, can't be placed on the turntable and test; Even the optronic tracker that three volumes are little can be placed on the turntable, also can only carry out the calibration of single shaft, be not inconsistent with its user mode.

Summary of the invention

The present invention is directed to the deficiency of above-mentioned method of testing, proposed a kind of method of testing angle tracking error of photoelectronic tracking device, can satisfy the angle tracking error test on level and the vertical both direction, and not need to dismantle optronic tracker.

The objective of the invention is to be achieved through the following technical solutions:

(1) with the earth be benchmark, adjust laser tracker, tested optronic tracker transverse axis level, vertical axes is vertical, setting up with the laser tracker is the space polar coordinate system at center;

(2) big target is fixed on the turntable, makes in the whole rotation process of turntable, laser tracker and optronic tracker can both be followed the tracks of big target, little target are fixed on the surface of revolution of optronic tracker;

(3) make laser tracker at first aim at little target, the rotation optronic tracker, and start the coordinate that laser tracker is gathered little target, and the coordinate data of little target is carried out the ball match, obtain the sphere centre coordinate of optronic tracker under the coordinate system of laser tracker;

(4) setting up with the optronic tracker sphere centre coordinate is the space polar coordinate system at center, the space polar coordinate system of laser tracker is moved in the space polar coordinate system of optronic tracker, make laser tracker and optronic tracker aim at big target simultaneously again, rotating table, laser tracker and optronic tracker are followed the tracks of big target simultaneously, the coordinate data of computer control laser tracker and the big target of optronic tracker synchronous acquisition is also carried out the comparison and the calculating of angle measurement data, obtains the angle tracking error of optronic tracker.

Technical solution of the present invention has following characteristics:

1, first laser tracker is applied in the measurement of angle tracking error of optronic tracker, the method for testing of turntable was adopted in contrast in the past, and this method is applied widely, and optronic tracker big for volume or that volume is little all is suitable for.

2, because optronic tracker is mainly used in the target following in addition of hundreds of rice, therefore to carry out the angle tracking error of photoelectronic tracking device measurement be a new application technology to low coverage, can make optronic tracker on production line, can finish the test and the debugging of angle tracking error, more convenient than field test in the past.

3, the angular measurement error of laser tracker should be less than 1/3 of optronic tracker tracking error nominal value;

4, can adopt other test or approximating method to obtain the centre coordinate of optronic tracker under the laser tracker coordinate system.

5, can adopt other whirligig to replace turntable.

When 6, optronic tracker and laser tracker can not be followed the tracks of big target 2 simultaneously, two targets can be set on turntable, laser tracker and optronic tracker are respectively followed the tracks of a target, but must carry out could comparing the measurement of angle result after converting in the position.

Description of drawings

Fig. 1 is used for angle tracking error of photoelectronic tracking device test macro of the present invention

Embodiment

Below with reference to accompanying drawing and embodiment technical solution of the present invention is further described:

Shown in accompanying drawing 1, set up the system that a cover is used for method of testing angle tracking error of photoelectronic tracking device of the present invention, this system is made of laser tracker, tested optronic tracker, big target, little target, turntable, computing machine.For example, laser tracker adopts the T3 type of U.S. API company, and little target adopts 0.5 inch target ball of Leica company, and big target adopts 1.5 inch target balls of Leica company, uses the bidimensional turntable to test.

(1) with the earth be benchmark, adjust laser tracker, tested optronic tracker transverse axis level, vertical axes is vertical, setting up with the laser tracker is the space polar coordinate system at center;

(2) big target is fixed on the turntable, makes in the whole rotation process of turntable, laser tracker and optronic tracker can both be followed the tracks of big target, little target are fixed on the surface of revolution of optronic tracker;

(3) make laser tracker at first aim at little target, the rotation optronic tracker, and the startup laser tracker is gathered the coordinate of little target, the coordinate data of little target is carried out ball match (carrying out the ball match as adopting least square method), obtain the sphere centre coordinate of optronic tracker under the coordinate system of laser tracker;

(4) setting up with the optronic tracker sphere centre coordinate is the space polar coordinate system at center, the space polar coordinate system of laser tracker is moved in the space polar coordinate system of optronic tracker, make laser tracker and optronic tracker aim at big target simultaneously again, rotating table, laser tracker and optronic tracker are followed the tracks of big target simultaneously, the coordinate data of computer control laser tracker and the big target of optronic tracker synchronous acquisition is also carried out the comparison and the calculating of angle measurement data, obtains the angle tracking error of optronic tracker.

The present invention proposes a kind of method of testing of angle tracking error of photoelectronic tracking device, its core technology is the system that adopts laser tracker and turntable to make up, set up the coordinate relation of this system and tested optronic tracker by target, the angle measurement data of laser tracker and optronic tracker relatively at last can obtain the angle tracking error of optronic tracker.Because the general objective that optronic tracker is mainly used in beyond the hundreds of rice is followed the tracks of, therefore the description of carrying out the optronic tracker tracking error by low coverage measurements is an advanced technology but the bigger work of difficulty does not see that so far relevant patent relates to this one side both at home and abroad.This invention mainly can be used for the measurement of the angle tracking error of optronic tracker quasi-instrument, as gondola, electro-optic radar, surely the tracking error of taking aim at system and photoelectric tracer is measured, therefore this technology will play good guaranteeing role for the quality of above product, market outlook are considerable, and Technological Economy is significant.

Claims (3)

1. method of testing angle tracking error of photoelectronic tracking device is characterized in that:
(1) with the earth be benchmark, adjust laser tracker (1), tested optronic tracker (6) transverse axis level, vertical axes is vertical, setting up with laser tracker (1) be that the space polar coordinate at center is;
(2) big target (2) is fixed on the turntable (3), makes in the whole rotation process of turntable (3), laser tracker (1) and optronic tracker (6) can both be followed the tracks of big target (2), and little target (4) is fixed on the surface of revolution of optronic tracker (6);
(3) make laser tracker (1) at first aim at little target (4), rotation optronic tracker (6), and startup laser tracker (1) is gathered the coordinate of little target (4), the coordinate data of little target (4) is carried out the ball match, obtain the sphere centre coordinate of optronic tracker (6) under the coordinate system of laser tracker (1);
(4) setting up with optronic tracker (6) sphere centre coordinate is the space polar coordinate system at center, the space polar coordinate system of laser tracker (1) is moved in the space polar coordinate system of optronic tracker (6), make laser tracker (1) and optronic tracker (6) aim at big target (2) simultaneously again, rotating table (3), laser tracker (1) and optronic tracker (6) are followed the tracks of big target (2) simultaneously, the coordinate data of computing machine (5) control laser tracker (1) and the big target of optronic tracker (6) synchronous acquisition (2) is also carried out the comparison and the calculating of angle measurement data, obtains the angle tracking error of optronic tracker (6).
2. method of testing angle tracking error of photoelectronic tracking device according to claim 1 is characterized in that: the angle measurement error of laser tracker (1) should be less than 1/3 of the tracking error nominal value of optronic tracker (6).
3. method of testing angle tracking error of photoelectronic tracking device according to claim 1 is characterized in that: the rotation of turntable (3) is that one dimension rotates or bidimensional rotates.
CN2009101580677A 2009-07-20 2009-07-20 Method of testing angle tracking error of photoelectronic tracking device CN101586965B (en)

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CN2009101580677A CN101586965B (en) 2009-07-20 2009-07-20 Method of testing angle tracking error of photoelectronic tracking device

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CN101586965B CN101586965B (en) 2012-01-11

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102297702A (en) * 2011-05-17 2011-12-28 成都飞机工业(集团)有限责任公司 Self compensation method of laser tracker
CN102621998A (en) * 2012-04-20 2012-08-01 深圳市元创兴科技有限公司 Photoelectric tracking system and method
CN102645319A (en) * 2012-05-04 2012-08-22 中国科学院长春光学精密机械与物理研究所 Rotary target for simulating space target separation and application method thereof
CN102706361A (en) * 2012-05-18 2012-10-03 中国人民解放军92537部队 Attitude precision estimation method of multiple high-accuracy inertial navigations system
CN103884279A (en) * 2014-03-07 2014-06-25 中国科学院光电研究院 Method for detecting perpendicularity of cross shaft and vertical shaft of laser tracker
CN104567919A (en) * 2013-10-12 2015-04-29 北京航天计量测试技术研究所 Device for calibrating dynamic measurement errors of photogrammetric system and application method thereof
CN110524309A (en) * 2019-08-30 2019-12-03 西安交通大学 Numerical control rotating platform geometric error measurement method based on four base station laser traces systems

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102297702A (en) * 2011-05-17 2011-12-28 成都飞机工业(集团)有限责任公司 Self compensation method of laser tracker
CN102621998A (en) * 2012-04-20 2012-08-01 深圳市元创兴科技有限公司 Photoelectric tracking system and method
CN102645319A (en) * 2012-05-04 2012-08-22 中国科学院长春光学精密机械与物理研究所 Rotary target for simulating space target separation and application method thereof
CN102706361A (en) * 2012-05-18 2012-10-03 中国人民解放军92537部队 Attitude precision estimation method of multiple high-accuracy inertial navigations system
CN102706361B (en) * 2012-05-18 2015-09-09 中国人民解放军92537部队 A kind of high precision many inertial navigation systems attitude accuracy assessment method
CN104567919A (en) * 2013-10-12 2015-04-29 北京航天计量测试技术研究所 Device for calibrating dynamic measurement errors of photogrammetric system and application method thereof
CN103884279A (en) * 2014-03-07 2014-06-25 中国科学院光电研究院 Method for detecting perpendicularity of cross shaft and vertical shaft of laser tracker
CN103884279B (en) * 2014-03-07 2019-08-20 中国科学院光电研究院 A kind of laser tracker horizontal axis and vertical pivot measuring for verticality method
CN110524309A (en) * 2019-08-30 2019-12-03 西安交通大学 Numerical control rotating platform geometric error measurement method based on four base station laser traces systems

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