CN101586965A - Method of testing angle tracking error of photoelectronic tracking device - Google Patents
Method of testing angle tracking error of photoelectronic tracking device Download PDFInfo
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- 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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- tracker
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- optronic
- laser tracker
- tracking
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- 230000001360 synchronised Effects 0.000 claims description 3
- 230000001681 protective Effects 0.000 abstract 1
- 281000044456 Leica companies 0.000 description 2
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 239000008186 active pharmaceutical agents Substances 0.000 description 1
- 238000005259 measurements Methods 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
- 239000000700 tracer Substances 0.000 description 1
Abstract
Description
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)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101580677A CN101586965B (en) | 2009-07-20 | 2009-07-20 | Method of testing angle tracking error of photoelectronic tracking device |
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| Application Number | Priority Date | Filing Date | Title |
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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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| Publication Number | Publication Date |
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| CN101586965A true CN101586965A (en) | 2009-11-25 |
| CN101586965B CN101586965B (en) | 2012-01-11 |
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Cited By (7)
| 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 |
-
2009
- 2009-07-20 CN CN2009101580677A patent/CN101586965B/en active IP Right Grant
Cited By (9)
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101586965B (en) | 2012-01-11 |
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