CN103454619A - Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof - Google Patents
Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof Download PDFInfo
- Publication number
- CN103454619A CN103454619A CN2013104147443A CN201310414744A CN103454619A CN 103454619 A CN103454619 A CN 103454619A CN 2013104147443 A CN2013104147443 A CN 2013104147443A CN 201310414744 A CN201310414744 A CN 201310414744A CN 103454619 A CN103454619 A CN 103454619A
- Authority
- CN
- China
- Prior art keywords
- radar
- driving mechanism
- prism square
- electromagnetic horn
- transit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses an electrical axis optical calibration system of a spaceborne microwave tracking-pointing radar and a calibration method of the electrical axis optical calibration system. The electrical axis optical calibration system comprises a radar testing subsystem, a calibration subsystem, a radar device and a target simulation subsystem. The target simulation subsystem comprises a target simulation source, a two-dimensional testing rotary table, a two-dimensional testing rotary table controller connected with the two-dimensional testing rotary table, a two-dimensional scanning frame and a target simulation horn antenna arranged on the two-dimensional scanning frame. The calibration method comprises the first step of calibrating the mounting precision of a radar antenna and a driving mechanism, the second step of calibrating the consistency of a radar electric axis and a radar antenna mechanical axis and the third step of correcting the radar according to a calibration result. According to the electrical axis optical calibration system of the spaceborne microwave tracking-pointing radar and the calibration method, high-precision calibration can be carried out on the radar in a compact field, the requirement of the radar for the temperature, the humidity and the cleanliness of used environment is met, the non-contact calibration of the spaceborne microwave tracking-pointing radar is achieved, the used measuring instruments are small in number and high in precision, the calculation of data can be automatically completed, and the high precision and the high reliability of the radar are guaranteed.
Description
Technical field
The present invention relates to aerospace and measure test and the technical field of measurement and test of useful load, be specifically related to a kind of electric axis optical calibrating system and scaling method thereof of satellite-borne microwave pointing radar.
Background technology
In prior art, spaceborne radar mainly guarantees to obtain in radargrammetry coordinate system and spacecraft body coordinate system the consistance of target information by being arranged on prism square on radar and spacecraft body.Therefore, the rotation relationship between Accurate Calibration radargrammetry coordinate system and prism square coordinate system, the guarantee spaceborne radar to spacecraft provide accurately, reliable target information.For reaching this purpose, must demarcate the consistance of installation accuracy, radar electric axis and the antenna mechanical axis of radar antenna and driving mechanism.
The radar electric axis is defined as the poor lobe zero point of radar antenna and points to; The antenna mechanical axis is defined as by the axis on antenna aperture planar central vertical bore plane; The demarcation of radar, refer under defined terms, the process of utilizing specialized equipment to be measured some parameter of radar.The demarcation of tradition radar (as the ground radar) and calibration steps are comparatively ripe, the method is all mainly to utilize optical sight (or television telescope) to measure the information of target in external field environment, and the target information then recorded with radar is compared demarcation and the calibration of carrying out radar.But, complex structure little for mechanical dimension, the satellite-borne microwave pointing radar of high precision and high reliability request is arranged, optical sight (prism square generally is installed) is installed in inconvenience on Radar Products; And the stated accuracy that utilizes the method to obtain is limited, is difficult to meet the requirement of satellite-borne microwave pointing radar; In addition, the spaceborne radar test is all carried out in Compact Range (microwave dark room), and the external field environment humiture is difficult to guarantee.Therefore, need to, in Compact Range, utilize high-precision optical instrument to carry out contactless demarcation to satellite-borne microwave pointing radar.
Document " Technique in Rendezvous and Docking microwave radar measuring system ground Research on Calibration Technology " (" aerospace instrumentation technology ", Vol. 31 No.6, Dec. 2011) utilize 6 electronic theodolites to form a calibration system, complete the demarcation of intersection docking microwave radar in Compact Range.Intersection docking microwave radar is comprised of radar host computer and answering machine, so utilize answering machine to complete the demarcation of radar host computer in document: a prism square is installed respectively on radar antenna and transponder aerial, by mobile answering machine, utilize calibration system to measure respectively the coordinate system of two prism squares, then with the information of radargrammetry, compare the calibration of carrying out radar.The method is mainly used in the radar of the cooperation work systems such as calibration intersection docking.But the method is at timing signal, and answering machine of every movement, all need to utilize calibration system to remeasure its coordinate system to the prism square on answering machine.In order to obtain higher stated accuracy, mobile answering machine repeatedly, just there is the surveying work of large amount of complex in this.In addition, for the radar of non-cooperation utonomous working, usually with target simulator, carry out the simulated target echoed signal, on target simulator (being generally electromagnetic horn), be not easy to install prism square, even install, also be difficult to guarantee installation accuracy.Therefore, the scaling method that this document provides can't effectively be demarcated for the electric axis of satellite-borne microwave pointing radar.
Summary of the invention
The object of the present invention is to provide a kind of electric axis optical calibrating system and scaling method thereof of satellite-borne microwave pointing radar, calibration system of the present invention and scaling method can carry out high-precision demarcation to radar in Compact Range, meet the requirement of satellite-borne microwave pointing radar to environment for use humiture, cleanliness factor, the contactless demarcation of realization to satellite-borne microwave pointing radar, stated accuracy is high, the surveying instrument of using is few, can robotization complete resolving of data, guarantee high precision and the high reliability of radar.
In order to achieve the above object, the present invention is achieved through the following technical solutions: a kind of electric axis optical calibrating system of satellite-borne microwave pointing radar, it is characterized in that, and comprise: radar test subsystem, demarcation subsystem, radar installations, target simulation subsystem;
Described target simulation subsystem comprises target simulation source, two-dimentional test table, the two-dimentional test table controller, the two-dimensional scan frame that are connected with two-dimentional test table and is arranged on the order mould electromagnetic horn on the two-dimensional scan frame;
Described radar test subsystem comprises testing apparatus and oscillograph;
Described oscillograph is connected with testing apparatus;
Described radar installations, order mould electromagnetic horn and testing apparatus are connected with the target simulation source respectively;
Described demarcation subsystem comprises multi-channel data acquisition device and the data processing unit be connected with the multi-channel data acquisition device respectively, laser tracker, the first transit, the second transit and the 3rd transit;
Described the first transit, the second transit and the 3rd transit are arranged between radar installations and two-dimensional scan frame.
Described radar installations comprises signal transmitting and receiving processing components, mechanism controls device, driving mechanism supporting base, is arranged on the driving mechanism of driving mechanism supporting base middle part and is arranged on the radar antenna on driving mechanism;
Described testing apparatus, mechanism controls device and radar antenna and target simulation source are connected with the signal transmitting and receiving processing components respectively;
Described mechanism controls device is connected with driving mechanism;
Described driving mechanism base plane is provided with the first prism square;
Described radar antenna is provided with the second prism square.
A kind of scaling method of the system of the electric axis optical calibrating for above-mentioned satellite-borne microwave pointing radar, is characterized in that, at least comprises following steps:
Step 1, the installation accuracy of demarcating radar antenna and driving mechanism;
Step 2, the consistance of demarcating radar electric axis and radar antenna mechanical axis;
Step 3, according to calibration result, radar is calibrated, or the radargrammetry result is revised, or, by coordinate system rotation, calibration result is transformed in the coordinate system of the first prism square.
Described step 1 also comprises following steps:
Step 1.1, determine the coordinate system of the first prism square;
Step 1.2, that the coordinate system of determining the first prism square points to the sensing that is with radar fix is consistent;
Step 1.3, determine the coordinate system of the second prism square;
Step 1.4, adjust radar antenna, make the X of the second prism square coordinate system
bthe X of axle and the first prism square coordinate system
aaxle is parallel, guarantees that the high precision of radar antenna is installed.
Described step 1.1 also comprises following steps:
Step 1.1.1, by the first transit and the first prism square autocollimation, direction of collimation is perpendicular to the driving mechanism base plane;
Step 1.1.2, determine the X of the first prism square
aaxle, utilize the second transit and the 3rd transit (26) to measure the first transit and the first prism square, makes the first transit and the first prism square be parallel to the workplace cross curve center three-dimensional coordinate of driving mechanism base plane;
Step 1.1.3, repeating step 1.1.2 obtain the Y of the first prism square
aaxle;
Step 1.1.4, determine the coordinate system of the first prism square according to right-hand screw rule.
Described step 1.2 also comprises following steps:
Step 1.2.1, the gauge head of laser tracker is placed into to the center of radar antenna;
Step 1.2.2, the work of driving mechanism pitch orientation and azimuth direction zero setting position;
Step 1.2.3, data processing unit obtain pitch orientation and the azimuth direction of driving mechanism;
Step 1.2.4, adjust the first prism square, make the Y of the first prism square
aaxle and Z
aaxle is consistent with pitch orientation and the azimuth direction of driving mechanism respectively.
Described step 2 also comprises following steps:
Step 2.1, adjust driving mechanism supporting base and two-dimentional test table, make the Y of the first prism square
aaxle is parallel to the earth surface level;
Step 2.2, driving mechanism base plane and order are touched to electromagnetic horn two dimensional motion plane keeping parallelism;
Step 2.3, utilize laser tracker to measure driving mechanism (34) rotation center O
qthree-dimensional coordinate;
Step 2.4, order mould electromagnetic horn is placed on the straight line at radar antenna mechanical axis place;
Step 2.5, determine that the angular deviation of radar electric axis and radar antenna mechanical axis is calibration result.
Described step 2.2 also comprises following steps:
Step 2.2.1, the gauge head of laser tracker is placed on order mould electromagnetic horn;
Step 2.2.2, motion two-dimensional scan frame, make the gauge head of laser tracker in the vertical direction with on horizontal direction motion all be arranged;
Step 2.2.3, laser tracker are measured the two dimensional motion plane of order mould electromagnetic horn;
Step 2.2.4, the gauge head of laser tracker is placed on respectively to any 4 points up and down of driving mechanism base plane;
Step 2.2.5, laser tracker are measured the coordinate of 4, and data processing unit calculates the distance of every bit to order mould electromagnetic horn two dimensional motion plane;
Step 2.2.6, adjust respectively two-dimentional test table on pitch orientation and azimuth direction, make 4 distances to order mould electromagnetic horn two dimensional motion plane equate.
Described step 2.4 also comprises following steps:
Step 2.4.1, move horizontally the two-dimensional scan frame, record the three-dimensional coordinate of order mould electromagnetic horn any two position A, B on two-dimensional scan frame horizontal direction, 2 of A, B and driving mechanism rotation center O
qpoint forms a triangle;
Step 2.4.2, according to the triangle Perpendicular Line Theorem, asked for summit O
qhorizontal level P perpendicular to the some P on two-dimensional scan frame two dimensional motion plane
1;
Step 2.4.3, in the laser tracker coordinate system, according to A point, B point, P
1the coordinate of point is obtained A P
1apart from l
1, B P
1apart from l
2,
Step 2.4.4, by order mould electromagnetic horn from the A point to the mobile l of B point
1, or from the B point to the mobile l of A point
2, i.e. the center of order mould electromagnetic horn and P
1point overlaps;
Step 2.4.5, ask for P point position P in vertical direction
2;
Step 2.4.6, the center of order mould electromagnetic horn is moved to the P point.
Described step 2.5 also comprises following steps:
Step 2.5.1, open radar, by the driving mechanism position of making zero, the mould electromagnetic horn discharges the target simulation echoed signal;
Step 2.5.2, radar lock on, record target azimuth angle and the luffing angle of radargrammetry on testing apparatus after stable reading;
Step 2.5.3, change radar frequency of operation, the orientation angles of radargrammetry target and luffing angle;
Step 2.5.4, in the horizontal direction with vertical direction mobile two-dimensional scan frame respectively;
Step 2.5.5, calculate the angle of order mould electromagnetic horn with respect to radar movable;
Step 2.5.6, read the line of sight angle of radargrammetry;
Step 2.5.7, order mould electromagnetic horn is contrasted with respect to the angle of radar movable and the line of sight angle of radargrammetry, obtained the angular deviation of radar electric axis and radar antenna mechanical axis;
Step 2.5.8, repeatedly measure after statistics obtain calibration result.
Electric axis optical calibrating system and the scaling method thereof of a kind of satellite-borne microwave pointing of the present invention radar compared with prior art have the following advantages: the present invention can carry out high-precision demarcation to radar in Compact Range, meets the requirement of satellite-borne microwave pointing radar to environment for use humiture, cleanliness factor; The present invention adopts contactless optical instrument to form calibration system, does not need to install optical sight (or television telescope), can demarcate satellite-borne microwave pointing radar non-contact; The present invention can directly demarcate the deviation of radargrammetry angle in the prism square coordinate system, and can directly pass through rotation of coordinate, this deviation is transformed into to space vehicle coordinates to be fastened, facilitate spacecraft to be revised the measurement result of radar transmission, can meet satellite and totally utilize prism square to do the demand that reference is installed; The present invention need to not install prism square on target simulator, directly utilizes laser tracker to obtain the true angle and distance information of target simulator with respect to radar, is convenient to repeated measurement, improves stated accuracy; The present invention uses transit and laser tracker combination, and surveying instrument is less, and all appts all is connected to data processing unit by the multi-channel data acquisition device, can robotization complete resolving of data; The present invention has carried out comprehensive demarcation to radar system, can demarcate the measurement result of radar, also can demarcate the installation accuracy of radar, guarantees high precision and the high reliability of radar.
The accompanying drawing explanation
The one-piece construction schematic diagram of the electric axis optical calibrating system that Fig. 1 is a kind of satellite-borne microwave pointing of the present invention radar.
The radar test subsystem one-piece construction schematic diagram of the electric axis optical calibrating system that Fig. 2 is a kind of satellite-borne microwave pointing of the present invention radar.
The demarcation subsystem one-piece construction schematic diagram of the electric axis optical calibrating system that Fig. 3 is a kind of satellite-borne microwave pointing of the present invention radar.
The process flow diagram of the electric axis optical calibrating method that Fig. 4 is a kind of satellite-borne microwave pointing of the present invention radar.
Fig. 5 is that laser tracker of the present invention is measured driving mechanism rotation center O
qwith azimuth direction, pitch orientation schematic diagram.
Fig. 6 determines driving mechanism rotation center O
qthe schematic diagram of intersection point P on the two-dimensional scan frame.
After Fig. 7 moves the two-dimensional scan frame, order mould electromagnetic horn move angle theory is calculated schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
As depicted in figs. 1 and 2, a kind of electric axis optical calibrating system of satellite-borne microwave pointing radar, comprise the radar test subsystem, demarcate subsystem, radar installations, target simulation subsystem; The target simulation subsystem comprises target simulation source 41, two-dimentional test table 42, the two-dimentional test table controller 43, the two-dimensional scan frame 44 that are connected with two-dimentional test table 42 and is arranged on the order mould electromagnetic horn 45 on two-dimensional scan frame 44; The radar test subsystem comprises testing apparatus 11 and oscillograph 12; Oscillograph 12 is connected with testing apparatus 11; Radar installations, order mould electromagnetic horn 45 and testing apparatus 11 are connected with target simulation source 41 respectively;
Demarcate data processing unit (T-LINK) 22, laser tracker 23, the first transit 24, the second transit 25 and the 3rd transit 26 that subsystem comprises multi-channel data acquisition device 21 and is connected with multi-channel data acquisition device 21 respectively; The first transit 24, the second transit 25 and the 3rd transit 26 are arranged between radar installations and two-dimensional scan frame 44.Radar installations comprises signal transmitting and receiving processing components 31, mechanism controls device 32, driving mechanism supporting base 33, is arranged on the driving mechanism 34 of driving mechanism supporting base 33 middle parts and is arranged on the radar antenna 35 on driving mechanism 34; Testing apparatus 11, mechanism controls device 32 and radar antenna 35 and target simulation source 41 are connected with signal transmitting and receiving processing components 31 respectively; Mechanism controls device 32 is connected with driving mechanism 34; Driving mechanism 34 base planes are provided with the first prism square 341; Radar antenna 35 is provided with the second prism square 351.
As shown in Figure 3, a kind of scaling method of the system of the electric axis optical calibrating for above-mentioned satellite-borne microwave pointing radar, this scaling method at least comprises following steps:
Step 1, the installation accuracy of demarcating radar antenna 35 and driving mechanism 34;
Step 1.1, determine the coordinate system of the first prism square 341;
Step 1.1.1, by the first transit 24 and the first prism square 341 autocollimations, direction of collimation is (if radar antenna 35 stops the sight line of the first transit perpendicular to driving mechanism 34 base planes, can, by radar antenna 35 rotations to a side, after also can measuring, radar antenna 35 be installed);
Step 1.1.2, determine the X of the first prism square 341
aaxle, utilize the second transit 25 and the 3rd transit 26 to measure the first transit 24 and the first prism square 341, makes the first transit 24 and the first prism square 341 be parallel to the workplace cross curve center three-dimensional coordinate of driving mechanism 34 base planes;
Step 1.1.3, repeating step 1.1.2 obtain the Y of the first prism square 341
aaxle;
Step 1.1.4, determine the coordinate system of the first prism square 341 according to right-hand screw rule;
Step 1.2, determine that the coordinate system of the first prism square 341 points to the sensing consistent (if can not adjust prism square, can record the sensing deviation, then measurement result be revised accordingly) that is with radar fix;
Step 1.2.1, the gauge head of laser tracker 23 is placed into to radar antenna 35 center;
Step 1.2.2, driving mechanism 34 pitch orientation work and azimuth direction zero setting position, the movement locus of the gauge head of laser tracker 23 is as shown in Figure 4;
Step 1.2.3, data processing unit 22 obtain the pitch orientation of driving mechanism 34, in like manner obtain the azimuth direction of driving mechanism 34;
Step 1.2.4, adjust the first prism square 341, make the Y of the first prism square 341
aaxle and Z
aaxle is consistent with pitch orientation and the azimuth direction of driving mechanism 34 respectively;
Step 1.3, use step 1.1.1 to the method in 1.1.4, determine the coordinate system of the second prism square 351;
Step 1.4, adjust radar antenna 35, make the X of the second prism square 351 coordinate systems
bthe X of axle and the first prism square 341 coordinate systems
aaxle is parallel, guarantees that the high precision of radar antenna 35 is installed.
Step 2, the consistance of demarcating radar electric axis 5 and radar antenna mechanical axis 6;
Step 2.1, adjust driving mechanism supporting base 33 and two-dimentional test table 42, make the Y of the first prism square 341
aaxle is parallel to the earth surface level (transit 24, the second transit 25 and the 3rd transit 26 are adjusted to vertically surface level greatly according to surveyor's staff and placed);
Step 2.2, driving mechanism 34 base planes and order are touched to electromagnetic horn 45 two dimensional motion plane keeping parallelisms;
Step 2.2.1, the gauge head of laser tracker 23 is placed on order mould electromagnetic horn 45;
Step 2.2.2, motion two-dimensional scan frame 44, make the gauge head of laser tracker 23 in the vertical direction with on horizontal direction motion all be arranged;
Step 2.2.3, laser tracker 23 are measured the two dimensional motion plane of order mould electromagnetic horn 45, obtain plane equation ax+by+cz+d=0;
Step 2.2.4, the gauge head of laser tracker 23 is placed on respectively to any 4 points up and down (if sight line is blocked, can select the plane of driving mechanism supporting base 33) of driving mechanism 34 base planes;
Step 2.2.5, laser tracker 23 are measured the coordinate of 4, and data processing unit 22 calculates the distance of every bit to order mould electromagnetic horn 45 two dimensional motion planes, as an A
0(x
0, y
0, z
0) to the distance on plane, be d
0=| ax
0+ by
0+ cz
0+ d|, a, b, c, d normalization in formula;
Step 2.2.6, adjust respectively two-dimentional test table 42 on pitch orientation and azimuth direction, make 4 distances to order mould electromagnetic horn 45 two dimensional motion planes equate;
Step 2.3, use the method for step 1.2.1 to step 1.2.4, utilize laser tracker 23 to measure driving mechanism 35 rotation center O
qthree-dimensional coordinate;
Step 2.4, order mould electromagnetic horn 45 is placed on the straight line at radar antenna 35 mechanical axis places (coordinate system of radargrammetry coordinate system and laser tracker 23 is inconsistent);
Step 2.4.1, move horizontally two-dimensional scan frame 44, record the three-dimensional coordinate of order mould electromagnetic horn 45 any two position A, B on two-dimensional scan frame 44 horizontal directions, 2 of A, B and driving mechanism 34 rotation center O
qpoint forms a triangle;
Step 2.4.2, as shown in Figure 5, asked for summit O according to the triangle Perpendicular Line Theorem
qhorizontal level P perpendicular to the some P on two-dimensional scan frame 44 two dimensional motion planes
1;
Step 2.4.3, in the laser tracker coordinate system, according to A point, B point, P
1the coordinate of point is obtained A P
1apart from l
1, B P
1apart from l
2,
Step 2.4.4, by order mould electromagnetic horn 45 from the A point to the mobile l of B point
1, or from the B point to the mobile l of A point
2, i.e. order mould electromagnetic horn 45 center and P
1point overlaps;
Step 2.4.5, ask for P point position P in vertical direction
2;
Step 2.4.6, order mould electromagnetic horn 45 center is moved to the P point;
Step 2.5, determine that the angular deviation of radar electric axis 5 and radar antenna mechanical axis 6 is calibration result;
Step 2.5.1, open radar, by driving mechanism 34 position of making zero, mould electromagnetic horn 45 discharges the target simulation echoed signals;
Step 2.5.2, radar lock on, record target azimuth angle and the luffing angle of radargrammetry on testing apparatus 11 after stable reading;
Step 2.5.3, change radar frequency of operation, the orientation angles of radargrammetry target and luffing angle;
Step 2.5.4, in the horizontal direction with vertical direction mobile two-dimensional scan frame 44 respectively;
Step 2.5.5, calculate the angle of order mould electromagnetic horn 45 with respect to radar movable;
Step 2.5.6, read the line of sight angle of radargrammetry;
Step 2.5.7, as shown in Figure 6, contrasted order mould electromagnetic horn 45 with respect to the angle of radar movable and the line of sight angle of radargrammetry, obtain the angular deviation of radar electric axis 5 and radar antenna mechanical axis 6;
Step 2.5.8, repeatedly measure after statistics obtain calibration result.
Step 3, according to calibration result, radar is calibrated, or the radargrammetry result is revised, or, by coordinate system rotation, calibration result is transformed in the coordinate system of the first prism square 341.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. the electric axis optical calibrating system of a satellite-borne microwave pointing radar, is characterized in that, comprises: radar test subsystem, demarcation subsystem, radar installations, target simulation subsystem;
Described target simulation subsystem comprises target simulation source (41), two-dimentional test table (42), the two-dimentional test table controller (43) be connected with two-dimentional test table (42), two-dimensional scan frame (44) and is arranged on the order mould electromagnetic horn (45) on two-dimensional scan frame (44);
Described radar test subsystem comprises testing apparatus (11) and oscillograph (12);
Described oscillograph (12) is connected with testing apparatus (11);
Described radar installations, order mould electromagnetic horn (45) and testing apparatus (11) are connected with target simulation source (41) respectively;
Described demarcation subsystem comprises multi-channel data acquisition device (21) and the data processing unit (22) be connected with multi-channel data acquisition device (21) respectively, laser tracker (23), the first transit (24), the second transit (25) and the 3rd transit (26);
Described the first transit (24), the second transit (25) and the 3rd transit (26) are arranged between radar installations and two-dimensional scan frame (44).
2. electric axis optical calibrating system as claimed in claim 1, it is characterized in that, described radar installations comprises signal transmitting and receiving processing components (31), mechanism controls device (32), driving mechanism supporting base (33), is arranged on the driving mechanism (34) of driving mechanism supporting base (33) middle part and is arranged on the radar antenna (35) on driving mechanism (34);
Described testing apparatus (11), mechanism controls device (32) and radar antenna (35) and target simulation source (41) are connected with signal transmitting and receiving processing components (31) respectively;
Described mechanism controls device (32) is connected with driving mechanism (34);
Described driving mechanism (34) base plane is provided with the first prism square (341);
Described radar antenna (35) is provided with the second prism square (351).
3. the scaling method of the system of the electric axis optical calibrating for above-mentioned satellite-borne microwave pointing radar, is characterized in that, at least comprises following steps:
Step 1, the installation accuracy of demarcating radar antenna (35) and driving mechanism (34);
Step 2, the consistance of demarcating radar electric axis and radar antenna (35) mechanical axis;
Step 3, according to calibration result, radar is calibrated, or the radargrammetry result is revised, or, by coordinate system rotation, calibration result is transformed in the coordinate system of the first prism square (341).
4. electric axis optical calibrating method as claimed in claim 3, is characterized in that, described step 1 also comprises following steps:
Step 1.1, determine the coordinate system of the first prism square (341);
Step 1.2, that the coordinate system of determining the first prism square (341) points to the sensing that is with radar fix is consistent;
Step 1.3, determine the coordinate system of the second prism square (351);
Step 1.4, adjust radar antenna (35), make the X of the second prism square (351) coordinate system
bthe X of axle and the first prism square (341) coordinate system
aaxle is parallel, guarantees that the high precision of radar antenna (35) is installed.
5. electric axis optical calibrating method as claimed in claim 4, is characterized in that, described step 1.1 also comprises following steps:
Step 1.1.1, by the first transit (24) and the first prism square (341) autocollimation, direction of collimation is perpendicular to driving mechanism (34) base plane;
Step 1.1.2, determine the X of the first prism square (341)
aaxle, utilize the second transit (25) and the 3rd transit (26) to measure the first transit (24) and the first prism square (341), make the first transit (341) and the first prism square (341) be parallel to the workplace cross curve center three-dimensional coordinate of driving mechanism (34) base plane;
Step 1.1.3, repeating step 1.1.2 obtain the Y of the first prism square (341)
aaxle;
Step 1.1.4, determine the coordinate system of the first prism square (341) according to right-hand screw rule.
6. electric axis optical calibrating method as claimed in claim 4, is characterized in that, described step 1.2 also comprises following steps:
Step 1.2.1, the gauge head of laser tracker (23) is placed into to the center of radar antenna (35);
Step 1.2.2, driving mechanism (34) pitch orientation work and azimuth direction zero setting position;
Step 1.2.3, data processing unit (22) obtain pitch orientation and the azimuth direction of driving mechanism (34);
Step 1.2.4, adjust the first prism square (341), make the Y of the first prism square (341)
aaxle and Z
aaxle is consistent with pitch orientation and the azimuth direction of driving mechanism (34) respectively.
7. electric axis optical calibrating method as claimed in claim 3, is characterized in that, described step 2 also comprises following steps:
Step 2.1, adjust driving mechanism supporting base (33) and two-dimentional test table (42), make the Y of the first prism square (341)
aaxle is parallel to the earth surface level;
Step 2.2, driving mechanism (34) base plane and order are touched to electromagnetic horn (45) two dimensional motion plane keeping parallelism;
Step 2.3, utilize laser tracker (23) to measure driving mechanism (34) rotation center O
qthree-dimensional coordinate;
Step 2.4, order mould electromagnetic horn (45) is placed on the straight line at radar antenna (35) mechanical axis place;
Step 2.5, determine that the angular deviation of radar electric axis and radar antenna mechanical axis is calibration result.
8. electric axis optical calibrating method as claimed in claim 7, is characterized in that, described step 2.2 also comprises following steps:
Step 2.2.1, the gauge head of laser tracker (23) is placed on order mould electromagnetic horn (45);
Step 2.2.2, motion two-dimensional scan frame (44), make the gauge head of laser tracker (23) in the vertical direction with on horizontal direction motion all be arranged;
The two dimensional motion plane that step 2.2.3, laser tracker (23) are measured order mould electromagnetic horn (45);
Step 2.2.4, the gauge head of laser tracker (23) is placed on respectively to any 4 points up and down of driving mechanism (34) base plane;
Step 2.2.5, laser tracker (23) are measured the coordinate of 4, and data processing unit (22) calculates the distance of every bit to order mould electromagnetic horn (45) two dimensional motion plane;
Step 2.2.6, adjust respectively two-dimentional test table (42) on pitch orientation and azimuth direction, make 4 distances to order mould electromagnetic horn (45) two dimensional motion plane equate.
9. electric axis optical calibrating method as claimed in claim 7, is characterized in that, described step 2.4 also comprises following steps:
Step 2.4.1, move horizontally two-dimensional scan frame (44), record the three-dimensional coordinate of order mould electromagnetic horn (45) any two position A, B on two-dimensional scan frame (44) horizontal direction, 2 of A, B and driving mechanism (34) rotation center O
qpoint forms a triangle;
Step 2.4.2, according to the triangle Perpendicular Line Theorem, asked for summit O
qhorizontal level P perpendicular to the some P on two-dimensional scan frame (44) two dimensional motion plane
1;
Step 2.4.3, in the laser tracker coordinate system, according to A point, B point, P
1the coordinate of point is obtained A P
1apart from l
1, B P
1apart from l
2,
Step 2.4.4, by order mould electromagnetic horn (45) from the A point to the mobile l of B point
1, or from the B point to the mobile l of A point
2, i.e. center and the P of order mould electromagnetic horn (45)
1point overlaps;
Step 2.4.5, ask for P point position P in vertical direction
2;
Step 2.4.6, the center of order mould electromagnetic horn (45) is moved to the P point.
10. electric axis optical calibrating method as claimed in claim 7, is characterized in that, described step 2.5 also comprises following steps:
Step 2.5.1, open radar, by driving mechanism (34) position of making zero, mould electromagnetic horn (45) discharges the target simulation echoed signal;
Step 2.5.2, radar lock on, record target azimuth angle and the luffing angle of the upper radargrammetry of testing apparatus (11) after stable reading;
Step 2.5.3, change radar frequency of operation, the orientation angles of radargrammetry target and luffing angle;
Step 2.5.4, in the horizontal direction with vertical direction mobile two-dimensional scan frame (44) respectively;
Step 2.5.5, calculate the angle of order mould electromagnetic horn (45) with respect to radar movable;
Step 2.5.6, read the line of sight angle of radargrammetry;
Step 2.5.7, order mould electromagnetic horn (45) is contrasted with respect to the angle of radar movable and the line of sight angle of radargrammetry, obtained the angular deviation of radar electric axis and radar antenna mechanical axis;
Step 2.5.8, repeatedly measure after statistics obtain calibration result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310414744.3A CN103454619B (en) | 2013-09-12 | 2013-09-12 | Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310414744.3A CN103454619B (en) | 2013-09-12 | 2013-09-12 | Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103454619A true CN103454619A (en) | 2013-12-18 |
| CN103454619B CN103454619B (en) | 2014-11-05 |
Family
ID=49737195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310414744.3A Expired - Fee Related CN103454619B (en) | 2013-09-12 | 2013-09-12 | Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103454619B (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926419A (en) * | 2014-03-27 | 2014-07-16 | 中国科学院长春光学精密机械与物理研究所 | Television/laser dual-mode tracking angular rate accuracy detection device |
| CN103983954A (en) * | 2014-05-05 | 2014-08-13 | 上海新跃仪表厂 | Error compensation system and method for radar tracking high-precision ground test |
| CN104459646A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Moon tracking photoelectricity deviation detecting method |
| CN104567681A (en) * | 2015-01-08 | 2015-04-29 | 航天东方红卫星有限公司 | Precise measurement method for satellite precise benchmark truss structure device |
| CN105676005A (en) * | 2016-01-20 | 2016-06-15 | 北京理工大学 | 1mm-frequency-band compact antenna test range system |
| CN106093918A (en) * | 2016-08-23 | 2016-11-09 | 中国电子科技集团公司第四十研究所 | The triggering pulse outgoing position error correction system and method for gantry dynamic test |
| CN106501783A (en) * | 2016-09-22 | 2017-03-15 | 西安空间无线电技术研究所 | A kind of spacecrafts rendezvous microwave radar angle measurement performance system error calibration system and method |
| CN106597393A (en) * | 2016-12-02 | 2017-04-26 | 上海无线电设备研究所 | Spaceborne microwave optical compound tracking and pointing radar on-orbit calibration system and method |
| CN106767677A (en) * | 2015-12-22 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | A kind of measuring method for microwave guiding device orientation angle inspection |
| CN107015065A (en) * | 2017-03-21 | 2017-08-04 | 北京空间飞行器总体设计部 | The far field combined calibrating method of narrow beam antenna electric axis, phase center and time delay |
| CN107576326A (en) * | 2017-08-21 | 2018-01-12 | 中国科学院长春光学精密机械与物理研究所 | Suitable for the star tracking method of high motor-driven carrier |
| CN107976204A (en) * | 2017-08-30 | 2018-05-01 | 中国科学院上海技术物理研究所 | A kind of scaling method of spaceborne two-dimensional pointing mechanism substar |
| CN107991657A (en) * | 2016-10-27 | 2018-05-04 | 北京遥感设备研究所 | A kind of wave beam for dualbeam antenna feeder is to Barebone |
| CN108287968A (en) * | 2018-01-29 | 2018-07-17 | 广东曼克维通信科技有限公司 | Calculate the method, apparatus and system of antenna aperture and the scanning support depth of parallelism |
| CN108583934A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | Survey of deep space large aperture antenna based on erecting by overhang calibrates ground system test |
| CN109100693A (en) * | 2018-09-30 | 2018-12-28 | 上海机电工程研究所 | A kind of semi-physical emulation platform and method of wide-band radar system |
| CN109239682A (en) * | 2018-03-23 | 2019-01-18 | 北京遥感设备研究所 | A kind of external calibration system and method for quantitative measurment radar system |
| CN109343015A (en) * | 2018-11-28 | 2019-02-15 | 中国空空导弹研究院 | A kind of caliberating device and scaling method that guidance radar mechanical axis is aligned with electric axis |
| CN109631826A (en) * | 2018-12-29 | 2019-04-16 | 航天东方红卫星有限公司 | A kind of satellite automated accuracy checking method |
| CN109633577A (en) * | 2018-11-30 | 2019-04-16 | 上海无线电设备研究所 | A kind of test method and device of missile-borne phased-array radar two dimension S curve |
| CN109633575A (en) * | 2018-10-26 | 2019-04-16 | 上海无线电设备研究所 | A kind of three axis calibration systems and method of satellite-borne microwave optics composite radar |
| CN109828246A (en) * | 2018-07-27 | 2019-05-31 | 零八一电子集团有限公司 | The method that debugging security radar equipment calibration installs calibration with user |
| CN110286359A (en) * | 2019-07-19 | 2019-09-27 | 武汉华之洋科技有限公司 | A kind of radar test turntable with the comprehensive medium gatherer of photoelectricity liquid |
| CN111175583A (en) * | 2020-01-10 | 2020-05-19 | 中国电子科技集团公司第十四研究所 | High-speed high-precision desktop type small near-field tester |
| CN111562565A (en) * | 2020-05-29 | 2020-08-21 | 北京环境特性研究所 | Method for testing distance measurement power of pulse laser distance measuring machine |
| CN111896923A (en) * | 2020-08-07 | 2020-11-06 | 华域汽车系统股份有限公司 | Vehicle-mounted radar multi-target independent simulation device and method |
| CN112698318A (en) * | 2020-12-10 | 2021-04-23 | 上海航天电子有限公司 | Radar parameter comprehensive measurement system and measurement method |
| CN113374042A (en) * | 2021-06-22 | 2021-09-10 | 重庆德方信息技术有限公司 | Health monitoring closestool based on radar location automatic acquisition urine |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
| CN115372911A (en) * | 2022-08-30 | 2022-11-22 | 中国船舶集团有限公司第七二三研究所 | Virtual scene and real test platform space position mapping conversion method |
| CN117723849A (en) * | 2024-02-07 | 2024-03-19 | 长光卫星技术股份有限公司 | Space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6329952B1 (en) * | 1999-02-17 | 2001-12-11 | Anritsu Company | Automobile radar antenna alignment system using transponder and lasers |
| CN101101332A (en) * | 2007-06-05 | 2008-01-09 | 长春理工大学 | CCD laser theodolite dynamic radar calibration method |
| CN102854497A (en) * | 2011-11-03 | 2013-01-02 | 中国人民解放军海军航空仪器计量站 | Method for zero calibration of radar antenna |
-
2013
- 2013-09-12 CN CN201310414744.3A patent/CN103454619B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6329952B1 (en) * | 1999-02-17 | 2001-12-11 | Anritsu Company | Automobile radar antenna alignment system using transponder and lasers |
| CN101101332A (en) * | 2007-06-05 | 2008-01-09 | 长春理工大学 | CCD laser theodolite dynamic radar calibration method |
| CN102854497A (en) * | 2011-11-03 | 2013-01-02 | 中国人民解放军海军航空仪器计量站 | Method for zero calibration of radar antenna |
Non-Patent Citations (1)
| Title |
|---|
| 雷五成: "跟踪雷达轴系校准和修正", 《火控雷达技术》 * |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926419A (en) * | 2014-03-27 | 2014-07-16 | 中国科学院长春光学精密机械与物理研究所 | Television/laser dual-mode tracking angular rate accuracy detection device |
| CN103983954A (en) * | 2014-05-05 | 2014-08-13 | 上海新跃仪表厂 | Error compensation system and method for radar tracking high-precision ground test |
| CN103983954B (en) * | 2014-05-05 | 2016-05-11 | 上海新跃仪表厂 | For error compensation system and the method for the test of radar pointing Ground Nuclear Magnetic Resonance |
| CN104459646B (en) * | 2014-11-14 | 2017-04-12 | 中国人民解放军63680部队 | Moon tracking photoelectricity deviation detecting method |
| CN104459646A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Moon tracking photoelectricity deviation detecting method |
| CN104567681A (en) * | 2015-01-08 | 2015-04-29 | 航天东方红卫星有限公司 | Precise measurement method for satellite precise benchmark truss structure device |
| CN106767677A (en) * | 2015-12-22 | 2017-05-31 | 中国电子科技集团公司第二十研究所 | A kind of measuring method for microwave guiding device orientation angle inspection |
| CN105676005A (en) * | 2016-01-20 | 2016-06-15 | 北京理工大学 | 1mm-frequency-band compact antenna test range system |
| CN105676005B (en) * | 2016-01-20 | 2018-06-29 | 北京理工大学 | A kind of 1mm frequency ranges tighten field system |
| CN106093918A (en) * | 2016-08-23 | 2016-11-09 | 中国电子科技集团公司第四十研究所 | The triggering pulse outgoing position error correction system and method for gantry dynamic test |
| CN106093918B (en) * | 2016-08-23 | 2018-05-25 | 中国电子科技集团公司第四十一研究所 | The trigger pulse outgoing position error correction system and method for scanning support dynamic test |
| CN106501783A (en) * | 2016-09-22 | 2017-03-15 | 西安空间无线电技术研究所 | A kind of spacecrafts rendezvous microwave radar angle measurement performance system error calibration system and method |
| CN106501783B (en) * | 2016-09-22 | 2019-02-19 | 西安空间无线电技术研究所 | A kind of spacecrafts rendezvous microwave radar angle measurement performance system error calibration system and method |
| CN107991657A (en) * | 2016-10-27 | 2018-05-04 | 北京遥感设备研究所 | A kind of wave beam for dualbeam antenna feeder is to Barebone |
| CN107991657B (en) * | 2016-10-27 | 2021-04-09 | 北京遥感设备研究所 | Beam alignment system for dual-beam antenna feeder |
| CN106597393A (en) * | 2016-12-02 | 2017-04-26 | 上海无线电设备研究所 | Spaceborne microwave optical compound tracking and pointing radar on-orbit calibration system and method |
| CN106597393B (en) * | 2016-12-02 | 2019-06-14 | 上海无线电设备研究所 | A kind of compound pointing radar on-orbit calibration system and method for satellite-borne microwave optics |
| CN107015065A (en) * | 2017-03-21 | 2017-08-04 | 北京空间飞行器总体设计部 | The far field combined calibrating method of narrow beam antenna electric axis, phase center and time delay |
| CN107576326A (en) * | 2017-08-21 | 2018-01-12 | 中国科学院长春光学精密机械与物理研究所 | Suitable for the star tracking method of high motor-driven carrier |
| CN107576326B (en) * | 2017-08-21 | 2020-05-05 | 中国科学院长春光学精密机械与物理研究所 | Star tracking method suitable for high mobility carrier |
| CN107976204B (en) * | 2017-08-30 | 2021-04-09 | 中国科学院上海技术物理研究所 | Calibration method for satellite-borne two-dimensional pointing mechanism satellite-borne point |
| CN107976204A (en) * | 2017-08-30 | 2018-05-01 | 中国科学院上海技术物理研究所 | A kind of scaling method of spaceborne two-dimensional pointing mechanism substar |
| CN108287968B (en) * | 2018-01-29 | 2021-09-10 | 广东曼克维通信科技有限公司 | Method, device and system for measuring and calculating parallelism of antenna aperture and scanning frame |
| CN108287968A (en) * | 2018-01-29 | 2018-07-17 | 广东曼克维通信科技有限公司 | Calculate the method, apparatus and system of antenna aperture and the scanning support depth of parallelism |
| CN108583934A (en) * | 2018-03-12 | 2018-09-28 | 上海卫星工程研究所 | Survey of deep space large aperture antenna based on erecting by overhang calibrates ground system test |
| CN109239682A (en) * | 2018-03-23 | 2019-01-18 | 北京遥感设备研究所 | A kind of external calibration system and method for quantitative measurment radar system |
| CN109828246B (en) * | 2018-07-27 | 2023-11-21 | 零八一电子集团有限公司 | Method for debugging security radar calibration and user ground installation calibration |
| CN109828246A (en) * | 2018-07-27 | 2019-05-31 | 零八一电子集团有限公司 | The method that debugging security radar equipment calibration installs calibration with user |
| CN109100693A (en) * | 2018-09-30 | 2018-12-28 | 上海机电工程研究所 | A kind of semi-physical emulation platform and method of wide-band radar system |
| CN109633575A (en) * | 2018-10-26 | 2019-04-16 | 上海无线电设备研究所 | A kind of three axis calibration systems and method of satellite-borne microwave optics composite radar |
| CN109633575B (en) * | 2018-10-26 | 2020-07-31 | 上海无线电设备研究所 | Three-axis calibration system and method for satellite-borne microwave optical composite radar |
| CN109343015A (en) * | 2018-11-28 | 2019-02-15 | 中国空空导弹研究院 | A kind of caliberating device and scaling method that guidance radar mechanical axis is aligned with electric axis |
| CN109633577A (en) * | 2018-11-30 | 2019-04-16 | 上海无线电设备研究所 | A kind of test method and device of missile-borne phased-array radar two dimension S curve |
| CN109631826B (en) * | 2018-12-29 | 2021-02-09 | 航天东方红卫星有限公司 | Satellite automation precision detection method |
| CN109631826A (en) * | 2018-12-29 | 2019-04-16 | 航天东方红卫星有限公司 | A kind of satellite automated accuracy checking method |
| CN110286359A (en) * | 2019-07-19 | 2019-09-27 | 武汉华之洋科技有限公司 | A kind of radar test turntable with the comprehensive medium gatherer of photoelectricity liquid |
| CN110286359B (en) * | 2019-07-19 | 2024-03-01 | 武汉华之洋科技有限公司 | Radar test rotary table with photoelectric liquid comprehensive medium leading-in device |
| CN111175583A (en) * | 2020-01-10 | 2020-05-19 | 中国电子科技集团公司第十四研究所 | High-speed high-precision desktop type small near-field tester |
| CN111562565A (en) * | 2020-05-29 | 2020-08-21 | 北京环境特性研究所 | Method for testing distance measurement power of pulse laser distance measuring machine |
| CN111562565B (en) * | 2020-05-29 | 2022-06-17 | 北京环境特性研究所 | Method for testing distance measurement power of pulse laser distance measuring machine |
| CN111896923A (en) * | 2020-08-07 | 2020-11-06 | 华域汽车系统股份有限公司 | Vehicle-mounted radar multi-target independent simulation device and method |
| CN112698318A (en) * | 2020-12-10 | 2021-04-23 | 上海航天电子有限公司 | Radar parameter comprehensive measurement system and measurement method |
| CN113374042A (en) * | 2021-06-22 | 2021-09-10 | 重庆德方信息技术有限公司 | Health monitoring closestool based on radar location automatic acquisition urine |
| CN114061537A (en) * | 2021-10-26 | 2022-02-18 | 西安电子工程研究所 | Device and method for calibrating positioning accuracy of radar rotary table by adopting electronic theodolite |
| CN114061537B (en) * | 2021-10-26 | 2023-08-29 | 西安电子工程研究所 | Device and method for calibrating radar turntable setting precision by adopting electronic theodolite |
| CN115372911A (en) * | 2022-08-30 | 2022-11-22 | 中国船舶集团有限公司第七二三研究所 | Virtual scene and real test platform space position mapping conversion method |
| CN117723849A (en) * | 2024-02-07 | 2024-03-19 | 长光卫星技术股份有限公司 | Space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium |
| CN117723849B (en) * | 2024-02-07 | 2024-04-26 | 长光卫星技术股份有限公司 | Space two-dimensional high-frequency antenna pointing precision ground calibration method, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103454619B (en) | 2014-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103454619B (en) | Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof | |
| CN103292748B (en) | A kind of split of many substrates based on laser measurement detection method | |
| CN103697824B (en) | For the system calibrating method of the gauge head of coordinate measuring machine | |
| CN107782240B (en) | Two-dimensional laser scanner calibration method, system and device | |
| CN103323855B (en) | A kind of precision acquisition methods of baseline dynamic measurement system | |
| CN101655343B (en) | Target, base and reference meter for calibrating spatial coordinate measuring system of electronic theodolite | |
| CN108051835B (en) | Inclination measuring device based on double antennas and measuring and lofting method | |
| Huang et al. | Accurate 3-D position and orientation method for indoor mobile robot navigation based on photoelectric scanning | |
| CN101799271B (en) | Method for obtaining camera calibration point under large viewing field condition | |
| CN108020728B (en) | A kind of test method for radome boresight error | |
| CN107727118B (en) | Method for calibrating GNC subsystem equipment attitude measurement system in large aircraft | |
| CN103791868A (en) | Space calibrating body and method based on virtual ball | |
| CN109633575A (en) | A kind of three axis calibration systems and method of satellite-borne microwave optics composite radar | |
| CN104457688A (en) | High-precision automatic measurement device for batch equipment attitude angle matrix on satellite | |
| CN100363712C (en) | Equipment used for space position precise measurement | |
| CN107991691B (en) | Satellite navigation positioning accuracy verification equipment and method | |
| CN107588929B (en) | Calibration method and calibrator for spherical screen projection/tracking system | |
| CN204831274U (en) | Portable competent poor measurement bay and measuring device | |
| CN104535974A (en) | Boresight device of airplane radar system and using method of boresight device | |
| CN207528248U (en) | A kind of spaceborne two-dimensional pointing mechanism angle measurement accuracy detection device | |
| Zheng et al. | Study on the calibration method of USBL system based on ray tracing | |
| CN107991684B (en) | GNC subsystem equipment attitude measurement system in large aircraft | |
| CN108489396B (en) | A kind of two dimension turn top accuracy checking method | |
| CN105466455A (en) | Angular accuracy calibration system and method | |
| CN115493617B (en) | Laser tracking attitude angle field precision evaluation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141105 Termination date: 20210912 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |