CN103454619B - 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 PDF

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CN103454619B
CN103454619B CN201310414744.3A CN201310414744A CN103454619B CN 103454619 B CN103454619 B CN 103454619B CN 201310414744 A CN201310414744 A CN 201310414744A CN 103454619 B CN103454619 B CN 103454619B
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radar
driving
coordinate
prism square
electromagnetic horn
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CN103454619A (en
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江利中
吉峰
李雁斌
黄勇
邹波
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Shanghai Radio Equipment Research Institute
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Shanghai Radio Equipment Research Institute
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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

A kind of electric axis optical calibrating system and scaling method thereof of satellite-borne microwave pointing radar
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 ensures 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, guarantee spaceborne radar to spacecraft provide accurately, reliable target information.For reaching this object, must demarcate the consistance of installation accuracy, radar electric axis and the antenna mechanical axis of radar antenna and driving mechanism.
Radar electric axis is defined as the poor lobe zero point of radar antenna and points to; Antenna mechanical axis is defined as by the axis of antenna aperture planar central vertical bore plane; The demarcation of radar, refers under defined terms, the process of utilizing specialized equipment to measure some parameter of radar.The demarcation of tradition radar (as ground radar) and calibration steps are comparatively ripe, the method is all mainly to utilize optical sight (or television telescope) in external field environment, to measure the information of target, and the target information then recording with radar is compared demarcation and the calibration of carrying out radar.But, complex structure little for mechanical dimension, have the satellite-borne microwave pointing radar of high precision and high reliability request, optical sight (prism square is generally installed) is installed in inconvenience in 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, spaceborne radar test is all carried out in Compact Range (microwave dark room), and external field environment humiture is difficult to ensure.Therefore, need to be 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 a calibration system of 6 electronic theodolites compositions, in Compact Range, complete the demarcation of intersection docking microwave radar.Intersection docking microwave radar is made up 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 compare with the information of radargrammetry 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 needs to utilize calibration system to remeasure its coordinate system to the prism square in 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, conventionally carry out simulated target echoed signal with target simulator, on target simulator (being generally electromagnetic horn), be not easy to install prism square, even if install, be also difficult to ensure installation accuracy.Therefore the scaling method that, this document provides cannot 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, realize the contactless demarcation 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 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 target simulation source respectively;
Described demarcation subsystem comprises multi-channel data acquisition device and the data processing unit being connected with 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 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.
For a scaling method for the electric axis optical calibrating system of above-mentioned satellite-borne microwave pointing radar, it is characterized in that, at least comprise 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 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, determine the first prism square coordinate system point to radar fix be sensing 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 driving mechanism base plane;
Step 1.1.2, determine the X of the first prism square aaxle, utilizes 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 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 all have motion in the vertical direction with in horizontal direction;
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, on pitch orientation and azimuth direction, adjust respectively two-dimentional test table, 4 distances to order mould electromagnetic horn two dimensional motion plane are equated.
Described step 2.4 also comprises following steps:
Step 2.4.1, move horizontally two-dimensional scan frame, record the three-dimensional coordinate of order mould electromagnetic horn any two position A, B in two-dimensional scan frame horizontal direction, 2 of A, B and driving mechanism rotation center O qpoint forms a triangle;
Step 2.4.2, asked for summit O according to triangle Perpendicular Line Theorem qperpendicular to the horizontal level P of the some P of two-dimensional scan frame two dimensional motion plane 1;
Step 2.4.3, in laser tracker coordinate system, according to A point, B point, P 1the coordinate of point is obtained A P 1distance l 1, B P 1distance l 2,
Step 2.4.4, by order mould electromagnetic horn from A point to the mobile l of B point 1, or from 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 P point.
Described step 2.5 also comprises following steps:
Step 2.5.1, open radar, by the driving mechanism position of making zero, mould electromagnetic horn discharges target simulation echoed signal;
Step 2.5.2, radar lock on, record target azimuth angle and the luffing angle of radargrammetry in 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, obtain 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, meet the requirement of satellite-borne microwave pointing radar to environment for use humiture, cleanliness factor; The present invention adopts contactless optical instrument composition 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 prism square coordinate system, and can directly pass through rotation of coordinate, this deviation is transformed into space vehicle coordinates to be fastened, facilitate spacecraft to revise 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 is all connected to data processing unit by 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.
Brief description of the drawings
Fig. 1 is the one-piece construction schematic diagram of the electric axis optical calibrating system of a kind of satellite-borne microwave pointing of the present invention radar.
Fig. 2 is the radar test subsystem one-piece construction schematic diagram of the electric axis optical calibrating system of a kind of satellite-borne microwave pointing of the present invention radar.
Fig. 3 is the demarcation subsystem one-piece construction schematic diagram of the electric axis optical calibrating system of a kind of satellite-borne microwave pointing of the present invention radar.
Fig. 4 is the process flow diagram of the electric axis optical calibrating method of 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 two-dimensional scan frame.
After Fig. 7 moves 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, comprises radar test subsystem, demarcates subsystem, radar installations, target simulation subsystem; 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; 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 subsystem and comprise multi-channel data acquisition device 21 and the data processing unit (T-LINK) 22 being 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; 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 electric axis optical calibrating system 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, radar antenna 35 can be rotated to a side, after also can measuring, radar antenna 35 is being installed);
Step 1.1.2, determine the X of the first prism square 341 aaxle, utilizes 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 the first prism square 341 coordinate system point to radar fix be sensing consistent (if can not adjust prism square, can record sensing deviation, then measurement result be revised accordingly);
Step 1.2.1, the gauge head of laser tracker 23 is placed into 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 all have motion in the vertical direction with in horizontal direction;
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) be d to the distance of plane 0=| ax 0+ by 0+ cz 0+ d|, a, b, c, d normalization in formula;
Step 2.2.6, on pitch orientation and azimuth direction, adjust respectively two-dimentional test table 42,4 distances to order mould electromagnetic horn 45 two dimensional motion planes are equated;
Step 2.3, use the step 1.2.1 method 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 in 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 triangle Perpendicular Line Theorem qperpendicular to the horizontal level P of the some P of two-dimensional scan frame 44 two dimensional motion planes 1;
Step 2.4.3, in laser tracker coordinate system, according to A point, B point, P 1the coordinate of point is obtained A P 1distance l 1, B P 1distance l 2,
Step 2.4.4, by order mould electromagnetic horn 45 from A point to the mobile l of B point 1, or from 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 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 target simulation echoed signal;
Step 2.5.2, radar lock on, record target azimuth angle and the luffing angle of radargrammetry in 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, contrasts 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 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.Read after foregoing those skilled in the art, for multiple amendment of the present invention and substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (9)

1. an electric axis optical calibrating system for 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), 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);
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) being 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. a scaling method for electric axis optical calibrating system as claimed in claim 2, 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 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, by driving mechanism (34) base plane and order mould 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;
Step 3, according to calibration result, radar is calibrated, or 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, determine the first prism square (341) coordinate system point to radar fix be sensing 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 (24) 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 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 2.2 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) all have motion in the vertical direction with in horizontal direction;
Step 2.2.3, laser tracker (23) are measured the two dimensional motion plane of 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, on pitch orientation and azimuth direction, adjust respectively two-dimentional test table (42), 4 distances to order mould electromagnetic horn (45) two dimensional motion plane are equated.
8. 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 in 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, asked for summit O according to triangle Perpendicular Line Theorem qperpendicular to the horizontal level P of the some P of two-dimensional scan frame (44) two dimensional motion plane 1;
Step 2.4.3, in laser tracker coordinate system, according to A point, B point, P 1the coordinate of point is obtained A P 1distance l 1, B P 1distance l 2,
Step 2.4.4, by order mould electromagnetic horn (45) from A point to the mobile l of B point 1, or from 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 P point.
9. 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 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 order mould electromagnetic horn (45) with respect to the angle of 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, obtain the angular deviation of radar electric axis and radar antenna mechanical axis;
Step 2.5.8, repeatedly measure after statistics obtain calibration result.
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