CN103868528B - The measuring method of Range Photogrammetry equipment attitude measurement accuracy - Google Patents
The measuring method of Range Photogrammetry equipment attitude measurement accuracy Download PDFInfo
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- CN103868528B CN103868528B CN201410100646.7A CN201410100646A CN103868528B CN 103868528 B CN103868528 B CN 103868528B CN 201410100646 A CN201410100646 A CN 201410100646A CN 103868528 B CN103868528 B CN 103868528B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A kind of measuring method of Range Photogrammetry equipment attitude measurement accuracy, including: 1) determine simulated target；2) attitude plate is selected；3) attitude plate is arranged on collimator；4) collimator is fixed on tiltable truss；5) attitude plate central point is measured；6) simulated target is carried out multimetering；7) attitude of each simulated target is fitted；8) calculate attitude plate central point in tested attitude measurement equipment image planes as the distance of the picture to each simulated target；9) tested attitude measurement equipment carries out dynamic imaging to simulated target；10) inclination angle of each target picture obtained by tested attitude measurement equipment and the picture of attitude plate central point compare to the distance of each simulated target picture and the true value as the distance to each simulated target picture of the inclination angle of obtained each simulated target and attitude plate central point.The present invention can be the design of photogrammetry equipment and improve offer data foundation, improves measuring accuracy.
Description
Technical field
The invention belongs to Range Photogrammetry technical field, be specifically related to a kind of Range Photogrammetry equipment attitude measurement essence
The measuring method of degree, particularly relates to a kind of Indoor measurement side to attitude measurement equipment attitude measurement accuracies such as electro-optic theodolites
Method.
Background technology
Along with modern weapons equipment constantly develops to high accuracy, high maneuverability and high-intelligentization direction, do not require nothing more than target range
Optical measuring device has high accuracy, high resolution, high reliability and hard real-time in performance, and requires functionally to break through biography
The measurement pattern of the target " particle " of system, enters target as " three-dimensional " target with space three-dimensional geometry
Row processes, and expands as measuring object space three-dimensional parameter, such as taking off of guided missile, pitching in flight course, goes off course, rolls,
Reentering of guided missile, the drift of rocket, stage separation, booster drop-off, guided missile unhook attitude, terminal guidance when aircraft is launched a guided missile
Shell opens a position an attitude, and laser-guided bomb target seeker is measured with body angle etc..Measure and record flying of each moment target
Row track and 3 d pose information, it can be determined that the accuracy that target is entered the orbit or attacked, provide for various type designs and improvement
Foundation.Domestic multidigit scholar is studied with regard to target 3 d pose measuring method, and Yu Qifeng et al. is in " the National University of Defense technology
Report " 2000,22 (2), p15-19 has delivered " the axis collimation method determining the extraterrestrial target angle of pitch and yaw angle with light altimetric image ",
This article proposes the image that the optical measuring device such as a kind of cinetheodollite obtains and determines the pitching of the Space Axisymmetric targets such as rocket
Angle and the new method of yaw angle.Yu Qifeng et al., in " optical technology " 2002,28 (1), p77-82 has delivered " from single station flash ranging
Image determines extraterrestrial target 3 d pose ", this article makes full use of the geometry priori of extraterrestrial target, it is proposed that a kind of from single station
The method that the image that the optical measuring devices such as theodolite obtain determines the extraterrestrial target 3 d poses such as rocket.Peng Xiaodong et al. is at " photon
Journal " 2007,36 (3), p568-573 has delivered " ellipse of inertia method answering in single station flash ranging target 3 d pose is measured
With ", it is proposed that a kind of calculate its ellipse of inertia by the target image split in image, and according to this ellipse of inertia
The method extrapolating the spatial attitude angle of target.The research contents of above-mentioned document can be summarized as: how to utilize electro-optic theodolite etc.
Range Photogrammetry equipment obtains the attitude of the space flight target such as guided missile, rocket.
At present, the attitude measurement accuracy qualification of the Range Photogrammetry equipment such as electro-optic theodolite is generally carried out in target range, light
The identified attitude measurement equipment such as electro-theodolite set and other high-precision attitude are measured equipment and same target are carried out synchro measure,
The measurement result of electro-optic theodolite is its attitude measurement error with the difference of the measurement result that high-precision attitude measures equipment.But
It is that the attitude measurement equipment such as electro-optic theodolite needs to test each performance indications before dispatching from the factory, and indices is satisfied by technology
Require just can dispatch from the factory.The attitude measurement accuracy how evaluating the attitude measurement equipment such as electro-optic theodolite in laboratory accurately is
No qualified, just become a pendulum difficult problem in face of optical measuring apparatus development and tester.And existing document is retrieved
Finding, Li Xia et al., at " photon journal " 2007,36 (7), p1360-1363 has delivered " high speed video attitude measurement canyon
Internal object attitude-simulating is measured with demarcating ", it is proposed that a kind of use testing stand, collimator and graphic boards (are carved with different angle
The target groove of degree and crosshair) lab simulation infinity targeted attitude, with the High-precision theodolite infinity mesh to simulation
Mark attitude carries out demarcating, measurement result and the employing high speed video attitude measurement equipment measurement result ratio to lab simulation target
Relatively, so that it is determined that the test accuracy of High-speed TV measurement system attitude angle.Based on axis collimation method, survey with multiple measuring station intersections
In the method for amount targeted attitude, the key factor affecting attitude measurement accuracy has two: the slope of (1) target axis；(2) mesh
The intercept of mark axis.But, the method can only identify the slope error of the target picture that attitude measurement equipment obtains, it is impossible to identifies
The intercept error of the target picture that attitude measurement equipment obtains；Secondly, the infinity targeted attitude of simulation is demarcated by the method
Mathematical model derive under plane coordinate system, model is the most accurate；(3) through repeatedly verifying that discovery the method is to mould
The calibrated error intending targeted attitude is relatively big, the stated accuracy be given far below the document.Therefore, research optical attitude measures equipment
The method of testing of indoor attitude accuracy can be the design of photogrammetry equipment and improves offer data foundation, to photogrammetry
The performance improvement of equipment and the development of launching site TT&C system are significant.
Summary of the invention
In order to solve above-mentioned technical problem present in background technology, the invention provides a kind of to go out at attitude measurement equipment
In laboratory, the appraisal of its attitude measurement accuracy is completed, such that it is able to be design and the improvement of photogrammetry equipment before factory
There is provided data foundation, it is ensured that the attitude measurement accuracy of equipment meets the Range Photogrammetry equipment attitude measurement accuracy of mission requirements
Measuring method.
The technical solution of the present invention is: the invention provides a kind of Range Photogrammetry equipment attitude measurement accuracy
Measuring method, it is characterized in that and said method comprising the steps of:
1) the most tested attitude measurement equipment determines simulated target；
2) attitude plate is selected according to simulated target；
3) attitude plate is arranged on collimator, and makes attitude plate be positioned at collimator focal plane；
4) collimator is fixed on tiltable truss；
5) use high accuracy theodolite or electronic total station that attitude plate central point is measured, record appearance simultaneously
Azimuth pitch angle (the A of state plate central point0,E0)；
6) use high accuracy theodolite that simulated target is carried out multimetering, record each azimuth pitch angle measuring point simultaneously
(Ai,Ei), wherein, i=1,2,3 ..., n；
7) according to the azimuth pitch angle (A of attitude plate central point acquired in step 5)0,E0) and step 6) in obtained
Each azimuth pitch angle (A measuring point of the simulated target takeni,Ei) attitude of each simulated target is fitted, obtain each simulation
The true value at the inclination angle of target；
8) calculate attitude plate central point in tested attitude measurement equipment image planes as the distance of the picture to each simulated target；
9) tested attitude measurement equipment carries out dynamic imaging to simulated target, exports each target picture through image interpretation system
Inclination angle and attitude plate central point as to the distance of each simulated target picture；
10) by step 9) in the inclination angle of each target picture that obtains of tested attitude measurement equipment and the picture of attitude plate central point
The inclination angle of each simulated target obtained by distance and the step 7) and step 8) of each simulated target picture and attitude plate central point
As the true value of the distance to each simulated target picture compares, obtain the attitude measurement accuracy of attitude measurement equipment.
Above-mentioned steps 1) specific implementation be:
Service band according to tested attitude measurement equipment selects corresponding target simulation scheme, and optical measurement is commonly used in target range
Equipment is divided into visible optical measuring device and infrared optics to measure equipment.
Above-mentioned steps 2) specific implementation be:
Described attitude plate includes glass attitude plate and metal attitude plate；
On described attitude plate, the determination mode of the size of target is:
In formula:
The distance of R target, unit: m；
F ' collimator focal length, unit: mm；
The size of L measured target, unit: m；
Target size on l attitude plate, unit: mm.
Above-mentioned steps 5) specific implementation be:
Carry out accurate leveling with high accuracy theodolite or electronic total station, measure attitude plate center point coordinate,
Record its azimuth pitch angle for (A0,E0).
Above-mentioned steps 6) specific implementation be:
With high accuracy theodolite, each simulated target is carried out multimetering, determine according to target sizes and shape when measuring
It is to choose along the edge of target to measure point or measurement point is chosen in the axis along target；May select along target when target is narrower
Measurement point is chosen in axis, chooses measurement point when target is wider along object edge, and measure dot number is not less than 10, the survey chosen
Amount point is uniformly distributed in target.
Above-mentioned steps 7) specific implementation be:
7.1) coordinate (A is measured by attitude plate central point0,E0If) and target on choose do measured value (Ai,Ei), i=
1,2,3 ..., n, calculate each coordinate figure (x measuring some relative attitude plate central point according to below equationi,yi), i=1,2,3 ...,
n；
Vi=atan[tanEi/cos(Ai-A0)]-E0
xi=tan(Ai-A0)·cos(E0+Vi)·f'Take the photograph
yi=tanVi·f'Take the photograph
Wherein:
f'Take the photographThe focal length of video camera, unit: mm.
7.2) by method of least square single order multinomial model to step 7.1) obtained by (xi,yi) be fitted, obtain
Straight line, the slope of this straight line is the tangent value at the inclination angle of the axis of this target, and inclination angle is the pass representing this targeted attitude
Bond parameter.
Above-mentioned steps 8) specific implementation be:
Distance according to attitude plate central point to each target axis calculates attitude central point in attitude measurement equipment image planes
Distance as the axis to each target picture；Concrete calculation is:
In formula,
diIt it is the attitude plate central point distance to each target axis
di' it is the attitude central point picture distance to the axis of each target picture, unit: mm；
f'FlatThe focal length of collimator, unit: mm；
f'Take the photographThe focal length of video camera, unit: mm.
Above-mentioned steps 9) specific implementation be:
Tracking angular rate without degradation and tracking angle acceleration without degradation design sine according to tested attitude measurement equipment draw
Derived function, carries out sinusoidal guiding, makes tested attitude measurement equipment through collimator angular velocity tested attitude measurement equipment
Maximum, the video camera of attitude measurement equipment carries out dynamic imaging to each target, and the image of record object is sentenced through image interpretation system
Read the picture providing the inclination angle of target axis and the attitude plate central point distance to each simulated target picture, as attitude measurement equipment
Measured value.
Above-mentioned steps 10) specific implementation be:
The test result of attitude measurement equipment is compared with true value, obtains the attitude measurement accuracy of attitude measurement equipment,
Test result is shown with multiple target measurement mean square of error root tables；
In formula,
Δ θ, Δ d inclination angle and intercept measurement error；
θi',di' inclination angle and intercept measured value；
θi,diInclination angle and intercept true value；
M measures the number of target.
The invention has the beneficial effects as follows:
The invention provides the attitude measurement equipment attitude measurement accuracies such as a kind of indoor detection electro-optic theodolite device and
Method, has broken traditional limitation that just can complete accuracy evaluation in target range, has shortened the lead time of attitude measurement equipment,
Can be design and the improvement offer data foundation of photogrammetry equipment simultaneously, there is the strongest actual application value.
Accompanying drawing explanation
Fig. 1 attitude plate schematic diagram；
Fig. 2 tiltable truss schematic diagram；
Wherein:
1,2,3,4,5-simulated target；6-is provided with the collimator of attitude plate；7-tested attitude measurement equipment；8-ground
Ring；9-tiltable truss.
Detailed description of the invention
Below by way of specific embodiment, technical scheme is described in further detail.
In this example, the parameter of " attitude measurement equipment " is as follows: the focal length of camera system is 1000mm, service band be 3～
5 μm, measured target guided missile, a diameter of 3m, a length of 30m, operating distance is 8km.
Whole embodiment to implement process as follows
Step 1: determine that target simulator forms.
Service band according to tested attitude measurement equipment selects corresponding target simulation scheme, and optical measurement is commonly used in target range
Equipment, according to service band, can be divided into visible optical measuring device, infrared optics to measure equipment.Visible light optical measurement is set
Standby, target simulator consists of the following components: visible ray collimator, the attitude plate made by glass plate or foil,
Halogen light (or other visible light source).Measuring equipment for infrared optics, target simulator consists of the following components: infrared
Collimator, foil the attitude plate made, black matrix (or other source of infrared radiation).Because tested attitude measurement equipment
Service band is 3～5 μm, for medium-wave infrared.The service band of the collimator of target simulator should cover 3～5 μm, optional
Reflective parallel light pipe, no color differnece, service band width, also there is little, lightweight being easy to of size and set up.Scale copper selected by attitude plate
Make, the size and shape of the target simulated as required, scale copper is delineated correspondingly sized and size hole.Light source is selected
Source, face black matrix, its operating temperature should be greater than 100 DEG C, to ensure the intensity of signal.
Step 2: design attitude plate.
Attitude buttress can be divided into glass attitude plate and metal attitude plate according to its baseplate material.Glass attitude plate is generally used for can
Seeing the simulation of optical target, its manufacture method is, at the background area black coating color no-reflection coating of glass substrate, in target area without
Black coating, transparent area i.e. defines target.Metal attitude plate coordinates visible light source can simulate visual target, and infrared
Radiation source coordinates can simulate infrared target.Its manufacture method is, delineates the hole of definite shape on metal substrate, this hole printing opacity
Forming target, the light tight formation in other region background, metal basal board generally selects the preferable copper sheet of heat conductivity.
Delineating the hole of definite shape on scale copper, this hole printing opacity forms target, the light tight formation in other region background.
The shape of target and the determination of size on attitude plate:
Measured target guided missile may be considered axisymmetric, and the cross section along axis is rectangle, therefore, and the target on attitude plate
It is designed as rectangle.Testing, than the method for equivalence, the collimator simulation that indoor focal length is f'=1200mm according to size contracting.Quilt
Survey aimed dia is 3m, a length of 30m, and target is 8km with the distance of the system of measurement.
Then on attitude plate, the size in hole should be:
Target distribution on attitude plate:
At one round dot of Center of attitude plate, as target as the measuring basis of intercept, the axis of each target with
The distance at attitude plate center can accurately be measured with large tool microscope or three coordinate measuring machine, as true value.Many
Individual target is distributed on attitude plate at an angle, as it is shown in figure 1, in FIG, device includes simulated target 1, simulated target
2, simulated target 3, simulated target 4 and simulated target 5.Target is symmetrical in 60 ° of angles on attitude plate, to attitude plate center
Line space design be 5mm.
Step 3: attitude plate is arranged on collimator, and be located at collimator focal plane.
The optical measuring apparatus such as target range measured target such as guided missile, rocket, bomb generally distance electro-optic theodolite farther out, both
Between distance much larger than the focal length of electro-optic theodolite video camera, infinity target can be approximately.Accordingly, it would be desirable to will make
Attitude plate is accurately arranged on the focal plane of collimator, to simulate the measured target of infinity.
The distance of attitude measurement equipment and measurement target is from hundreds of rice to 8 kilometer, and this distance is much larger than attitude measurement equipment
The focal distance f of camera system '=1200mm, infinity target can be approximately.Accordingly, it would be desirable to the attitude plate made accurately is installed
On the focal plane of collimator, to simulate the measured target of infinity.
Step 4: collimator is fixed on tiltable truss.
The angle measurement accuracy of electro-optic theodolite is affected by factors such as sighting poor, trunnion axis tilt error, track frame deformation, surveys
Amount error increases with the increase of target pitch.Therefore, generally collimator is fixed on tiltable truss, passes through tiltable
Truss can conveniently adjust the angle of pitch of collimator institute simulated target.Tiltable truss schematic diagram as in figure 2 it is shown, in Fig. 2, device
Including be provided with the collimator 6 of attitude plate, tested attitude measurement equipment 7, basic ring 8 and tiltable truss 9.
Attitude measurement equipment is when measuring airbound target, and the azimuth of target and the angle of pitch are changes.Target
The angle of pitch be typically smaller than 65 °, the qualification of attitude measurement accuracy, also generally carry out at this approximate angle.But directional light in example
The angle of pitch of pipe about 30 °.
Step 5: with high accuracy theodolite, attitude plate central point is measured, record azimuth pitch angle (A0,E0).
High accuracy theodolite (or electronic total station) is carried out accurate leveling, measures attitude plate central point and sit
Mark, record its azimuth pitch angle for (0 ° 0 ' 0 ", 36 ° 18 ' 1.3 ").
Step 6: each simulated target is carried out multimetering with high accuracy theodolite, records each azimuth pitch angle measuring point
(Ai,Ei), i=1,2,3 ..., n.
With high accuracy theodolite, one of them simulated target is carried out multimetering, when measuring can according to target sizes and
Shape determines that the edge along target is chosen and measures point or measurement point is chosen in the axis along target.For improving certainty of measurement,
Generally may select when target is narrower and choose measurement point along target axis, choose measurement when target is wider along object edge
Point, measure dot number is generally higher than 10, and the measurement point chosen distribution in target should be tried one's best uniformly.Owing to target is relatively big, right
Axis is aimed at relatively difficult, and aims at edge relatively easy, uniformly chooses 10 and measures point, measure on the edge of target
Point azimuth pitch angle is shown in Table 1.
Point azimuth pitch angle measured by table 1
| Measure some sequence number | Azimuth A | Angle of pitch E |
| 1 | 0°15′40.0″ | 36°10′31.2″ |
| 2 | 0°16′15.6″ | 36°10′17.5″ |
| 3 | 0°16′47.4″ | 36°9′59.1″ |
| 4 | 0°17′14.6″ | 36°9′47.9″ |
| 5 | 0°17′45″ | 36°9′33.3″ |
| 6 | 0°18′32.7″ | 36°9′10.9″ |
| 7 | 0°19′5.9″ | 36°8′53.9″ |
| 8 | 0°19′42.3″ | 36°8′34.2″ |
| 9 | 0°20′30.0″ | 36°811.0″ |
| 10 | 0°20′50.9″ | 36°8′3.4″ |
Step 7: according to the accurate model derived, the attitude of each simulated target is fitted, obtains each simulated target
Attitude angle true value.
By attitude plate central point measure coordinate (0 ° 0 ' 0 ", 36 ° 18 ' 1.3 ") and if choose in target do measured value
(Ai,Ei), i=1,2,3 ..., n, calculate each coordinate figure measuring some relative attitude plate central point by model (10), (11), (12)
(xi,yi), i=1,2,3 ..., n.
Vi=atan[tanEi/cos(Ai-A0)]-E0(10)
xi=tan(Ai-A0)·cos(E0+Vi)·f'Take the photograph(11)
yi=tanVi·f'Take the photograph(12)
By method of least square single order multinomial model to (xi,yi) be fitted, straight line can be obtained, this straight line
Slope be the tangent value at inclination angle of axis of this target, experiment calculation, the inclination angle of this target axis is
39.6362 °, the precision at the inclination angle of the target axis that the measurement of the method obtains is 0.05 °.
Step 8: calculate each target picture distance to attitude central point picture.
Attitude plate central point is measured to the distance of each target axis by step 2, is designated as d=5mm.According to thing
In picture relation calculating attitude measurement equipment image planes, attitude central point picture is to the distance of the axis of target picture.
Step 9: tested attitude measurement equipment carries out dynamic imaging to simulated target, exports each mesh through image interpretation system
The mark inclination angle of picture and attitude plate central point picture are to the distance of each target picture.
Tracking angular rate without degradation and tracking angle acceleration without degradation design sine according to tested attitude measurement equipment draw
Derived function, carries out sinusoidal guiding so that it is maximum through collimator angular velocity, attitude measurement sets to tested attitude measurement equipment
Standby video camera carries out dynamic imaging to each target, the image of record object, provides target through image interpretation system interpretation afterwards
The inclination angle of axis and attitude plate central point picture are to the distance of each target picture, as the measured value of attitude measurement equipment.Tested appearance
It is 39.13 ° to the measurement result of target-angle that state measures equipment, and the distance of target axis to attitude plate center is 4.14mm.
Step 10: the test result of attitude measurement equipment compared with true value, obtains surveying the attitude of attitude measurement equipment
Accuracy of measurement, test result is shown with multiple target measurement mean square of error root tables.
Only measuring a target in this example, so being not related to root mean square calculating, tested attitude measurement sets
The difference of standby measurement result and calibration result is the measurement error of tested attitude measurement equipment.
In formula, Δ θ, Δ d inclination angle and intercept measurement error；
θi',di' inclination angle and intercept measured value；
θi,diInclination angle and intercept true value.
M measures the number of target.
Δθ=39.13-39.6362=-0.51°
Δd=4.14-4.167=-0.027mm。
Claims (9)
1. the measuring method of a Range Photogrammetry equipment attitude measurement accuracy, it is characterised in that: described method includes following
Step:
1) the most tested attitude measurement equipment determines simulated target；
2) attitude plate is selected according to simulated target；
3) attitude plate is arranged on collimator, and makes attitude plate be positioned at collimator focal plane；
4) collimator is fixed on tiltable truss；
5) use high accuracy theodolite or electronic total station that attitude plate central point is measured, simultaneously record attitude plate
Azimuth pitch angle (the A of central point0,E0)；
6) use high accuracy theodolite that simulated target is carried out multimetering, record each azimuth pitch angle (A measuring point simultaneouslyi,
Ei), wherein, i=1,2,3 ..., n；
7) according to step 5) in the azimuth pitch angle (A of acquired attitude plate central point0,E0) and step 6) in acquired
Each azimuth pitch angle (A measuring point of simulated targeti,Ei) attitude of each simulated target is fitted, obtain each simulated target
The true value at inclination angle；
8) calculate attitude plate central point in tested attitude measurement equipment image planes as the distance of the picture to each simulated target；
9) tested attitude measurement equipment carries out dynamic imaging to simulated target, exports inclining of each target picture through image interpretation system
The picture of angle and attitude plate central point is to the distance of each simulated target picture；
10) by step 9) in the inclination angle of each target picture that obtains of tested attitude measurement equipment and attitude plate central point as to each mould
Intend distance and the step 7 of target picture) and step 8) obtained by the inclination angle of each simulated target and attitude plate central point as to respectively
The true value of the distance of simulated target picture compares, and obtains the attitude measurement accuracy of tested attitude measurement equipment.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 1, it is characterised in that: step
Rapid 1) specific implementation is:
Service band according to tested attitude measurement equipment selects corresponding target simulation scheme, and optical measuring apparatus is commonly used in target range
It is divided into visible optical measuring device and infrared optics to measure equipment.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 2, it is characterised in that: step
Rapid 2) specific implementation is:
Described attitude plate includes glass attitude plate and metal attitude plate；
On described attitude plate, the determination mode of the size of target is:
In formula:
The distance of R target, unit: m；
F ' collimator focal length, unit: mm；
The size of L measured target, unit: m；
Target size on l attitude plate, unit: mm.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 3, it is characterised in that: step
Rapid 5) specific implementation is:
Carry out accurate leveling with high accuracy theodolite or electronic total station, measure attitude plate center point coordinate, record
Its azimuth pitch angle is (A0,E0)。
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 4, it is characterised in that: step
Rapid 6) specific implementation is:
With high accuracy theodolite, each simulated target is carried out multimetering, determine it is edge when measuring according to target sizes and shape
Measurement point is chosen at the edge of target or measurement point is chosen in the axis along target；May select along target axis when target is narrower
Line selection takes measurement point, chooses measurement point when target is wider along object edge, and measure dot number is not less than 10, the measurement point chosen
Target is uniformly distributed.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 5, it is characterised in that: step
Rapid 7) specific implementation is:
7.1) coordinate (A is measured by attitude plate central point0,E0If) and target on choose do measured value (Ai,Ei), i=1,2,
3 ..., n, calculate each coordinate figure (x measuring some relative attitude plate central point according to below equationi,yi), i=1,2,3 ..., n；
Vi=atan [tanEi/cos(Ai-A0)]-E0
xi=tan (Ai-A0)·cos(E0+Vi)·f'Take the photograph
yi=tanVi·f'Take the photograph
Wherein:
f'Take the photographThe focal length of video camera, unit: mm；
7.2) by method of least square single order multinomial model to step 7.1) obtained by (xi,yi) be fitted, obtain one
Straight line, the inclination angle of this straight line is the tangent value at the inclination angle of the axis of this target, and inclination angle is the crucial ginseng representing this targeted attitude
Number.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 6, it is characterised in that: step
Rapid 8) specific implementation is:
Distance according to attitude plate central point to each target axis calculates attitude central point in tested attitude measurement equipment image planes
Distance as the axis to each target picture；Concrete calculation is:
In formula,
diIt it is the attitude plate central point distance to each target axis
d′iIt is the attitude central point picture distance to the axis of each target picture, unit: mm；
f'FlatThe focal length of collimator, unit: mm；
f'Take the photographThe focal length of video camera, unit: mm.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 7, it is characterised in that: step
Rapid 9) specific implementation is:
Tracking angular rate without degradation and tracking angle acceleration without degradation design sine according to tested attitude measurement equipment guide letter
Number, carries out sinusoidal guiding to tested attitude measurement equipment, makes tested attitude measurement equipment maximum through collimator angular velocity,
The video camera of tested attitude measurement equipment carries out dynamic imaging to each target, and the image of record object is sentenced through image interpretation system
Read the picture providing the inclination angle of target axis and the attitude plate central point distance to each simulated target picture, as tested attitude measurement
The measured value of equipment.
The measuring method of Range Photogrammetry equipment attitude measurement accuracy the most according to claim 8, it is characterised in that: step
Rapid 10) specific implementation is:
The test result of tested attitude measurement equipment is compared with true value, obtains the attitude measurement essence of tested attitude measurement equipment
Degree, test result is shown with multiple target measurement mean square of error root tables；
In formula,
Δ θ, Δ d inclination angle and intercept measurement error；
θ′i,d′iInclination angle and intercept measured value；
θi,diInclination angle and intercept true value；
M measures the number of target.
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| CN104215258B (en) * | 2014-08-19 | 2017-02-15 | 中国科学院西安光学精密机械研究所 | Method and system for measuring precision of angle measurement of vehicle theodolite |
| CN106248105B (en) * | 2016-09-14 | 2023-04-11 | 中国科学院西安光学精密机械研究所 | Double-collimation tolerance calibration system of auto-collimation theodolite |
| CN113551639A (en) * | 2021-07-22 | 2021-10-26 | 中国人民解放军63921部队 | Measurement system and method for attitude measurement accuracy of attitude measurement device |
| CN114894047B (en) * | 2021-09-17 | 2023-10-03 | 中国人民解放军63875部队 | Optimization station distribution analysis method for intersection measurement of key section gestures of target range |
| CN114018108B (en) * | 2021-09-17 | 2023-03-28 | 中国人民解放军63875部队 | Single-station attitude processing method based on matching of linear vector direction and image length |
| CN114018213B (en) * | 2021-09-17 | 2023-06-20 | 中国人民解放军63875部队 | Single-station gesture processing precision determining method based on linear vector direction and length matching |
| CN114593725B (en) * | 2022-02-08 | 2023-12-01 | 中国电子科技集团公司第四十一研究所 | Tracking precision testing device and method for photoelectric tracker |
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