CN103925842B - Electro-optic theodolite is utilized to measure method and the device of Tank Gun Barrel spatial direction - Google Patents

Abstract

Electro-optic theodolite is utilized to measure method and the device of Tank Gun Barrel spatial direction, belong to technical field of electro-optical measurement, in order to obtain the high-accuracy spatial direction of Tank Gun Barrel axis quickly and accurately, gun tube is arranged on tank, tank upper surface has three characteristic point a, b, c, gun tube has two characteristic point d, e, five characteristic points all can become image clearly in the intersection visual field of the first electro-optic theodolite with the second electro-optic theodolite; Time terminal both provided synchronization pulse and temporal information for the first electro-optic theodolite, again for the second electro-optic theodolite provides synchronization pulse and temporal information; Central computer had both received the encoder data of the first electro-optic theodolite and the miss distance of characteristic point, receive again the encoder data of the second electro-optic theodolite and the miss distance of characteristic point, its intersection after data processing goes out the positional information of characteristic point, and then obtain the vector of barrel axis vector, tank chassis and vertical plane thereof, the spatial direction of gun tube can be calculated.

Description

Electro-optic theodolite is utilized to measure method and the device of Tank Gun Barrel spatial direction

Technical field

The present invention relates to utilize the gun tube of electro-optic theodolite determination tank relative to the azimuth on its chassis and the measuring method of the angle of site and and device, belong to technical field of electro-optical measurement.

Background technology

Tank, as the important prominent anti-strength of modern war, not only requires that firepower is powerful, and must possess high hit rate, effectively could eliminate enemy and preserve oneself.And the orientation accuracy of the hit rate of tank gun tube when depending on tank firing, be therefore necessary the spatial direction measuring barrel axis, namely measure azimuth and the angle of site of gun tube and tank chassis.Conventional method is with the object hung at a distance for benchmark, directly measures the corner of gun tube for certain benchmark, and then determines its orientation accuracy.The method proposes high requirement to the stability of reference data, and does not consider the elastic deformation of gun tube, causes orientation accuracy lower.

Summary of the invention

In order to obtain the high-accuracy spatial direction of Tank Gun Barrel axis quickly and accurately, make up the deficiency of traditional measurement method, the present invention proposes to utilize electro-optic theodolite to measure method and the device of Tank Gun Barrel spatial direction.

Technical scheme of the present invention is, utilizes electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, comprises the following steps,

Step one: select two characteristic point a, b at tank afterbody upper surface edge, selects characteristic point c at characteristic point b homonymy, makes the plane of characteristic point a, b, c composition parallel with tank chassis; Tank Gun Barrel is selected two endless belt d, e having certain distance;

Step 2: lay two electro-optic theodolites in the proceeds posterolateral of tank, the known O of its coordinate _j(x _j, y _j, z _j) j=1,2, the two in a distance, and the characteristic point selected by step one becomes image clearly in each theodolite visual field;

Step 3: leveling two electro-optic theodolites, received the synchronization pulse of time terminal by serial line interface, the two follows the tracks of the characteristic point of tank simultaneously, and acquisition time information and encoder data, the miss distance of extract minutiae;

Step 4: central computer passes through the miss distance of serial line interface received code device data and characteristic point, obtains the relative electro-optic theodolite O of characteristic point after synthesis _jreal angle (the α of (j=1,2) _ji, λ _ji) i=a, b, c, d, e, in conjunction with the positional information of theodolite, utilize following formula

$\left\{\begin{array}{c}{m}_{1i}=\cos {\mathrm{\α}}_{1i}(x_1-x_2)+\mathrm{tg}{\mathrm{\λ}}_{1i}(y_1-y_2)+\sin {\mathrm{\α}}_{1i}(z_1-z_2)\\ m_{2i}=\cos {\mathrm{\α}}_{2i}(x_2-x_1)+\mathrm{tg}{\mathrm{\λ}}_{2i}(y_2-y_1)+\sin {\mathrm{\α}}_{2i}(z_2-z_1)\\ K_i={(\cos ({\mathrm{\α}}_{2i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})}^2-{\sec }^2{\mathrm{\λ}}_{1i}{\sec }^2{\mathrm{\λ}}_{2i}\\ l_{1i}=\frac{m_{2i}(\cos ({\mathrm{\α}}_{1i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})+m_{1i}{\sec }^2{\mathrm{\λ}}_{2i}}{K_i}\\ l_{2i}=\frac{m_{1i}(\cos ({\mathrm{\α}}_{1i}-{\mathrm{\α}}_{2i})+\mathrm{tg}{\mathrm{\λ}}_{1i}\mathrm{tg}{\mathrm{\λ}}_{2i})+m_{2i}{\sec }^2{\mathrm{\λ}}_{1i}}{K_i}\\ x_i=0.5(x_{1i}+l_{1i}\cos {\mathrm{\α}}_{1i}+x_{2i}+l_{2i}\cos {\mathrm{\α}}_{2i})\\ y_i=0.5(y_{1i}+l_{1i}\mathrm{tg}{\mathrm{\λ}}_{1i}+y_{2i}+l_{2i}\mathrm{tg}{\mathrm{\λ}}_{2i})\\ z_i=0.5(z_{1i}+l_{1i}\sin {\mathrm{\α}}_{1i}+z_{2i}+l_{2i}\sin {\mathrm{\α}}_{2i})\end{array}\right.$ ①

Intersection calculation goes out the locus (x of tank characteristic point _i, y _i, z _i);

Step 5: central computer determines the direction vector of barrel axis according to characteristic point d, e $\stackrel{\→}{\mathrm{de}}=(x_e-x_d,y_e-y_d,z_e-z_d),$ A, b, c is relied on to obtain $\stackrel{\→}{\mathrm{ab}}=(x_b-x_a,y_b-y_a,z_b-z_a),$ determine that the normal vector of tank chassis is and the normal vector of tank chassis vertical plane is , solve respectively so the angle of site of barrel axis and tank chassis is E, the angle of the vertical plane of barrel axis and tank chassis is azimuth A:

$\left\{\begin{array}{cc}E=p& \\ A=q& q\&GreaterEqual;0\\ A=2\mathrm{\&pi;}+q& q<0\end{array}\right.$ ②。

The measurement device that the method utilizing electro-optic theodolite to measure Tank Gun Barrel spatial direction is applied,

Gun tube is arranged on tank, and tank upper surface has three characteristic point a, b, c, gun tube has two characteristic point d, e, and above-mentioned characteristic point all can become image clearly in the intersection visual field of the first electro-optic theodolite with the second electro-optic theodolite;

Time terminal by serial line interface for the first electro-optic theodolite provides synchronization pulse and temporal information; Time terminal by serial line interface for the second electro-optic theodolite provides synchronization pulse and temporal information;

Central computer receives the encoder data of the first electro-optic theodolite and the miss distance of characteristic point by serial line interface; Central computer receives the encoder data of the second electro-optic theodolite and the miss distance of characteristic point by serial line interface; Central computer intersection after data processing goes out the positional information of characteristic point, and then obtains the vector of barrel axis vector, tank chassis and vertical plane thereof, can calculate the spatial direction of gun tube.

The invention has the beneficial effects as follows: under the effect of time terminal, electro-optic theodolite is utilized to follow the tracks of selected tank and the characteristic point of gun tube, the miss distance of extract minutiae, the angle-data of the relative electro-optic theodolite of characteristic point is obtained after synthesizing with encoder data, in conjunction with the positional information of electro-optic theodolite, intersection goes out the positional information of characteristic point, solves the vector of barrel axis vector, tank chassis and vertical plane thereof, thus determines the angle of site and the azimuth of gun tube and tank chassis.The method is simple, certainty of measurement is high, can be used for the production of Tank Gun Barrel and debugs, and also can be used for analyzing the reason that gun tube produces orientation error.

Accompanying drawing explanation

Fig. 1: the present invention utilizes electro-optic theodolite to measure the structural representation of the method device for performing measurements of Tank Gun Barrel spatial direction.

Fig. 2: the present invention utilizes electro-optic theodolite to measure the workflow diagram of the method for Tank Gun Barrel spatial direction.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further details.

As shown in Figure 1, the present invention utilizes electro-optic theodolite to measure the method device for performing measurements of Tank Gun Barrel spatial direction, and time terminal 3 relies on serial line interface 5 to connect the first electro-optic theodolite 1, and time terminal 3 relies on serial line interface 6 to connect the second electro-optic theodolite 2; Central computer 4 relies on serial line interface 7 to connect the first electro-optic theodolite 1, and central computer 4 relies on serial line interface 8 to connect the second electro-optic theodolite 2.

Get three characteristic point a, b, c at tank 9 upper surface, gun tube 10 is got endless belt d, e as characteristic point, above-mentioned characteristic point all can become image clearly in the first electro-optic theodolite 1 with the intersection visual field of the second electro-optic theodolite 2.

Time terminal 3 by serial line interface 5 for the first electro-optic theodolite 1 provides synchronization pulse and temporal information; Time terminal 3 by serial line interface 6 for the second electro-optic theodolite 2 provides synchronization pulse and temporal information.

Central computer 4 receives the encoder data of the first electro-optic theodolite 1 and the miss distance of characteristic point by serial line interface 7; Central computer 4 receives the encoder data of the second electro-optic theodolite 2 and the miss distance of characteristic point by serial line interface 8; Central computer 4 intersection after data processing goes out the positional information of characteristic point, and then obtains the vector of gun tube 10 axis vector, tank chassis and vertical plane thereof, can calculate the spatial direction of gun tube 10.

As shown in Figure 2, utilize electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, implementation step is as follows:

Step one, shown in Fig. 1, selects two characteristic point a, b at the afterbody upper surface edge of the tank 9 of band gun tube 10, selects characteristic point c at characteristic point b homonymy, makes the plane of characteristic point a, b, c composition parallel with tank chassis; The gun tube 10 of tank selects two and has endless belt d, e of certain distance as characteristic point;

Step 2, lays the first electro-optic theodolite 1 and the second electro-optic theodolite 2 in the proceeds posterolateral of tank 9, the coordinate O of known two theodolites _j(x _j, y _j, z _j) (j=1,2), the two in a distance, and the characteristic point selected by step one becomes image clearly in the first electro-optic theodolite 1 with the second electro-optic theodolite 2 visual field;

Step 3, leveling first electro-optic theodolite 1 and the second electro-optic theodolite 2, first electro-optic theodolite 1 receives the synchronization pulse of time terminal 3 by serial line interface 5, electro-optic theodolite 2 receives the synchronization pulse of time terminal 3 by serial line interface 6, the two follows the tracks of characteristic point a, b, c, d and e of tank simultaneously, and acquisition time information and encoder data, extract the miss distance of five characteristic points;

Step 4, central computer 4 receives the encoder data of the first electro-optic theodolite 1 and the miss distance of characteristic point by serial line interface 7, obtains azimuth and the angle of site (α of relative first electro-optic theodolite 1 of characteristic point i after synthesis _1i, λ _1i) i=a, b, c, d, e; Central computer 4 receives the encoder data of the second electro-optic theodolite 2 and the miss distance of characteristic point by serial line interface 8, obtains azimuth and the angle of site (α of relative second electro-optic theodolite 2 of characteristic point i after synthesis _2i, λ _2i) i=a, b, c, d, e; In conjunction with the positional information of theodolite, utilize formula 1. intersection calculation go out the locus (x of tank characteristic point _i, y _i, z _i);

$\left\{\begin{array}{c}{m}_{1i}=\cos {\mathrm{\&alpha;}}_{1i}(x_1-x_2)+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}(y_1-y_2)+\sin {\mathrm{\&alpha;}}_{1i}(z_1-z_2)\\ m_{2i}=\cos {\mathrm{\&alpha;}}_{2i}(x_2-x_1)+\mathrm{tg}{\mathrm{\&lambda;}}_{2i}(y_2-y_1)+\sin {\mathrm{\&alpha;}}_{2i}(z_2-z_1)\\ K_i={(\cos ({\mathrm{\&alpha;}}_{2i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})}^2-{\sec }^2{\mathrm{\&lambda;}}_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}\\ l_{1i}=\frac{m_{2i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{1i}{\sec }^2{\mathrm{\&lambda;}}_{2i}}{K_i}\\ l_{2i}=\frac{m_{1i}(\cos ({\mathrm{\&alpha;}}_{1i}-{\mathrm{\&alpha;}}_{2i})+\mathrm{tg}{\mathrm{\&lambda;}}_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})+m_{2i}{\sec }^2{\mathrm{\&lambda;}}_{1i}}{K_i}\\ x_i=0.5(x_{1i}+l_{1i}\cos {\mathrm{\&alpha;}}_{1i}+x_{2i}+l_{2i}\cos {\mathrm{\&alpha;}}_{2i})\\ y_i=0.5(y_{1i}+l_{1i}\mathrm{tg}{\mathrm{\&lambda;}}_{1i}+y_{2i}+l_{2i}\mathrm{tg}{\mathrm{\&lambda;}}_{2i})\\ z_i=0.5(z_{1i}+l_{1i}\sin {\mathrm{\&alpha;}}_{1i}+z_{2i}+l_{2i}\sin {\mathrm{\&alpha;}}_{2i})\end{array}\right.$ ①

Wherein, m, K, l are intermediate variable.

Step 5, central computer 4 determines the direction vector of gun tube 10 axis according to characteristic point d, e $\stackrel{\&RightArrow;}{\mathrm{de}}=(x_e-x_d,y_e-y_d,z_e-z_d),$ A, b, c is relied on to obtain $\stackrel{\&RightArrow;}{\mathrm{ab}}=(x_b-x_a,y_b-y_a,z_b-z_a),$ determine that the normal vector on tank 9 chassis is and the normal vector of tank 9 chassis vertical plane is , solve respectively so, utilize formula 2. to try to achieve the spatial direction of gun tube 10 axis, angle of site E and azimuth A;

$\left\{\begin{array}{cc}E=p& \\ A=q& q\&GreaterEqual;0\\ A=2\mathrm{\&pi;}+q& q<0\end{array}\right.$ ②

Wherein, p, q are intermediate variable.

Claims (2)

1. utilize electro-optic theodolite to measure the method for Tank Gun Barrel spatial direction, it is characterized in that, the method comprises the following steps,

Step one, selects two characteristic point a, b at the afterbody upper surface edge of the tank (9) of band gun tube (10), selects characteristic point c at characteristic point b homonymy, makes the plane of characteristic point a, b, c composition parallel with tank chassis; Endless belt d, e of certain distance is had in the upper selection two of the gun tube (10) of tank;

Step 2, lays the first electro-optic theodolite (1) and the second electro-optic theodolite (2) in the proceeds posterolateral of tank (9), the known O of its coordinate _j(x _j, y _j, z _j), j=1,2, the two in a distance, and the characteristic point selected by step one becomes image clearly in the first electro-optic theodolite (1) with the second electro-optic theodolite (2) visual field;

Step 3, leveling first electro-optic theodolite (1) and the second electro-optic theodolite (2), first electro-optic theodolite (1) receives the synchronization pulse of time terminal (3) by the first serial line interface (5), second electro-optic theodolite (2) receives the synchronization pulse of time terminal (3) by the second serial line interface (6), the two follows the tracks of characteristic point a, b, c, d and e of tank simultaneously, and acquisition time information and encoder data, extract the miss distance of five characteristic points;

Step 4, central computer (4) receives the encoder data of the first electro-optic theodolite (1) and the miss distance of characteristic point by the 3rd serial line interface (7), obtains the real angle (α of relative first electro-optic theodolite (1) of characteristic point after synthesis _1i, λ _1i) i=a, b, c, d, e; Central computer (4) receives the encoder data of the second electro-optic theodolite (2) and the miss distance of characteristic point by the 4th serial line interface (8), obtains the real angle (α of relative second electro-optic theodolite (2) of characteristic point after synthesis _2i, λ _2i) i=a, b, c, d, e; In conjunction with the positional information of theodolite, utilize formula 1. intersection calculation go out the locus (x of tank characteristic point _i, y _i, z _i);

①；

Step 5, central computer (4) determines the direction vector of gun tube (10) axis according to characteristic point d, e a, b, c is relied on to obtain determine that the normal vector on tank (9) chassis is and the normal vector of tank (9) chassis vertical plane is solve respectively so utilize formula 2. to try to achieve the spatial direction of gun tube (10) axis, angle of site E and azimuth A;

②。

2. the measurement device utilizing the method for electro-optic theodolite measurement Tank Gun Barrel spatial direction to apply according to claim 1, is characterized in that,

Gun tube (10) is arranged on tank (9), tank (9) upper surface has three characteristic point a, b, c, gun tube has two characteristic point d, e, above-mentioned characteristic point all can become image clearly in the first electro-optic theodolite (1) with the intersection visual field of the second electro-optic theodolite (2);

Time terminal (3) is that the first electro-optic theodolite (1) provides synchronization pulse and temporal information by the first serial line interface (5); Time terminal (3) is that the second electro-optic theodolite (2) provides synchronization pulse and temporal information by the second serial line interface (6);

Central computer (4) receives the encoder data of the first electro-optic theodolite (1) and the miss distance of characteristic point by the 3rd serial line interface (7); Central computer (4) receives the encoder data of the second electro-optic theodolite (2) and the miss distance of characteristic point by the 4th serial line interface (8); Central computer (4) intersection after data processing goes out the positional information of characteristic point, and then obtain the vector of gun tube (10) axis vector, tank (9) chassis and vertical plane thereof, the spatial direction of gun tube (10) can be calculated.