CN105135944A - Method for acquiring reference azimuth by rocket aiming system through automatic north finding via pendulum type north finder - Google Patents
Method for acquiring reference azimuth by rocket aiming system through automatic north finding via pendulum type north finder Download PDFInfo
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- CN105135944A CN105135944A CN201510537065.4A CN201510537065A CN105135944A CN 105135944 A CN105135944 A CN 105135944A CN 201510537065 A CN201510537065 A CN 201510537065A CN 105135944 A CN105135944 A CN 105135944A
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Abstract
The invention provides a method for acquiring reference azimuth by a rocket aiming system through automatic north finding via a pendulum type north finder. The method comprises the steps of preparing and measuring, wherein the step of preparing comprises the following processes: fixing the pendulum type north finder in an aiming room of a service tower, and fixing a right-angle prism to the top end of the pendulum type north finder; keeping the normal of the right-angle prism parallel to an aiming scale; starting the pendulum type north finder to find the north, wherein six accumulated valid north-finding data are averaged to obtain the average value which is treated as the earth north of the north finder, and an azimuth angle between the normal of the right-angle prism and the earth north is treated as the reference azimuth; determining sequential aiming points formed by a long transverse scribed line and a short longitudinal scribed line of the aiming scale; aligning an aiming instrument to the selected aiming point; the step of measuring comprises the following processes: measuring included angles of azimuth between each two among the pendulum type north finder, the right-angle prism and an inertial measurement prism, and converting into an initial azimuth angle of a rocket body. With the adoption of the method, the purpose of high-precision transmission of the azimuth reference can be reached, and the requirement on use of ground aiming equipment of a carrier rocket can be met.
Description
Technical field
The present invention designs a kind of photoelectric measurement method, particularly relates to a kind of azimuthal photoelectric measurement method.
Background technology
A new generation's rocket overall plan and the design of active service rocket there are differences.Require persistent surveillance rocket body sighting angle in the unmanned situation of launching site, until to launching time of ignition.Existing rocket sighting system cannot meet aiming at the need.
In practice, rocket is navigated by inertance element, inertance element device outer case assembling right-angle prism, i.e. rocket alignment prism (also claiming used group prism), before rocket takes off, by Ground-Aiming-Equipment, measure and calculate the orientation angle obtaining this right-angle prism normal plane and the earth north (N), ground aiming work can be completed.How recording launching the reference bearing aimed at and to be accurately delivered in the aiming on service tower fast and accurately, and to give Ground-Aiming-Equipment, is the aiming key technology needing new rocket overall plan to improve.
In service tower, with Ground-Aiming-Equipment, by launching, receiving aiming beam, the orientation angle of rocket alignment prism normal plane with the earth north is measured, and reference bearing data are passed to rocket control system, determine the aiming beam (namely aiming at optical axis) that sight device is launched and greatly northern orientation angle exactly.
(photoelectricity) pointing instrumentation can be used for accurate angle and measures, by collimating with the right-angle prism on north finder, carry out reference bearing and introduce function, the bookbinding of directive angle and photoelectricity alignment function can be completed, there is anti-light disturbance and export quick district signal and aiming symbol function, and the functions such as closed loop automation aiming can be realized together with rocket control system.
North finder right-angle prism can coordinate with light source and forms stable optical axis, and can be used as the laying reference of leaf sight, fast and easy establishes the operating position of pointing instrumentation.
Pendulum-type (gyro) north finder can on quiet pedestal round-the-clock automatic indicating position, what rely on the responsive rotational-angular velocity of the earth horizontal component of inertance element seeks northern function.
Summary of the invention
The object of this invention is to provide a kind of method that carrier rocket sighting system obtains reference bearing on launching service tower, utilize the solution of pendulum-type north finder automatically north seeking quick and precisely cannot record on higher service tower and transmit the technical problem of reference bearing.
Rocket sighting system of the present invention obtains the method for reference bearing by pendulum-type north finder automatically north seeking, and comprise preparation process and measuring process, wherein preparation process comprises:
Internal fixtion pendulum-type north finder between service tower aims at, is fixed with right-angle prism on pendulum-type north finder top;
The prism normal of the right-angle prism of pendulum-type north finder and leaf sight keeping parallelism;
Start pendulum-type north searching instrument, accumulate and effectively seek northern data for 6 times and try to achieve average as the earth north, right-angle prism normal and the azimuth greatly between north are reference bearing;
Determine the order aiming point that the horizontal groove of the length of leaf sight and short perpendicular groove are formed;
Pointing instrumentation is aimed at selected aiming point;
Record the azimuth between the right-angle prism of pendulum-type north finder, used group prism by pointing instrumentation, form the measuring process being scaled the initial orientation angle of rocket body.
Described measuring process comprises:
Aimed at the right-angle prism of pendulum-type north finder by pointing instrumentation, obtain reference bearing angle A
jz;
Aim at used group prism by pointing instrumentation, obtain collimation angle of deviation β;
The azimuth rotation angle α between the prism normal aiming at used group prism and right-angle prism is obtained by pointing instrumentation;
Reference bearing angle A
jzand the orientation angle theta between used group of prism, and the initial orientation angle A of used group prism
mzobtain according to following formula:
θ＝a+β…………………………………………………………………(2)。
Described leaf sight is made up of a long horizontal groove and several short perpendicular grooves, and each short perpendicular groove is exactly an aiming point with the perpendicular intersection of long horizontal groove, line width 0.5mm, perpendicular ruling span 50mm.
The right-angle prism plane of incidence length of described pendulum-type north finder is not less than 50mm, and width is not less than 30mm.
Rocket sighting system of the present invention all can reach the object of azimuth reference high accuracy transmission by the method for pendulum-type north finder automatically north seeking acquisition reference bearing (initial orientation angle), meets the instructions for use of carrier rocket Ground-Aiming-Equipment.
Accompanying drawing explanation
Fig. 1 is that rocket sighting system of the present invention is by utilizing pendulum-type north finder to obtain in pendulum-type north finder automatically north seeking acquisition reference bearing method and transmitting angular surveying schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
Shown in composition graphs 1, acquisition reference bearing of the present invention method mainly comprises following preparation process:
Internal fixtion pendulum-type north finder 03 between service tower aims at, be fixed with right-angle prism 02 on pendulum-type north finder top, the angle between right-angle prism normal and north finder sensitive axes is demarcated in advance;
Prism normal and leaf sight 04 keeping parallelism (substantially parallel) of right-angle prism 02;
Start pendulum-type north finder 03 and seek north, accumulate and effectively seek northern data for 6 times and try to achieve average as the earth north, this value is exactly that the earth of right-angle prism normal is northern;
Determine the order aiming point that the horizontal groove of the length of leaf sight and short perpendicular groove are formed;
Pointing instrumentation 05 and selected aiming point are to the heart;
Preparation process is concrete, and the measuring process that can optimize further provides the necessary physics reference basis of Quick Measurement and parameter angular transition, for the algorithm improving certainty of measurement further remains the mapping relations with geodetic azimuth.
Record the angle difference between right-angle prism 02, used group prism 01, geodetic azimuth by pointing instrumentation 05, form the measuring process being scaled the reference azimuth of rocket body.
Acquisition reference bearing of the present invention method mainly comprises following measuring process:
Aimed at the normal of right-angle prism 02 by pointing instrumentation 05, optical alignment, obtain angle-data and demarcate that verifying converts obtains reference bearing angle A with mapping
jz;
Aim at used group prism 01 by pointing instrumentation 05, obtain collimation angle of deviation β;
The azimuth rotation angle α between the prism normal aiming at used group prism 01 and right-angle prism 02 is obtained by pointing instrumentation 05;
Reference bearing angle A
jzand the orientation angle theta between used group of prism 01, and the initial orientation angle A of used group prism 01
mzobtain according to following formula:
θ＝a+β…………………………………………………………………(2)。
The method that rocket sighting system of the present invention obtains reference bearing by pendulum-type north finder automatically north seeking can realize superelevation certainty of measurement, and angular error is little, measures continuation good.Adopt this method, initial orientation angle fast mapping before rocket launching can be completed in plane quadrant data conversion and transmit.
The present invention obtains the leaf sight 04 used in reference bearing method and is made up of a long horizontal groove and several short perpendicular grooves, each short perpendicular groove is exactly an aiming point with the perpendicular intersection of long horizontal groove, line width 0.5mm, perpendicular ruling span 50mm, according to the quantity of the horizontal scribe length of concrete sighting scope determination leaf sight and aiming point.
Right-angle prism plane of incidence length is not less than 50mm, and width is not less than 30mm.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. rocket sighting system obtains the method for reference bearing by pendulum-type north finder automatically north seeking, and comprise preparation process and measuring process, wherein preparation process comprises:
Internal fixtion pendulum-type north finder (03) between service tower aims at, is fixed with right-angle prism (02) on pendulum-type north finder top;
The prism normal of the right-angle prism (02) of pendulum-type north finder and leaf sight (04) keeping parallelism;
Start pendulum-type north finder (03) and seek north, accumulate and effectively seek northern data for 6 times and try to achieve average as the earth north, the azimuth between right-angle prism (02) normal and greatly north is reference bearing;
Determine the order aiming point that the horizontal groove of the length of leaf sight and short perpendicular groove are formed;
Pointing instrumentation (05) is aimed at selected aiming point;
Record the azimuth between the right-angle prism (02) of pendulum-type north finder, used group prism (01) by pointing instrumentation (05), form the measuring process being scaled the initial orientation angle of rocket body.
2. rocket sighting system obtains reference bearing method by pendulum-type north finder as claimed in claim 1, it is characterized in that: described measuring process comprises:
Aimed at the right-angle prism (02) of pendulum-type north finder by pointing instrumentation (05), obtain reference bearing angle A
jz;
Aim at used group prism (01) by pointing instrumentation (05), obtain collimation angle of deviation β;
The azimuth rotation angle α between the prism normal aiming at used group prism (01) and right-angle prism (02) is obtained by pointing instrumentation (05);
Reference bearing angle A
jzand the orientation angle theta between used group of prism (01), and the initial orientation angle A of used group prism (01)
mzobtain according to following formula:
θ＝a+β…………………………………………………………………(2)。
3. rocket sighting system obtains reference bearing method by pendulum-type north finder as claimed in claim 2, it is characterized in that: described leaf sight (04) is made up of a long horizontal groove and several short perpendicular grooves, each short perpendicular groove is exactly an aiming point with the perpendicular intersection of long horizontal groove, line width 0.5mm, perpendicular ruling span 50mm.
4. rocket sighting system obtains reference bearing method by pendulum-type north finder as claimed in claim 3, it is characterized in that: the right-angle prism plane of incidence length of described pendulum-type north finder is not less than 50mm, and width is not less than 30mm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510537065.4A CN105135944B (en) | 2015-08-27 | 2015-08-27 | The method that rocket sighting system obtains reference bearing by pendulum-type north finder automatically north seeking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510537065.4A CN105135944B (en) | 2015-08-27 | 2015-08-27 | The method that rocket sighting system obtains reference bearing by pendulum-type north finder automatically north seeking |
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| CN105135944A true CN105135944A (en) | 2015-12-09 |
| CN105135944B CN105135944B (en) | 2016-12-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141282A (en) * | 2020-01-09 | 2020-05-12 | 北京航天发射技术研究所 | Positioning and aiming control method and device based on godson processor positioning and aiming computer |
| CN112146681A (en) * | 2020-09-12 | 2020-12-29 | 中国运载火箭技术研究院 | Method and device for testing installation error of inertial group prism and computer storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4444086A (en) * | 1981-12-23 | 1984-04-24 | The United States Of America As Represented By The Secretary Of The Army | Missile azimuth aiming apparatus |
| US4495850A (en) * | 1982-08-26 | 1985-01-29 | The United States Of America As Represented By The Secretary Of The Army | Azimuth transfer scheme for a strapdown Inertial Measurement Unit |
| CN2752796Y (en) * | 2004-11-05 | 2006-01-18 | 深圳市金凯进光电仪器有限公司 | Charged hand wheel structure of telescope |
| CN102661738A (en) * | 2012-05-23 | 2012-09-12 | 北京理工大学 | Meridian orientating device for aiming inertial system |
-
2015
- 2015-08-27 CN CN201510537065.4A patent/CN105135944B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4444086A (en) * | 1981-12-23 | 1984-04-24 | The United States Of America As Represented By The Secretary Of The Army | Missile azimuth aiming apparatus |
| US4495850A (en) * | 1982-08-26 | 1985-01-29 | The United States Of America As Represented By The Secretary Of The Army | Azimuth transfer scheme for a strapdown Inertial Measurement Unit |
| CN2752796Y (en) * | 2004-11-05 | 2006-01-18 | 深圳市金凯进光电仪器有限公司 | Charged hand wheel structure of telescope |
| CN102661738A (en) * | 2012-05-23 | 2012-09-12 | 北京理工大学 | Meridian orientating device for aiming inertial system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111141282A (en) * | 2020-01-09 | 2020-05-12 | 北京航天发射技术研究所 | Positioning and aiming control method and device based on godson processor positioning and aiming computer |
| CN111141282B (en) * | 2020-01-09 | 2023-07-14 | 北京航天发射技术研究所 | Positioning aiming control method and device based on Loongson processor aiming computer |
| CN112146681A (en) * | 2020-09-12 | 2020-12-29 | 中国运载火箭技术研究院 | Method and device for testing installation error of inertial group prism and computer storage medium |
| CN112146681B (en) * | 2020-09-12 | 2023-03-10 | 中国运载火箭技术研究院 | Method and device for testing installation error of inertial group prism and computer storage medium |
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| CN105135944B (en) | 2016-12-07 |
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