CN105758428A - Calibration device and method for dynamic target dynamic deformation angle measurement error - Google Patents
Calibration device and method for dynamic target dynamic deformation angle measurement error Download PDFInfo
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- CN105758428A CN105758428A CN201610200816.8A CN201610200816A CN105758428A CN 105758428 A CN105758428 A CN 105758428A CN 201610200816 A CN201610200816 A CN 201610200816A CN 105758428 A CN105758428 A CN 105758428A
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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
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Abstract
The invention relates to a calibration device and method for a dynamic target dynamic deformation angle measurement error, and aims to solve the problem that a traditional calibration device and method are low in calibration accuracy.The calibration device comprises a dynamic target and an imaging device, the dynamic target is composed of an axial angle encoder, a light source, a collimator objective and a reflecting mirror, the imaging device comprises a first objective, a diffusion plate, a second objective and a CCD which are in sequential rigid connection through a lens cone, the diffusion plate is located on an image space focal plane of the first objective, and the CCD is located on the image plane of the second objective.Light emitted from a light source passes through the collimator objective and then is incident to the reflecting mirror, reflective beams of the reflecting mirror are incident to the imaging device, and the imaging device dynamically collects star point image coordinates of a dynamic target.The calibration method includes the following steps that 1, the dynamic target is calibrated in advance when in a static state; 2, the dynamic target is calibrated in real time when moving at specific angular speed; 3, the angular error is calculated.The calibration device and method have the advantage of being high in calibration precision.
Description
Technical field
The invention belongs to optical field, relate to caliberating device and the scaling method of a kind of target range dynamic target dynamic deformation angle error.
Background technology
Electro-optic theodolite is generally with more than two for group, it is arranged in first district, navigating area or target range, district, end, undertaking trajectory measurement task when Measure and control of missile, moonscope, conventional Weapon test, the tracking velocity of electro-optic theodolite, tracking accuracy and capture ability etc. to be generally simulated test at indoor dynamic target when dispatching from the factory.When test, dynamic target rotates with specific speed, and when rotating, dynamic target often produces the mechanical deformation of trace, and this mechanical deformation directly affects the stated accuracy of electro-optic theodolite.
Tradition scaling method carries out under dynamic target resting state, the Space Angle that when being in different locus by demarcating dynamic target, target exports, determine the geometric parameter of dynamic target, in combination with the shaft-position encoder reading on dynamic target rotating shaft, it is achieved the demarcation to dynamic target.This scaling method precision is relatively low.
Summary of the invention
The technical problem to be solved is to provide caliberating device and the scaling method of the high dynamic target dynamic deformation angle error of a kind of stated accuracy.
The technical scheme is that
The caliberating device of dynamic target dynamic deformation angle error, including dynamic target；Described dynamic target includes shaft-position encoder, light source and reflecting mirror；Light path between light source and reflecting mirror is provided with collimator objective；The rotating shaft of described shaft-position encoder overlaps with the rotating shaft of dynamic target；It is characterized in that and also includes imaging device；Described imaging device includes by lens barrel successively rigidly connected first object lens, diffusing panel, the second object lens and CCD；Described diffusing panel is positioned on the image space focal plane of the first object lens；Described CCD is positioned in the image planes of the second object lens；Inciding reflecting mirror after the collimated object lens collimation of light that light source sends, the reflection light beam of reflecting mirror incides on imaging device, imaging device gather the punctate opacity of the cornea of dynamic target as coordinate.
Above-mentioned caliberating device also includes controlling to analyze software, the angular error that when moving with specific angle speed for contrast conting dynamic target, the mechanical deformation of generation is introduced.
Based on the scaling method of the above-mentioned caliberating device stating dynamic target dynamic deformation angle error, it is characterized in that and comprises the following steps:
(1) it is demarcated when being in static state by dynamic target in advance
A, adjust imaging device position, make the optical axis of the first object lens and the rotating shaft coaxle of shaft-position encoder；
B, dynamic target is rested on specific location, and read the reading θ of now shaft-position encoder；Open light source and adjust the position of imaging device, enable the first object lens receive completely dynamic target in this position time output directional light；
C, imaging device gather the dynamic target punctate opacity of the cornea picture at described ad-hoc location: the directional light in step (1) B is through the imaging on diffusing panel of the first object lens, through the light of diffusing panel through the imaging on CCD of the second object lens, CCD picture signal is converted to punctate opacity of the cornea as coordinate (xθ,yθ), θ is the registration of shaft-position encoder；
(2) it is carried out real-time calibration when moving with specific angle speed by dynamic target
A, imaging device keep state in step (1) constant；
B, dynamic target is made to rotate with specific angular velocity；
C, imaging device Real-time Collection dynamic target punctate opacity of the cornea picture: collimated object lens collimation after output directional light through the imaging on diffusing panel of the first object lens, through the light of diffusing panel through the imaging on CCD of the second object lens, CCD the dynamic target picture signal in position is converted to corresponding punctate opacity of the cornea as coordinate (xθ',yθ'), θ is the registration of shaft-position encoder；
(3) angular error that the mechanical deformation of dynamic target is introduced is calculated
The angle that software extract real-time dynamic target rotates, the i.e. real-time registration θ of shaft-position encoder are analyzed in A, control；
B, the punctate opacity of the cornea controlling to analyze in software extract real-time above-mentioned steps (1) C are as coordinate (xθ,yθ) and step (2) C in punctate opacity of the cornea as coordinate (x 'θ,y′θ)；
C, control to analyze the data of software integrating step (3) A, B and calculate dynamic target and rotate with specific angle speed, when the registration of shaft-position encoder is θ, the angular error that the mechanical deformation of dynamic target is introduced.
Ad-hoc location selected in above-mentioned steps (1) be 0 ° 0 ' 0 ", 90 ° 0 ' 0 ", 180 ° 0 ' 0 ", 270 ° 0 ' 0 " these four positions；Adjust the position of imaging device, make the dynamic target four punctate opacity of the corneas in these four positions drop on same circle as coordinate.
The invention have the advantage that
The space angle of the dynamic target of motion can be carried out Accurate Calibration, thus the space angle error that when dynamic target is moved, the mechanical deformation of generation is introduced carries out quantitatively demarcating accurately.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Wherein: 1-light source；2-collimator objective；3-shaft-position encoder；4-reflecting mirror；5-the first object lens；6-diffusing panel；7-the second object lens；8-CCD；9-lens barrel.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As it is shown in figure 1, the caliberating device of dynamic target dynamic deformation angle error provided by the present invention includes dynamic target, imaging device and control analyzes software.
Dynamic target includes shaft-position encoder 3, light source 1 and reflecting mirror 4；The light path of the incident illumination of reflecting mirror 4 is provided with collimator objective 2, and the rotating shaft of shaft-position encoder 3 overlaps with the rotating shaft of dynamic target；Collimator objective 2 is between light source 1 and reflecting mirror 4.
Imaging device includes by lens barrel 9 successively rigidly connected first object lens 5, diffusing panel the 6, second object lens 7 and CCD8, and diffusing panel 6 is positioned on the image space focal plane of the first object lens 5, and CCD8 is positioned in the image planes of the second object lens 7.The present invention by arranging diffusing panel 6 and the second object lens 7 between the first object lens 5 and CCD8, by twice imaging by the reflection photoimaging of reflecting mirror 4 to CCD8, can be prevented effectively from and cause that light beam can not be received by CCD8 completely owing to the focal length of the first object lens 5 is long, thus ensure that stated accuracy.
Control is analyzed software and is used for extracting the real time readouts (angle that namely dynamic target rotates) of shaft-position encoder 3 and the punctate opacity of the cornea of CCD8 collection as coordinate (punctate opacity of the cornea when punctate opacity of the cornea during dynamic target static state rotates with specific angle speed as coordinate, dynamic target is as coordinate), and the angular error that when moving with specific angle speed with this contrast conting dynamic target, the mechanical deformation of generation is introduced.
Present invention also offers the scaling method of a kind of caliberating device based on above-mentioned dynamic target dynamic deformation angle error, comprise the following steps:
(1) it is demarcated when being in static state by dynamic target in advance
A, adjust imaging device position, make the optical axis of the first object lens 5 and the rotating shaft coaxle of shaft-position encoder 3；
B, dynamic target is rested on specific location (0 ° 0 ' 0 ", 90 ° 0 ' 0 ", 180 ° 0 ' 0 ", 270 ° 0 ' 0 " these four positions), and read the registration θ of corresponding shaft-position encoder 3；Open light source 1 and adjust the position of lens barrel 9, making the first object lens 5 can receive reflecting mirror 4 completely and be in the directional light of reflecting mirror 4 output during this ad-hoc location；
Picture signal through first object lens 5 imaging on diffusing panel 6, through the light of diffusing panel 6 through second object lens 7 imaging on CCD8, is converted to punctate opacity of the cornea as coordinate (x by CCD8 by the directional light in C, step (1) Bθ,yθ), θ is the registration of shaft-position encoder 3；
Concrete principle and process be:
Shaft-position encoder 3 registration is 0 ° 0 ' 0 " time, the punctate opacity of the cornea that CCD8 photographs is (x as coordinate1, y1)；Shaft-position encoder 3 registration is 90 ° 0 ' 0 " time, the punctate opacity of the cornea that CCD8 photographs is (x as coordinate2, y2)；Shaft-position encoder 3 registration is 180 ° 0 ' 0 " time, the punctate opacity of the cornea that CCD8 photographs is (x as coordinate3, y3)；Shaft-position encoder 3 registration is 270 ° 0 ' 0 " time, the punctate opacity of the cornea that CCD8 photographs is (x as coordinate4, y4)；If four punctate opacity of the corneas drop on same circle as coordinate, then system call interception puts in place.This equation of a circle can be expressed as:
In formula, (xθ,yθ) when being θ for encoder registration, punctate opacity of the cornea picture coordinate position on CCD8.
(2) it is carried out real-time calibration when moving with specific angle speed by dynamic target
A, imaging device keep state in step (1) constant；
B, dynamic target is made to rotate with specific angular velocity；
C, imaging device Real-time Collection dynamic target punctate opacity of the cornea picture: collimated object lens 2 collimation after output directional light through first object lens 5 imaging on diffusing panel 6, through the light of diffusing panel 6 through second object lens 7 imaging on CCD8, CCD8 dynamic target is converted to corresponding punctate opacity of the cornea as coordinate (x ' in the picture signal of position (namely dynamic target is at each space angle)θ,y′θ), θ is the registration of shaft-position encoder；
(3) angular error that the mechanical deformation of dynamic target is introduced is calculated
The angle that software extract real-time dynamic target rotates, i.e. the real time readouts θ of shaft-position encoder 3 are analyzed in A, control；
B, the punctate opacity of the cornea controlling to analyze in software extract real-time above-mentioned steps (1) C are as coordinate (xθ,yθ) and step (2) C in punctate opacity of the cornea as coordinate (x 'θ,y′θ)；
C, control to analyze the data of software integrating step (3) A, B and calculate dynamic target and rotate with specific angle speed, when the registration of shaft-position encoder is θ, the angular error that the mechanical deformation of dynamic target is introduced.
According to above-mentioned steps (3), when dynamic target is with specific angle speed dynamic rotary, when encoder registration is θ, the punctate opacity of the cornea that CCD8 gathers is (x ' as coordinateθ,y′θ), then the angular error Δ r that the mechanical deformation of dynamic target introducesθFor:
In formula, β is the moving-target mark angle value that CCD8 unit picture element characterizes.
Claims (4)
1. the caliberating device of dynamic target dynamic deformation angle error, including dynamic target；Described dynamic target includes shaft-position encoder, light source and reflecting mirror；Light path between light source and reflecting mirror is provided with collimator objective；The rotating shaft of described shaft-position encoder overlaps with the rotating shaft of dynamic target；It is characterized in that: also include imaging device；
Described imaging device includes by lens barrel successively rigidly connected first object lens, diffusing panel, the second object lens and CCD；Described diffusing panel is positioned on the image space focal plane of the first object lens；Described CCD is positioned in the image planes of the second object lens；
Inciding reflecting mirror after the collimated object lens collimation of light that light source sends, the reflection light beam of reflecting mirror incides on imaging device, imaging device gather the punctate opacity of the cornea of dynamic target as coordinate.
2. the caliberating device of dynamic target dynamic deformation angle error according to claim 1, it is characterised in that: also include controlling to analyze software, the angular error that when moving with specific angle speed for contrast conting dynamic target, the mechanical deformation of generation is introduced.
3. the scaling method of the caliberating device of dynamic target dynamic deformation angle error according to claim 2, it is characterised in that: comprise the following steps:
(1) it is demarcated when being in static state by dynamic target in advance
A, adjust imaging device position, make the optical axis of the first object lens and the rotating shaft coaxle of shaft-position encoder；
B, dynamic target is rested on specific location, and read the registration θ of shaft-position encoder；Open light source and adjust the position of imaging device, enabling the first object lens to receive dynamic target completely and be in the directional light of output during described ad-hoc location；
C, imaging device gather the dynamic target punctate opacity of the cornea picture at described ad-hoc location: the directional light in step (1) B is through the imaging on diffusing panel of the first object lens, through the light of diffusing panel through the imaging on CCD of the second object lens, CCD picture signal is converted to punctate opacity of the cornea as coordinate (xθ,yθ), θ is the registration of shaft-position encoder；
(2) it is carried out real-time calibration when moving with specific angle speed by dynamic target
A, imaging device keep state in step (1) constant；
B, dynamic target is made to rotate with specific angular velocity；
C, imaging device Real-time Collection dynamic target punctate opacity of the cornea picture: collimated object lens collimation after output directional light through the imaging on diffusing panel of the first object lens, through the light of diffusing panel through the imaging on CCD of the second object lens, CCD the dynamic target picture signal in position is converted to corresponding punctate opacity of the cornea as coordinate (xθ',yθ'), θ is the registration of shaft-position encoder；
(3) angular error that the mechanical deformation of dynamic target is introduced is calculated
The angle that software extract real-time dynamic target rotates, the i.e. real-time registration θ of shaft-position encoder are analyzed in A, control；
B, the punctate opacity of the cornea controlling to analyze in software extract real-time above-mentioned steps (1) C are as coordinate (xθ,yθ) and step (2) C in punctate opacity of the cornea as coordinate (xθ',yθ')；
C, control to analyze the data of software integrating step (3) A, B and calculate dynamic target and rotate with specific angle speed, when the registration of shaft-position encoder is θ, the angular error that the mechanical deformation of dynamic target is introduced.
4. the scaling method of the caliberating device of dynamic target dynamic deformation angle error according to claim 3, it is characterised in that: be 0 ° 0 ' 0 ", 90 ° 0 ' 0 ", 180 ° 0 ' 0 ", 270 ° 0 ' 0 " these four positions of ad-hoc location described in step (1)；Adjust the position of imaging device, make the dynamic target four punctate opacity of the corneas in these four positions drop on same circle as coordinate.
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Cited By (2)
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| CN108089196A (en) * | 2017-12-14 | 2018-05-29 | 中国科学院光电技术研究所 | The noncooperative target pose measuring apparatus that a kind of optics master is passively merged |
| CN109827505B (en) * | 2019-03-26 | 2020-05-19 | 北京航空航天大学 | High-precision laser scanning galvanometer position sensor calibration system |
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| CN109827505B (en) * | 2019-03-26 | 2020-05-19 | 北京航空航天大学 | High-precision laser scanning galvanometer position sensor calibration system |
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