CN105974398B - A kind of preceding leveling method of radar laser target calibration - Google Patents
A kind of preceding leveling method of radar laser target calibration Download PDFInfo
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- CN105974398B CN105974398B CN201610600653.2A CN201610600653A CN105974398B CN 105974398 B CN105974398 B CN 105974398B CN 201610600653 A CN201610600653 A CN 201610600653A CN 105974398 B CN105974398 B CN 105974398B
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- leveling
- total powerstation
- radar
- laser
- radar laser
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
Leveling method before being calibrated the invention discloses a kind of radar laser target.Leveling method includes the following steps before the radar laser target calibration：Step 1：The leveling on level-one platform is arranged in total powerstation；Step 2：Simultaneously leveling is arranged on total powerstation in radar laser transmitter；Step 3：Simultaneously leveling is arranged on level-one platform in laser receiver graticle；Step 4：Single prism is arranged in predeterminated position；Step 5：Total powerstation is driven on the tripod that can adjust height, and leveling total powerstation；Step 6：Adjust radar laser transmitter and total powerstation；Step 7：Adjust total powerstation and radar laser transmitter；Step 8：Adjust radar laser transmitter and laser receiver graticle.Leveling method uses combination measurement method before the radar laser target calibration of the present invention, while ensure that the precision of leveling before calibrating, realizes large scale space geometry parameter calibration high efficiency, reduces calibration cost.
Description
Technical field
The present invention relates to measurement and calibration technical field, leveling method before being calibrated more particularly to a kind of radar laser target.
Background technology
Radar laser target mainly applies the installation of rebecca antenna to measure, by Laser emission component, laser receiver, image
Analysis and information process unit composition, the selection of calibration method will directly affect its operating accuracy.
The method of prior art generally use theodolite and steel ruler carries out the leveling before radar laser target calibration, using steel
The defect of ruler ranging, transit survey angle, this method is that precision is not high, is not easy to implement.
Thus, it is desirable to have a kind of technical solution overcomes or at least mitigates at least one drawbacks described above of the prior art.
Invention content
Preceding leveling method is calibrated the purpose of the present invention is to provide a kind of radar laser target to overcome or at least mitigate existing
Technology at least one of drawbacks described above.
To achieve the above object, the present invention provides a kind of preceding leveling method of radar laser target calibration, the radar laser target
Leveling method includes the following steps before calibration：Step 1：The leveling on level-one platform is arranged in total powerstation；Step 2：Radar is swashed
Optical transmitting set is arranged on total powerstation and leveling；Step 3：Simultaneously leveling is arranged on level-one platform in laser receiver graticle,
And the angle of laser receiver graticle and level-one platform vertical direction is set as 7 ° 18 '；Step 4：The setting of single prism is existed
Predeterminated position；Step 5：Total powerstation in the step 2 is driven on the tripod that can adjust height, and leveling total powerstation；
Step 6：Radar laser transmitter and total powerstation are adjusted, to meet the light of radar laser transmitter sent out laser and total powerstation
Axis is on the same vertical plane；Step 7：Total powerstation and radar laser transmitter are adjusted, it is flat in pitch orientation both to make
Row；Step 8：Radar laser transmitter and laser receiver graticle are adjusted, to make radar laser transmitter and laser pick-off
Machine graticle center is mutually perpendicular to.
Preferably, it is specially by total powerstation setting leveling on level-one platform in the step 1：
It is 90 degree to make the pitch angle of the total powerstation after leveling.
Preferably, leveling is carried out using conjunction phase level meter in the step 2.
Preferably, the step 3 carries out leveling using phase level meter is closed；The determination of the included angle is surveyed by angle block gauge
It measures.
Preferably, the step 4 is specially：Radar laser receiver is positioned on platform made of iron, its leveling is adopted
The distance that graticle center o to radar laser receiver upper edge E is measured with slide calliper rule in known laser receiver graticle and is hung down
Histogram to angle be 7 ° 18 ' under the conditions of, and laser receiver graticle is measured with edge E angles using angle block gauge, using just
String theorem, it is 8mm to calculate radar laser receiver graticle center o perpendicular to length of the upper table millet cake away from E, and is write down on this
The position of surface point aims at the label using single prism, that is, the predeterminated position of single prism is determined.
Preferably, radar laser transmitter and total powerstation are aimed at into a basal plane B, the beam axis sight baseline of total powerstation jointly
l3, Laser emission range is from baseline l3Apart from beat be Δ1, when meeting Δ1When=0, it ensure that radar laser transmitter is sent out
The optical axis of laser and total powerstation is on the same vertical plane.
Preferably, the step 7 is specially：The scale l of two same specifications is placed in different distance respectively1, scale l2, mark
Ruler l1Level apart from total powerstation optical axis center is d1, scale l2Level apart from total powerstation optical axis center is d2, thunder is recorded respectively
The scale value surveyed up to the scale value and total powerstation of the laser spot of laser emitter, and calculate laser emitter and regarded with total powerstation
Height difference is respectively h between fiducial axis1、h2, when height difference meets：h1=h2When, it ensure that the optical axis of radar laser transmitter and total powerstation
It is parallel in pitch orientation.
Preferably, the step 8 is specially：Level meter is erected on liftable datum plane simultaneously leveling, and is utilized
The horizontal distance of total station survey radar laser transmitter to single prism is 7100mm, and level meter optical axis is swept to laser receiver
The position of the center o of graticle, then by optical axis alignment scale l2And scale value is write down, horizontal plane A is established, antitrigonometric function is utilized
Relationship, calculate radar laser transmitter in vertical direction with A plane distances h3, the optical axis of total powerstation is swept to scale l2,
The scale of scanning is equal to h3-h1, then radar laser transmitter is mutually perpendicular to laser receiver graticle center.
Leveling method uses combination measurement method before the radar laser target calibration of the present invention, ensure that the essence of leveling before calibration
While spending, large scale space geometry parameter calibration high efficiency is realized, calibration cost is reduced.
Description of the drawings
Fig. 1 is the flow diagram of the preceding leveling method of radar laser target calibration according to a first embodiment of the present invention.
Fig. 2 is the preceding leveling system of radar laser target calibration used in leveling method before the radar laser target used in Fig. 1 is calibrated
The system schematic of system.
Reference numeral：
| 1 | Total powerstation | 6 | Single prism |
| 2 | Level-one platform | 7 | Tripod |
| 3 | Radar laser transmitter | 8 | Radar laser receiver |
| 4 | Level meter | ||
| 5 | Laser receiver graticle |
Specific implementation mode
To keep the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as protecting the present invention
The limitation of range.
Fig. 1 is the flow diagram of the preceding leveling method of radar laser target calibration according to a first embodiment of the present invention.Fig. 2 is
The system of leveling system is illustrated before radar laser target calibration used in leveling method before radar laser target calibration used in Fig. 1
Figure.
Leveling method is adjusted using radar laser target calibration as shown in Figure 2 is preceding before radar laser target calibration as shown in Figure 1
Flat system, leveling method includes the following steps before the calibration of radar laser target：
Step 1：The leveling on level-one platform 2 is arranged in total powerstation 1；
Step 2：Simultaneously leveling is arranged on total powerstation 1 in radar laser transmitter 3；
Step 3：Laser receiver graticle 5 is arranged on level-one platform 2 and leveling, and by laser receiver graticle
5 are set as 7 ° 18 ' with the angle of 2 vertical direction of level-one platform；
Step 4：Single prism 6 is arranged in predeterminated position；
Step 5：Total powerstation 1 in step 2 is driven on the tripod 7 that can adjust height, and leveling total powerstation 1；
Step 6：Radar laser transmitter 3 and total powerstation 1 are adjusted, to meet 3 sent out laser of radar laser transmitter
Optical axis with total powerstation 1 is on the same vertical plane；
Step 7：Total powerstation 1 and radar laser transmitter 3 are adjusted, it is parallel in pitch orientation both to make；
Step 8：Adjust radar laser transmitter 3 and laser receiver graticle 5, to make radar laser transmitter 3 with
5 center of laser receiver graticle is mutually perpendicular to.
In the present embodiment, it is specially by total powerstation setting leveling on level-one platform in the step 1：
It is 90 degree to make the pitch angle of the total powerstation after leveling 1.
In the present embodiment, leveling is carried out using conjunction phase level meter in step 2.
In the present embodiment, the step 3 carries out leveling using phase level meter is closed；The determination of the included angle passes through angle
Metric measurement obtains.
In the present embodiment, step 4 is specially：Radar laser receiver 8 is positioned on platform made of iron, is adjusted
It is flat, the distance of graticle center o to 8 upper edge E of radar laser receiver is measured using slide calliper rule, in known laser receiver graduation
Under the conditions of plate 5 and the angle of vertical direction are 7 ° 18 ', and laser receiver graticle 5 is surveyed with edge E angles using angle block gauge
, using sine, it is 8mm to calculate 8 graticle center o of radar laser receiver perpendicular to length of the upper table millet cake away from E,
And the position of the upper table millet cake is write down, the label is aimed at using single prism, that is, the predeterminated position of single prism is determined.
In the present embodiment, radar laser transmitter 3 and total powerstation 1 are aimed at into a basal plane B, the light of total powerstation 1 jointly
Axis alignment l3, Laser emission range is from baseline l3Apart from beat be Δ1, when meeting Δ1When=0, radar laser ensure that
The optical axis of 3 sent out laser of transmitter and total powerstation is on the same vertical plane.
In the present embodiment, the step 7 is specially：The scale l of two same specifications is placed in different distance respectively1, mark
Ruler l2, scale l1Level apart from total powerstation optical axis center is d1, scale l2Level apart from total powerstation optical axis center is d2, respectively
The scale value that the scale value and total powerstation of the laser spot of record radar laser transmitter 3 are surveyed, and calculate laser emitter with
Height difference is respectively h between total powerstation collimation axis1、h2, when height difference meets：h1=h2When, ensure that radar laser transmitter 3 with it is complete
Stand instrument 1 optical axis it is parallel in pitch orientation.
In the present embodiment, the step 8 is specially：Level meter 4 is erected on liftable datum plane simultaneously leveling,
And it is 7100mm to arrive the horizontal distance of single prism using 1 instrumentation radar laser emitter 3 of total powerstation, and 4 optical axis of level meter is swept to
The position of the center o of laser receiver graticle 5, then by optical axis alignment scale l2And scale value is write down, horizontal plane A is established, profit
With antitrigonometric function relationship, calculate radar laser transmitter 3 in vertical direction with A plane distances h3, by total powerstation 1
Optical axis is swept to scale l2, the scale of scanning is equal to h3-h1, then radar laser transmitter 3 and 5 center phase of laser receiver graticle
It is mutually vertical.
Leveling method uses combination measurement method before the radar laser target calibration of the present invention, ensure that the essence of leveling before calibration
While spending, large scale space geometry parameter calibration high efficiency is realized, calibration cost is reduced.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：It is still
Can be with technical scheme described in the above embodiments is modified, or which part technical characteristic is equally replaced
It changes；And these modifications or replacements, the essence for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
God and range.
Claims (8)
1. leveling method before a kind of radar laser target calibration, which is characterized in that leveling method packet before the radar laser target calibration
Include following steps：
Step 1：The leveling on level-one platform (2) is arranged in total powerstation (1)；
Step 2：Simultaneously leveling is arranged on total powerstation (1) in radar laser transmitter (3)；
Step 3：Laser receiver graticle (5) is arranged on level-one platform (2) and leveling, and by laser receiver graticle
(5) it is set as 7 ° 18 ' with the angle of level-one platform (2) vertical direction；
Step 4：Single prism (6) is arranged in predeterminated position；
Step 5：Total powerstation (1) in the step 2 is driven on the tripod (7) that can adjust height, and leveling total powerstation
(1)；
Step 6：Adjust radar laser transmitter (3) and total powerstation (1), to meet radar laser transmitter (3) send out it is sharp
The optical axis of light and total powerstation (1) is on the same vertical plane；
Step 7：Total powerstation (1) and radar laser transmitter (3) are adjusted, it is parallel in pitch orientation both to make；
Step 8：Radar laser transmitter (3) and laser receiver graticle (5) are adjusted, to make radar laser transmitter (3)
It is mutually perpendicular to laser receiver graticle (5) center.
2. leveling method before radar laser target as described in claim 1 calibration, which is characterized in that in the step 1 will be complete
Leveling is arranged on level-one platform in instrument of standing：
It is 90 degree to make the pitch angle of the total powerstation after leveling (1).
3. leveling method before radar laser target calibration as claimed in claim 2, which is characterized in that using conjunction in the step 2
Phase level meter carries out leveling.
4. leveling method before radar laser target calibration as claimed in claim 3, which is characterized in that the step 3 is using conjunction phase
Level meter carries out leveling；The determination of the included angle is obtained by angle block gauge measurement.
5. leveling method before radar laser target as claimed in claim 4 calibration, which is characterized in that the step 4 is specially：It will
Radar laser receiver (8) is positioned on platform made of iron, by its leveling, is measured graticle center o using slide calliper rule and is swashed to radar
The distance of photoreceiver (8) upper edge E is 7 ° in known laser receiver graticle (5) and platform (2) vertical direction angle
Under the conditions of 18 ', and laser receiver graticle (5) is measured with edge E angles using angle block gauge, using sine, is calculated
Radar laser receiver (8) graticle center o is 8mm perpendicular to length of the upper table millet cake away from E, and writes down the position of the upper table millet cake
It sets, the upper table millet cake is aimed at using single prism, that is, the predeterminated position of single prism is determined.
6. leveling method before radar laser target calibration as claimed in claim 5, which is characterized in that by radar laser transmitter
(3) and total powerstation (1) aims at a basal plane B, the beam axis sight baseline l of total powerstation (1) jointly3, Laser emission range is from baseline l3
Apart from beat be Δ1, when meeting Δ1When=0, it ensure that the optical axis of the sent out laser of radar laser transmitter (3) and total powerstation exists
On the same vertical plane.
7. leveling method before radar laser target calibration as claimed in claim 6, it is characterised in that：The step 7 is specially：Point
The scale l of two same specifications is not placed in different distance1, scale l2, scale l1Level apart from total powerstation optical axis center is d1、
Scale l2Level apart from total powerstation optical axis center is d2, the scale value of the laser spot of radar laser transmitter (3) is recorded respectively
And the scale value that total powerstation is surveyed, and it is respectively h to calculate height difference between laser emitter and total powerstation collimation axis1、h2, work as height difference
Meet：h1=h2When, it ensure that radar laser transmitter (3) is parallel in pitch orientation with the optical axis of total powerstation (1).
8. leveling method before radar laser target calibration as claimed in claim 7, it is characterised in that：The step 8 is specially：It will
Level meter (4) is erected on liftable datum plane and leveling, and utilizes total powerstation (1) instrumentation radar laser emitter (3)
Horizontal distance to single prism is 7100mm, and level meter (4) optical axis is swept to the position of the center o of laser receiver graticle (5)
It sets, then by optical axis alignment scale l2And scale value is write down, horizontal plane A is established, using antitrigonometric function relationship, radar is calculated and swashs
Optical transmitting set (3) in vertical direction with A plane distances h3, the optical axis of total powerstation (1) is swept to scale l2, the scale of scanning
Equal to h3-h1, then radar laser transmitter (3) is mutually perpendicular to laser receiver graticle (5) center.
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| CN109061608B (en) * | 2018-05-23 | 2021-09-28 | 顺丰科技有限公司 | Laser ranging calibration method |
| CN109581337A (en) * | 2019-01-02 | 2019-04-05 | 宁波傲视智绘光电科技有限公司 | A kind of laser radar optical calibrating device |
| CN110673103B (en) * | 2019-10-22 | 2022-04-26 | 成都汇蓉国科微系统技术有限公司 | Zero calibration method and system for coaxial double-radar system |
| CN111060059A (en) * | 2019-12-30 | 2020-04-24 | 武汉武船计量试验有限公司 | Total station three-dimensional measurement method under dynamic condition |
| CN112881997A (en) * | 2020-12-29 | 2021-06-01 | 中国航空工业集团公司西安飞机设计研究所 | High-precision combined leveling method based on radar laser target |
| CN113030922B (en) * | 2021-03-30 | 2022-07-29 | 森思泰克河北科技有限公司 | Multi-line laser radar optical machine adjusting device, leveling method and application |
| CN113534081B (en) * | 2021-08-17 | 2022-07-08 | 中国有色金属长沙勘察设计研究院有限公司 | Detection method and device for deformation monitoring radar precision |
| CN115359048B (en) * | 2022-10-19 | 2023-01-31 | 中国工程物理研究院应用电子学研究所 | Real-time dynamic alignment measurement method based on closed-loop tracking and aiming and tracking and aiming device |
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