CN106124147A - The detection method of a kind of gondola lasting accuracy and system - Google Patents
The detection method of a kind of gondola lasting accuracy and system Download PDFInfo
- Publication number
- CN106124147A CN106124147A CN201610554789.4A CN201610554789A CN106124147A CN 106124147 A CN106124147 A CN 106124147A CN 201610554789 A CN201610554789 A CN 201610554789A CN 106124147 A CN106124147 A CN 106124147A
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- Prior art keywords
- gondola
- optical signal
- reflecting mirror
- carrier
- vibration table
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
Abstract
Embodiments of the invention provide detection method and the system of a kind of gondola lasting accuracy, relate to gondola technical field of measurement and test, it is possible to increase the efficiency measuring gondola lasting accuracy.Concrete scheme includes: fixed the carrier of gondola by vibration table, and the carrier for described gondola provides vibrational excitation；Optical signal is launched, by the Oscillation Amplitude of gondola described in the optical signal detecting that detection is reflected back, and according to testing result output lasting accuracy instruction parameter to described gondola.The present invention is for detecting the lasting accuracy of gondola.
Description
Technical field
The present invention relates to gondola technical field of measurement and test, particularly relate to detection method and the system of a kind of gondola lasting accuracy.
Background technology
Gondola refers to be provided with certain airborne equipment or weapon the cabin section hanging under fuselage or wing, and modal have light
Electricity gondola.Photoelectric nacelle is to use high-accuracy stable platform, built-in airborne opto-electronic device, and hanging on body (has man-machine, unmanned
Machine) outer nacelle payload case, it is used in flight course search on a surface target, followed the tracks of, observe, and
Complete flight navigation, the functions such as video recording of taking photo by plane.
Photoelectric nacelle is affected by factors such as body attitudes vibration, tremor and air agitations in body flight course,
Easily produce optoelectronic device to rock, thus affect optoelectronic device service behaviour.Photoelectric nacelle is typically by high-accuracy stable platform
Fixing, make photoelectric nacelle be operated under the relative stable environment that stabilized platform provides, keep the normal service behaviour of optoelectronic device.
By each side factors such as stabilized platform structure, driving means, gyro error, control circuit, body vibrations
, there is certain steady state error in impact, remaining disturbance under the compensating action of stabilized platform, suffered by photoelectric nacelle unavoidably
The lasting accuracy of amount gondola represents.
The method of existing detection photoelectric nacelle lasting accuracy is, target of setting objectives in indoor utilizes photoelectric nacelle to carry
Imaging device or external imaging device detection target miss distance, use image procossing method calculate lasting accuracy.
This method is the view data by the whole process of the test of camera record, obtains lasting accuracy through image procossing afterwards,
The time-consuming long efficiency of test process is low.
Summary of the invention
Embodiments of the invention provide detection method and the system of a kind of gondola lasting accuracy, it is possible to increase stable to gondola
The efficiency of measure of precision.
In order to reach above-mentioned purpose, the present invention uses following solution:
First aspect, it is provided that the detecting system of a kind of gondola lasting accuracy, including: vibration table, photo-detector and output
Unit；
Described vibration table, for fixing the carrier of gondola, and the carrier for described gondola provides vibrational excitation；
Described photo-detector, for launching optical signal to described gondola, by described in the optical signal detecting that detection is reflected back
The Oscillation Amplitude of gondola；
Described output unit, exports lasting accuracy instruction parameter for the testing result according to described photo-detector.
Second aspect, it is provided that the detection method of a kind of gondola lasting accuracy, including:
Fixed the carrier of gondola by vibration table, and the carrier for described gondola provides vibrational excitation；
Optical signal is launched to described gondola, by the Oscillation Amplitude of gondola described in the optical signal detecting that detection is reflected back, and
According to testing result output lasting accuracy instruction parameter.
The detection method of the gondola lasting accuracy that embodiments of the invention are provided and system, by optical signal detecting gondola
Oscillation Amplitude, output lasting accuracy instruction parameter.Use the Oscillation Amplitude of optical signal detecting gondola, compare and pass through image procossing
Determining the mode of gondola Oscillation Amplitude, on the one hand optical signal can reflect the Vibration Condition of gondola in real time, on the other hand saves
The process of image analysis processing, thus improve the efficiency that gondola lasting accuracy is measured.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
The accompanying drawing used required in is briefly described, it should be apparent that, the accompanying drawing in describing below is only some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to attached according to these
Figure obtains other accompanying drawing.
The detecting system structural representation of the gondola lasting accuracy that Fig. 1 is provided by embodiments of the invention；
The detection method schematic flow sheet of the gondola lasting accuracy that Fig. 2 is provided by embodiments of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
Embodiments of the invention provide the detecting system of a kind of gondola lasting accuracy, and gondola can be specifically photoelectric nacelle
Deng.
Shown in Fig. 1, detecting system includes: vibration table 11, photo-detector 12 and output unit 13.
Vibration table 11, for fixing the carrier of gondola, and the carrier for gondola provides vibrational excitation.The load of gondola in Fig. 1
Body icon 201 identifies, and gondola icon 202 identifies.The carrier 201 of gondola is fixedly installed on vibration table 11.
Photo-detector 12, for by the Oscillation Amplitude of optical signal detecting gondola 202, specifically including: launch to gondola 202
Optical signal, and the Oscillation Amplitude of the optical signal detecting gondola 202 being reflected back by detection.
It is important to note that the Oscillation Amplitude of gondola 202 refers to that gondola 202 vibrates width on some direction of vibration
Value, say, that Oscillation Amplitude is vector.
Output unit 13, exports lasting accuracy instruction parameter for the testing result according to photo-detector 12.
Hereinafter function and the structure of various piece in detecting system 1 are illustrated:
<1>, vibration table 11
Optionally, vibration table 11 includes Stewart platform 111 and the first motion control cabinet 112.Six degree of freedom waves
Platform 111 is connected with the first motion control cabinet 112.
First motion control cabinet 112, for the six-freedom motion state modulator Stewart platform 111 according to input
Vibration, the carrier 201 for gondola 202 provides vibrational excitation.
Optionally, vibration table 11 includes angle vibration table 113 and the second motion control cabinet 114.Angle vibration table 113 and the second fortune
Dynamic switch board 114 connects.
Second motion control cabinet 114, for vibrating, for gondola according to the angular oscillation state modulator angle vibration table 113 of input
The carrier 201 of 202 provides vibrational excitation.
Existing detection method is using straight-line oscillation platform 11 as vibrational excitation, it is impossible to vibration complicated under simulation true environment
Process, testing result can not react the gondola 202 lasting accuracy under airborne duty completely.Embodiments of the invention are adopted
It is designed with Stewart platform 111 and angle vibration table 113.Stewart platform 111 can fly by simulated aircraft
Vertical shift in journey, traversing, the line motion of three dimensions of lifting, reaction aspect change.Angle vibration table 113 can simulated aircraft
Angular oscillation situation in flight course.It is applied in combination as vibrational excitation by Stewart platform 111 and angle vibration table 113
Source, simulates the gondola 202 truth under airborne duty, is favorably improved the credibility of lasting accuracy testing result.
Stewart platform 111 and angle vibration table 113 are provided with motion control cabinet, the i.e. first motion control cabinet 112 He
Second motion control cabinet 114.
When Stewart platform 111 works, input desired motion by the industrial computer in the first motion control cabinet 112
Parameter, industrial computer inverse kinematic calculates the moving displacement amount of drive system, and industrial computer is according to the expectation displacement of drive system
Feed back with position, drive motor, it is achieved the closed loop location of drive system controls, make drive system reach required displacement,
The simulation of flight attitude can be realized.
Four-headed arrow between first motion control cabinet 112 and Stewart platform 111 represents the first motion control cabinet
112 send control signal to Stewart platform 111, and Stewart platform 111 is to the first motion control cabinet 112
Position is sent to feed back.
Similarly, when angle vibration table 113 works, the frequency of vibration of angular oscillation, angle are set by the second motion control cabinet 114
The parameters such as acceleration realize the simulation of aircraft angular oscillation.
In Fig. 1, the four-headed arrow between the second motion control cabinet 114 and angle vibration table 113 represents the second motion control cabinet
114 send control signal to angle vibration table 113, and angle vibration table 113 sends position feedback to the second motion control cabinet 114.
<2>, photo-detector 12
Optionally, photo-detector 12 is LED photo-detector, including LED light source 121, probe unit 122,
Reflecting mirror 123 and signal processing unit 124.Wherein reflecting mirror 123 is fixed on gondola 202.
LED light source 121, is used for producing test optical signal, and test optical signal is autocollimatic LED beam.Light source in Fig. 1
Arrow between 121 and probe unit 122 is for representing the transmission direction of test optical signal.For ensureing lasting accuracy testing result
Precision, the factor such as luminous intensity, stability and caloric value of light source 121 to be considered, meanwhile, lasting accuracy detecting system 1 is adopted
Use optical autocollimating principle, therefore, higher to the collimation performance requirement of light source 121, use high performance lED as light source 121, tool
There are the advantages such as luminous efficiency is high, caloric value is little.
Probe unit 122, for launching test optical signal to reflecting mirror 123, and receives the test that reflecting mirror 123 is reflected back
Optical signal.In Fig. 1, between gondola 202 and probe unit 122, four-headed arrow is used for representing test optical signal and through reflection
The transmission direction of test optical signal.Use high-resolution LED light probe unit 122, launch and receive test optical signal, simultaneously
Two axles of X, Y are detected.
Signal processing unit 124, generates for indication reflecting mirror for the test optical signal being reflected back according to reflecting mirror 123
The digital signal of the angular displacement of 123, indicates parameter using the angular displacement of reflecting mirror 123 as lasting accuracy.Probe unit in Fig. 1
The transmission direction of the test optical signal that the arrow logo between 122 and signal processing unit 124 is reflected back.Signal processing unit
124 are specifically as follows high speed complete digital signal processing unit, and data provide resolution and the certainty of measurement of rad level after processing, full
Foot photoelectric nacelle 202 lasting accuracy detection demand.
Detection method of the prior art depends on the view data collected, and the quality of view data determines detection knot
The precision of fruit, conventional image capture device is commonly present the problem that resolution is low, accuracy of detection is low.Use photo-detector 12 permissible
Reduce the complexity of detecting system 1, thus reduce cost, and optical signal itself can accurately reflect the position, angle of reflecting mirror 123
Move, thus without determining lasting accuracy by complicated graphical analysis means.It addition, the detection method of prior art is by shooting
Machine records the view data of whole detection process, obtains lasting accuracy through image procossing afterwards, lacks real-time.And the application
Scheme in, the change reflection of optical signal is the Vibration Condition of current time gondola 202, and i.e. lasting accuracy is for record in real time,
Thus the time cycle of test is greatly reduced.
<3>, output unit 13
Output unit 13 is connected with photo-detector 12, and the arrow between output unit 13 and signal processing unit 124 is used for
Represent the transmission direction of digital signal.
Interface between output unit 13 and photo-detector 12 can be the various interfaces for transmitting digital signal.For just
In assembling, this interface can be pluggable interface, such as USB etc..
The digital signal that output unit 13 exports specifically for reception signal processing unit 124, and according to the number received
Word signal generates the angular displacement time history plot of reflecting mirror 123.
Output unit 13 can be specifically a computer client, it is provided that succinct, the operation interface of hommization, it is achieved display
The functions such as pattern switching, real-time recording, area zoom, data storage and printing.
The detecting system of the gondola lasting accuracy that embodiments of the invention are provided, by the vibration of optical signal detecting gondola
Amplitude, output lasting accuracy instruction parameter.Use the Oscillation Amplitude of optical signal detecting gondola, compare and determined by image procossing and hang
The mode of cabin Oscillation Amplitude, on the one hand optical signal can reflect the Vibration Condition of gondola in real time, on the other hand eliminates image
The process of analyzing and processing, thus record the instantaneous value of lasting accuracy, the time cycle of test is greatly reduced, improves gondola
The efficiency that lasting accuracy is measured.
In conjunction with the embodiment corresponding to Fig. 1, embodiments of the invention also provide for the detection method of a kind of gondola lasting accuracy,
Shown in Fig. 2, comprise the following steps:
21, fixed the carrier of gondola by vibration table, and the carrier for gondola provides vibrational excitation.
Optionally, vibration table can include switch board, for controlling vibration table vibration according to the kinematic parameter of user's input, for
The carrier of gondola provides vibrational excitation.Kinematic parameter can include six-freedom motion parameter, it is also possible to includes angular oscillation parameter.
Concrete, vibration table can include Stewart platform and angle vibration table, can mould by Stewart platform
Intend the vertical shift in aircraft flight, traversing, the line motion of three dimensions of lifting, reaction aspect change.Angle vibration table energy
Angular oscillation situation in enough simulated aircraft flight courses.It is applied in combination as vibration by Stewart platform and angle vibration table
Driving source, simulates gondola truth under airborne duty, is favorably improved the credibility of lasting accuracy testing result.
22, by the Oscillation Amplitude of optical signal detecting gondola.
The Oscillation Amplitude of gondola refers to gondola vibration amplitude on some direction of vibration, say, that Oscillation Amplitude is for vowing
Amount.Detection process includes: launch optical signal to described gondola, by the vibration of gondola described in the optical signal detecting that detection is reflected back
Amplitude, specifically can include following sub-step:
22-1, generation test optical signal, test optical signal is autocollimatic LED beam.
22-2, launch test optical signal to reflecting mirror, and receive the test optical signal that reflecting mirror is reflected back.Wherein reflecting mirror
It is fixed on gondola.
22-3, according to reflecting mirror be reflected back test optical signal generate for indication reflecting mirror angular displacement numeral letter
Number.
23, according to testing result output lasting accuracy instruction parameter.
Lasting accuracy instruction parameter is specifically as follows the angular displacement of reflecting mirror.Integrating step 202, is used for indicating instead in generation
After the digital signal of the angular displacement penetrating mirror, generate the time dependent curve of angular displacement of reflecting mirror according to this digital signal
Figure.
The detecting system of the gondola lasting accuracy that embodiments of the invention are provided, by the vibration of optical signal detecting gondola
Amplitude, output lasting accuracy instruction parameter.Use the Oscillation Amplitude of optical signal detecting gondola, compare and determined by image procossing and hang
The mode of cabin Oscillation Amplitude, on the one hand optical signal can reflect the Vibration Condition of gondola in real time, on the other hand eliminates image
The process of analyzing and processing, thus record the instantaneous value of lasting accuracy, the time cycle of test is greatly reduced, improves gondola
The efficiency that lasting accuracy is measured.
Above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any familiar
Those skilled in the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with scope of the claims.
Claims (10)
1. the detecting system of a gondola lasting accuracy, it is characterised in that including: vibration table, photo-detector and output unit；
Wherein the carrier of gondola is fixedly installed on described vibration table；
Described vibration table, provides vibrational excitation for the carrier for described gondola；
Described photo-detector, for launching optical signal to described gondola, by gondola described in the optical signal detecting that detection is reflected back
Oscillation Amplitude；
Described output unit, exports lasting accuracy instruction parameter for the testing result according to described photo-detector.
Detecting system the most according to claim 1, it is characterised in that
Described vibration table includes Stewart platform and the first motion control cabinet, described Stewart platform and described first
Motion control cabinet connects；
Described first motion control cabinet, shakes for Stewart platform described in the six-freedom motion state modulator according to input
Dynamic, the carrier for described gondola provides vibrational excitation.
Detecting system the most according to claim 1, it is characterised in that
Described vibration table includes angle vibration table and the second motion control cabinet, and described angle vibration table is with described second motion control cabinet even
Connect；
Described second motion control cabinet, for angle vibration table vibration described in the angular oscillation state modulator according to input, hangs for described
The carrier in cabin provides vibrational excitation.
Detecting system the most according to claim 1, it is characterised in that described photo-detector is that LED light is visited
Survey device, including LED light source, probe unit, reflecting mirror and signal processing unit；Wherein said reflecting mirror is fixed on described gondola
On；
Described LED light source, is used for producing test optical signal, and described test optical signal is autocollimatic LED beam；
Described probe unit, for launching described test optical signal to described reflecting mirror, and receives what described reflecting mirror was reflected back
Described test optical signal；
Described signal processing unit, the described test optical signal for being reflected back according to described reflecting mirror generates for indicating described
The digital signal of the angular displacement of reflecting mirror.
Detecting system the most according to claim 4, it is characterised in that
Described output unit is connected with described photo-detector, specifically for receiving the numeral letter of described signal processing unit output
Number, and the angular displacement time history plot of described reflecting mirror is generated according to the digital signal received.
6. the detection method of a gondola lasting accuracy, it is characterised in that including:
Fixed the carrier of gondola by vibration table, and the carrier for described gondola provides vibrational excitation；
Optical signal is launched to described gondola, by the Oscillation Amplitude of gondola described in the optical signal detecting that detection is reflected back, and according to
Testing result output lasting accuracy instruction parameter.
Detection method the most according to claim 6, it is characterised in that the described carrier for described gondola provides vibration to swash
Encourage, including:
Vibration table vibration described in six-freedom motion state modulator according to input, the carrier for described gondola provides vibration to swash
Encourage.
Detection method the most according to claim 6, it is characterised in that the described carrier for described gondola provides vibration to swash
Encourage, including:
Vibration table vibration described in angular oscillation state modulator according to input, the carrier for described gondola provides vibrational excitation.
Detection method the most according to claim 6, it is characterised in that described to described gondola transmitting optical signal, by inspection
Survey the Oscillation Amplitude of gondola described in the optical signal detecting being reflected back, including:
Producing test optical signal, described test optical signal is autocollimatic LED beam；
Launch described test optical signal to reflecting mirror, and receive the described test optical signal that described reflecting mirror is reflected back；Wherein institute
State reflecting mirror to be fixed on described gondola；
The described test optical signal being reflected back according to described reflecting mirror generates the numeral of the angular displacement for indicating described reflecting mirror
Signal.
Detection method the most according to claim 9, it is characterised in that described according to testing result output lasting accuracy refer to
Show parameter, including:
Digital signal according to the angular displacement indicating described reflecting mirror generates the time dependent song of angular displacement of described reflecting mirror
Line chart.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107727377A (en) * | 2017-09-19 | 2018-02-23 | 广东容祺智能科技有限公司 | A kind of lasting accuracy test system |
| WO2023098442A1 (en) * | 2021-11-30 | 2023-06-08 | 中国科学院空天信息创新研究院 | Pod performance test system and method of near space aerostat |
| CN116519022A (en) * | 2023-07-05 | 2023-08-01 | 长春长光睿视光电技术有限责任公司 | Photoelectric pod stability precision testing system and method based on PSD signal detection |
| CN116543619A (en) * | 2023-07-04 | 2023-08-04 | 中国科学院长春光学精密机械与物理研究所 | Unmanned aerial vehicle photoelectric pod simulation training system |
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