CN107806856B - experimental detection device and method for simulating target space attitude - Google Patents
experimental detection device and method for simulating target space attitude Download PDFInfo
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- CN107806856B CN107806856B CN201710899207.0A CN201710899207A CN107806856B CN 107806856 B CN107806856 B CN 107806856B CN 201710899207 A CN201710899207 A CN 201710899207A CN 107806856 B CN107806856 B CN 107806856B
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- theodolite
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
Abstract
The invention discloses an experimental detection device for simulating a target space attitude, which comprises a theodolite, an attitude detection device, a second theodolite, a reflector, a crosshair reticle, a lifting platform and a rotary table, wherein the attitude detection device comprises a collimator, a reflector and a crosshair target plate, the attitude detection device sends out two beams of parallel light with opposite directions from left to right, the reflector and the crosshair reticle are used for adjusting optical axes of the theodolite and the second theodolite, the attitude detection device is arranged between the theodolite and the second theodolite, the reflector and the crosshair reticle are movably arranged in optical paths of the theodolite and the second theodolite, the attitude detection device is arranged on the rotary table, and the rotary table has an angle measurement function.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to experimental detection devices and methods for simulating a target space attitude.
Background
With the development and application of the high-precision photoelectric theodolite in the fields of national defense, war industry, aviation, aerospace and the like, more measurement requirements are put forward on the photoelectric theodolite, so that the requirements of on the measurement of the trajectory and other parameters of the target such as a missile and the like are put forward, and more attention is paid to people.
The space target attitude measurement mainly comprises three attitude angle measurements of a pitch angle, a yaw angle and a rolling angle. With the development of CCD and CMOS detectors and image processing technology, the optical attitude measurement technology is continuously developed and matured, and because the area array CCD and CMOS detectors have the characteristics of high resolution, high response speed, high precision and the like, the long-focus lens, the large-area array CCD and CMOS detectors are adopted in the photoelectric theodolite to be applied more and more in attitude measurement.
At present, before factory shipment, a photoelectric measurement device with an attitude measurement function is like , and can not simulate the actual use condition of intersection of a plurality of outdoor-field photoelectric devices, so that target attitude precision laboratory detection devices for simulating intersection measurement of a plurality of outdoor-field photoelectric devices are needed to be developed to solve the technical problem.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and adopts the following technical scheme:
the invention provides experimental detection devices for simulating the space attitude of a target, which comprise a th theodolite, an attitude detection device, a second theodolite, a th reflector, a cross wire reticle, a lifting platform and a rotary table;
the posture detection device comprises a collimator, a reflector and a cross wire target board, wherein a star point hole and a second star point hole which have the same diameter of are formed in the cross wire target board, and the reflector of the posture detection device divides light emitted by the collimator into two beams of parallel light with opposite directions;
the th reflecting mirror and the crosshair reticle are used for adjusting the optical axes of the th theodolite and the second theodolite;
the rotary table is used for controlling the rotation of the attitude detection device;
the lifting platform is used for controlling the lifting of the attitude detection device;
attitude detection device movably set up in theodolite reaches between the second theodolite, the speculum reaches the cross graticule movably set up in the theodolite reaches in the light path of second theodolite, attitude detection device set up in on the revolving stage, the revolving stage has the angular surveying function.
In embodiments, the collimator is a reflective Cassegrain collimator.
In , the mirrors of the attitude sensing device include a second mirror that reflects the light of the collimator into a horizontal beam to the right or left, a third mirror and a fourth mirror that cooperate to reflect the light of the collimator into a horizontal beam to the left or right.
in some embodiments, the th mirror and the cross reticle are disposed on the same slide rails, and the th mirror and the cross reticle can slide in or out of the optical paths of the th theodolite and the second theodolite along the slide rails.
In embodiments, the th theodolite and the second theodolite are the same or similar electro-optic theodolite.
In addition, the invention also provides kinds of experimental detection methods for simulating the target space attitude, and the experimental detection device for simulating the target space attitude comprises the following steps:
leveling the theodolite and the second theodolite to enable the optical axes of the theodolite and the second theodolite to be horizontal ;
moving the cross wire reticle and the th reflector into the light paths of the th theodolite and the second theodolite, and aiming by the th theodolite and the second theodolite respectively to ensure that the optical axes of the th theodolite and the second theodolite are superposed;
thirdly, the posture detection device and the rotary table are arranged between the th theodolite and the second theodolite, and the th theodolite and the second theodolite are used for sweeping the cross wire target plate;
adjusting the height and the angle of the attitude detection device to ensure that visible light imaging systems of the th theodolite and the second theodolite respectively aim at the cross wire target plate so as to establish a sighting working reference;
adjusting the th theodolite and the second theodolite to a high angle required to be measured, and adjusting the height of the attitude detection device and the pitching state of the reflector to enable the cross wire target plate to respectively image at the th theodolite and the center of the target surface of the visible light imaging system detector of the second theodolite;
sixthly, rotating the turntable to enable visible light imaging systems of the th theodolite and the second theodolite to carry out intersection measurement on a connecting line of the th star point hole and the second star point hole;
seventhly, comparing the result of intersection measurement of the th theodolite and the second theodolite with a preset calibration result and the turn angle reading of the rotary table to obtain the measurement error and the yaw error of the pitching attitude at the high angle
In , in the step , the optical axes of the theodolite and the second theodolite are leveled by setting the heights of the encoders of the theodolite and the second theodolite to zero positions to ensure the optical axes are leveled.
In embodiments, the th theodolite and the second theodolite are the same or similar electro-optic theodolite).
In , the result of the previous calibration is a result of calibrating an angle between a connecting line of the star point hole and the second star point hole with respect to a cross hair on the cross hair target plate under the machine.
In , in the fifth step, the pitch state of the reflection angle is adjusted by adjusting the pitch states of the second mirror and the fourth mirror without adjusting the third mirror during the test.
The invention has the beneficial effects that: the experimental detection device for simulating the spatial attitude of the target can simulate the pitch angle and the yaw angle of the target to be detected under the laboratory condition, and can also be used as an attitude detection method of an attitude measurement system.
Drawings
FIG. 1 is a schematic structural diagram of an experimental detection device for simulating the attitude of a target space according to embodiments of the present invention;
FIG. 2 is a schematic structural diagram of a cross-hair target plate in an experimental testing device for simulating the spatial attitude of a target according to embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a reticle and a th mirror of an experimental detection device for simulating the attitude of a target space according to embodiments of the present invention;
FIG. 4 is a flow chart of an experimental detection method for simulating a target spatial attitude according to embodiments of the present invention.
Detailed Description
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and this description is to be understood that the specific embodiments described herein are for purposes of illustrating the invention and are not to be construed as limiting the invention.
The idea of the invention is as follows: and detecting the measurement precision of the pitch angle and yaw angle postures of the intersection measurement of the two theodolites by performing the intersection measurement on the two theodolites through the target space postures simulated in a laboratory.
Referring to fig. 1, the experimental detection device for simulating the attitude of the target space according to the present embodiment includes an th theodolite 1, an attitude detection device, a second theodolite 3, a th reflecting mirror 4, a reticle 5, a lifting table (not shown in the figure), and a turntable 6.
The posture detection device comprises a collimator 21, a reflector and a cross wire target plate 22 arranged on the focal plane of the collimator 21, wherein the reflector of the posture detection device divides light emitted by the collimator 21 into two beams of parallel light with opposite left and right directions, in the embodiment, the reflector of the posture detection device comprises a second reflector 23, a third reflector 24 and a fourth reflector 25, the third reflector 24 is not adjusted in the test, the second reflector 23 and the fourth reflector 25 are respectively arranged above the left side and the right side of the collimator 21, the second reflector 23 reflects the light of the collimator 21 into a horizontal beam towards the left, the third reflector 24 and the fourth reflector 25 are matched to reflect the light of the collimator 21 into a horizontal beam towards the right, the reflectors can rotate in a pitching mode to adapt to different height angle measurements of the instrument 1 and the second theodolite 3, the posture detection device is arranged on a rotary table 6 with an angle measurement function of and can integrally lift the cross wire target plate 22 on the focal plane of the collimator 21.
Referring to fig. 2, the cross target plate 22 is provided with a th star point hole 221 and a second star point hole 222 which have the same diameter of , the cross target plate 22 is made into a dark field, the cross is bright at the center, the cross target plate 22 is divided into four quadrants, then a th star point hole 221 and a second star point hole 222 are respectively provided in the th quadrant and the third quadrant or the second quadrant and the fourth quadrant, and the connecting line of the th star point hole 221 and the second star point hole 222 can represent different angles through the cross center, that is, the th star point hole 221 and the second star point hole 222 are located on the same diameter of through the th star point hole 221 and the second star point hole 222.
Referring to fig. 3, the th mirror 4 and the crosshair reticle 5 are used to adjust the optical axes of the th theodolite 1 and the second theodolite 3. since the electro-optic theodolite visible light imaging system generally uses an area array CCD detector to receive images, in order to ensure that the th theodolite 1 and the second theodolite 3 can accurately aim at, a th mirror 4 and a crosshair reticle 5 assembly are added between the lens of the th theodolite 1 and the CCD detector of the second theodolite 3, and during adjustment, it is ensured that the crosshair center of the crosshair reticle 5 is conjugate with the target plane center of the CCD detector, and the th mirror 4 and the crosshair reticle 5 assembly are mounted on the linear guide rail and can be switched to move into or out of the imaging optical paths of the th theodolite 1 and the second theodolite 3.
And the lifting platform is used for controlling the lifting of the attitude detection device, and the rotary table 6 is used for controlling the rotation of the attitude detection device.
The posture detection device is movably arranged between the th theodolite 1 and the second theodolite 3, the th reflecting mirror 4 and the crosshair reticle 5 are movably arranged in the light paths of the th theodolite 1 and the second theodolite 3, the posture detection device is arranged on the rotary table 6, and the rotary table 6 has an angle measurement function.
In embodiments of the invention, the theodolite 1 and the second theodolite 3 are the same or similar electro-optic theodolites the collimator 21 is a reflective Cassegrain collimator.
Referring to fig. 4, the present invention further provides kinds of experimental detection methods for simulating the target space attitude, and the experimental detection apparatus for simulating the target space attitude includes the following steps:
and , leveling the theodolite 1 and the second theodolite 3 to enable the optical axes of the theodolite 1 and the second theodolite 3 to be horizontal, specifically, setting the heights of the encoders of the theodolite 1 and the second theodolite 3 to be zero so as to ensure the optical axes to be horizontal.
And the second step is executed, the crosshair reticle 5 and the reflector 4 are moved into the light paths of the theodolite 1 and the second theodolite 3, and the theodolite 1 and the second theodolite 3 are used for aiming respectively so as to ensure that the optical axes of the theodolite 1 and the second theodolite 3 are coincided.
And step three, the posture detection device and the rotary table 6 are arranged between the th theodolite 1 and the second theodolite 3, and the th theodolite 1 and the second theodolite 3 are used for sweeping the cross wire target plate 22.
And fourthly, adjusting the height and the angle of the attitude detection device to ensure that the visible light imaging systems of the th theodolite 1 and the second theodolite 3 respectively aim at the cross wire target plate 22 to establish a counter aiming working reference, and defining the result of under-machine calibration of the connecting line of the th star point hole 221 and the second star point hole 222 relative to the included angle of the cross wire on the cross wire target plate 22 as a pre-calibration result.
And step five, adjusting the th theodolite 1 and the second theodolite 3 to the high angle position required to be measured, adjusting the height of the attitude detection device and the pitching state of the reflector, and enabling the cross wire target plate 22 to respectively image in the centers of the target surfaces of the visible light imaging system detectors of the th theodolite 1 and the second theodolite 3, and adjusting the pitching state of the reflector to the pitching state of the second reflector 23 and the fourth reflector 25.
And step six, rotating the turntable 6 to enable the th theodolite 1 and the visible light imaging system of the second theodolite 3 to perform intersection measurement on the connecting line of the th star point hole 221 and the second star point hole 222.
And seventhly, comparing the result of the intersection measurement of the th theodolite 1 and the second theodolite 3 with a preset calibration result and the turn angle reading of the turntable 6 to obtain the measurement error and the yaw error of the pitching attitude at the high angle.
The invention has the beneficial effects that: the method can simulate the pitch angle and the yaw angle of the target to be measured under the laboratory condition, and can also be used as an attitude detection method of an attitude measurement system.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
In the description herein, reference to the terms " embodiments," " embodiments," "examples," "specific examples," or " examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least embodiments or examples of the invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
- The experimental detection device for simulating the target space attitude is characterized by comprising a th theodolite, an attitude detection device, a second theodolite, a th reflector, a cross wire reticle, a lifting table and a rotary table;the posture detection device comprises a collimator, a reflector and a cross wire target board, wherein a star point hole and a second star point hole which have the same diameter of are formed in the cross wire target board, and the reflector of the posture detection device divides light emitted by the collimator into two beams of parallel light with opposite directions;the th reflecting mirror and the crosshair reticle are used for adjusting the optical axes of the th theodolite and the second theodolite;the rotary table is used for controlling the rotation of the attitude detection device;the lifting platform is used for controlling the lifting of the attitude detection device;attitude detection device movably set up in theodolite reaches between the second theodolite, the speculum reaches the cross graticule movably set up in the theodolite reaches in the light path of second theodolite, attitude detection device set up in on the revolving stage, the revolving stage has the angular surveying function.
- 2. The device of claim 1, wherein the collimator is a reflective Cassegrain collimator.
- 3. The apparatus according to claim 1, wherein the mirrors of the attitude sensing device include a second mirror, a third mirror, and a fourth mirror;the second reflector reflects the light of the collimator into a horizontal beam towards the right or left, and the third reflector and the fourth reflector are matched to reflect the light of the collimator into a horizontal beam towards the left or right.
- 4. The experimental detection device of claim 1, wherein the th reflecting mirror and the reticle are disposed on the same sliding rails, and the th reflecting mirror and the reticle can slide in or out of the optical paths of the th theodolite and the second theodolite along the sliding rails.
- 5. The device of claim 1 wherein the th theodolite and the second theodolite are the same or similar electro-optic theodolite.
- 6, experimental detection method for simulating target space attitude, characterized in that, the experimental detection device for simulating target space attitude according to any one of claims 1-5 and is adopted, comprising the following steps:leveling the theodolite and the second theodolite to enable the optical axes of the theodolite and the second theodolite to be horizontal ;moving the cross wire reticle and the th reflector into the light paths of the th theodolite and the second theodolite, and aiming by the th theodolite and the second theodolite respectively to ensure that the optical axes of the th theodolite and the second theodolite are superposed;thirdly, the posture detection device and the rotary table are arranged between the th theodolite and the second theodolite, and the th theodolite and the second theodolite are used for sweeping the cross wire target plate;adjusting the height and the angle of the attitude detection device to ensure that visible light imaging systems of the th theodolite and the second theodolite respectively aim at the cross wire target plate so as to establish a sighting working reference;adjusting the th theodolite and the second theodolite to a high angle required to be measured, and adjusting the height of the attitude detection device and the pitching state of the reflector to enable the cross wire target plate to respectively image at the th theodolite and the center of the target surface of the visible light imaging system detector of the second theodolite;sixthly, rotating the turntable to enable visible light imaging systems of the th theodolite and the second theodolite to carry out intersection measurement on a connecting line of the th star point hole and the second star point hole;and seventhly, comparing the intersection measurement result of the th theodolite and the second theodolite with a preset calibration result and the rotating angle reading of the rotary table to obtain the measurement error and the yaw error of the pitching attitude at the high angle.
- 7. The method as claimed in claim 6, wherein in said step , the optical axes of the theodolite and the second theodolite are leveled by setting the heights of the encoders of the theodolite and the second theodolite to zero positions to ensure the optical axes are leveled.
- 8. The method of claim 6 wherein said th theodolite and said second theodolite are the same or similar electro-optic theodolite.
- 9. The experimental detection method for simulating the spatial attitude of the target as claimed in claim 6, wherein the pre-calibration result is a result of calibrating an included angle between a connecting line of the th star point hole and the second star point hole with respect to the cross hair on the cross hair target plate under the machine.
- 10. The method as claimed in claim 6, wherein in the step five, the pitch state for adjusting the reflection angle is: the third reflector is not adjusted in the test, and the pitching states of the second reflector and the fourth reflector are adjusted.
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| CN110609289B (en) * | 2018-06-15 | 2022-03-22 | 上海微电子装备（集团）股份有限公司 | Motion performance testing device |
| CN115046527A (en) * | 2022-06-01 | 2022-09-13 | 北京卫星制造厂有限公司 | Precision testing system and method for attitude debugging of solar wing simulation wall |
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| CN102927993A (en) * | 2012-10-08 | 2013-02-13 | 中国科学院西安光学精密机械研究所 | Vertical transmission indoor optical reference calibration system |
| CN104215261B (en) * | 2014-08-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | The big reflective free form surface space camera distortion scaling method in visual field |
| CN205785171U (en) * | 2016-06-14 | 2016-12-07 | 西安中科光电精密工程有限公司 | A kind of active theodolite system |
| CN106289085B (en) * | 2016-08-02 | 2019-04-02 | 中国科学院西安光学精密机械研究所 | Axis intersection test device and method |
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