CN108088412A - A kind of method at total powerstation automatic And Rapid Determination agricultural rocket gun azimuth inclination angle - Google Patents
A kind of method at total powerstation automatic And Rapid Determination agricultural rocket gun azimuth inclination angle Download PDFInfo
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Abstract
The invention discloses a kind of methods at total powerstation automatic And Rapid Determination agricultural rocket gun azimuth inclination angle.First by two high-precision Big Dipper RTK, the visual range near gun tube sets the apparent fixed control points of A, B two to the technology at a distance, function and resection principle are measured by total Station Precise angular distance, measure relevant parameter to determine to set the object space three-dimensional coordinate of website；Secondly, by carrying out fixed point orientation, gun tube calibration, measurement and the calculating of relevant parameter in itself to gun tube, signature position vector and the posture offset deviation of actual gun tube ballistic axis vector on gun tube outer profile are determined；Finally, the tune big gun real-time attitude for measuring any time gun tube contour characteristic points is measured using total Station Precise angular distance, is corrected by offset, finally determines that actual gun tube ballistic axis corresponds to absolute azimuth and the inclination angle at moment.
Description
One, the technical field
The invention relates to a method for determining the attitude position of an agricultural and forestry rocket gun barrel at any time, in particular to a method for automatically, accurately and quickly determining the attitude position (absolute azimuth angle and inclination angle) of the rocket gun barrel for agriculture and forestry by matching total station precise angular distance measurement with satellite navigation positioning.
Second, technical background
The rocket gun is mainly used for artificial rainfall in agriculture, forest fire extinguishment in forestry and the like. The traditional rocket gun adjustment mainly adopts a manual observation mode or a traditional instrument observation mode, and the modes have certain defects and places which are worthy of improvement more or less, such as large deviation of the launching position of the rocket gun, large measurement workload of the traditional instrument and the like, the actual adjustment angle of the gun barrel cannot be accurately measured, the rocket gun shell cannot be launched according to the set required position, and a rapid, automatic and high-precision measurement mode is needed.
Third, the invention
In order to overcome the defects and shortcomings in the gun barrel attitude adjusting measurement of the agricultural and forestry rocket gun and achieve automatic, accurate and rapid determination of the gun barrel gun adjusting attitude position at any moment, the invention provides a method for automatically, accurately and rapidly determining the inclination angle and the azimuth angle of a gun barrel by matching the total station instrument accurate angular distance measurement with the satellite navigation positioning.
The object of the invention is the following:
firstly, A, B two obvious fixed control points are arranged in a far position near a gun barrel in a visual range by means of two high-precision Beidou RTKs, coordinates of A, B two points are accurately measured, and the coordinates are converted into geodetic three-dimensional coordinates (X)A，YA，ZA) And (X)B，YB，ZB) (ii) a Then, determining related parameters to determine the three-dimensional coordinates of the object space of the station through a rear intersection principle, and realizing fixed-point orientation; secondly, determining the displacement deviation of a marking position vector and an actual projectile trajectory axis vector by marking, calibrating, measuring and calculating related parameters of the gun barrel; and finally, measuring the gun adjusting position of the gun barrel at any time by utilizing angular distance measurement, and finally determining the absolute azimuth angle and the inclination angle of the actual gun barrel trajectory axis at any time through offset correction.
Compared with the prior traditional method, the method has the following advantages:
(1) the measurement equipment is greatly improved, the traditional gun-adjusting launching mode of the rocket gun for agriculture and forestry is changed, and the high-precision angular distance measurement total station gun barrel measurement is realized by adopting a total station;
(2) the coordinates of the set station are easier to determine, more than two fixed control points are set by adopting high-precision Beidou RTK, an instrument can be erected at any time during measurement, and the accurate coordinate values of the set station are obtained through resolving;
(3) the measuring precision is high, and the purpose of high-precision measurement is realized by the precise angular distance measuring function of the total station and the correction of the axis position of the cannonball track.
Description of the drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a site S coordinate calculation at the back intersection;
FIG. 2 is a top half-sectional view of a gun barrel during gun barrel calibration;
FIG. 3 is a schematic diagram of the measurement and calibration of the characteristic points of the gun barrel.
The fifth embodiment is as follows:
compared with the existing method for roughly adjusting the cannon barrel of the agricultural and forestry rocket cannon, the method for automatically and rapidly determining the azimuth inclination angle of the agricultural and forestry rocket cannon by the total station makes great improvement and innovation on the precision of an operation method and a calculation model, and specifically comprises the following steps:
(1) as shown in figure 1, A, B two obvious fixed control points are arranged in a far position near a gun barrel in a visible range by means of two high-precision Beidou RTKs, coordinates of A, B two points are accurately measured, the device can be used for a long time, and the coordinates are converted into geodetic three-dimensional coordinates (X)A，YA，ZA) And (X)B，YB，ZB)。
(2) selecting a total station to set a station S according to the position of the gun barrel, erecting an instrument at the point S, measuring the height h of the instrument, observing A, B points respectively, and measuring the azimuth angle α of the point A1(zero setting at this time), slope distance S from S point to A point1And its corresponding inclination angle vAthe assumed azimuth angle (alpha) of the B point is measured1+β3) And measuring the slope distance S from the point S to the point B2And its corresponding inclination angle vB(ii) a And solving the distances between the two points AB, the two points SA and the two points SB and the corresponding height difference by using a distance formula and a trigonometric function principle.
(3) using a mathematical model (1)
Wherein (X)1，Y1，Z1) And (X)2，Y2，Z2) Respectively representing the object coordinates of station S estimated from point a and point B,
and solving the three-dimensional coordinates (X) of the object space of the station S according to the space rear intersection principles，Ys，Zs) (ii) a And respectively setting a total station measuring point and a rear viewpoint (A or B can be used as the rear viewpoint) and carrying out rear view orientation, thereby realizing fixed point orientation of the total station.
(4) Adjusting the rocket gun body to be horizontal, respectively arranging cross hairs in the horizontal and vertical directions at the two ends of a gun tube to determine the axis positions (a big end point M and a small end point N) of the projectile path of a gun bore, marking the intersection points of the cross hair horizontal line and the outer contour of the cross section at the two ends of the gun tube, connecting the two intersection points of the outer contour of the gun tube by using an ink marker in a visual gun tube side of a total station to determine a straight line parallel to the projectile path, respectively selecting a characteristic point at the position close to the two end points on the straight line, as shown in figure 2, sequentially marking the positions as 1, 2, 3 and 4 from the small end of the gun tube, completing the preparation work of the rocket gun tube, and respectively measuring the radius R of the gun tube at the positions of 1, 2, 3 and1、R2、R3、R4measuring the distance D between 1 and 2 points of the outer contour of the gun barrel1And a distance D between 3 and 4 points3。
(5) Respectively measuring the three-dimensional coordinates (X) of the characteristic points 1, 2, 3 and 4 by using a total station1，Y1，Z1)、(X2，Y2，Z2)、(X3，Y3，Z3)、(X4，Y4，Z4) the mathematical model 2 is used
Wherein, in figure 2,calculating the three-dimensional coordinate of one end point M of the axis of the gun barrel trajectory, and determining the appropriate coordinate (X) of the point M according to the selected coordinate system and the total station erection positionM，YM，ZM) use of mathematical model
Wherein, in figure 2,calculating the three-dimensional coordinates of one end point N of the axis of the gun barrel trajectory, and determining the appropriate coordinates (X) of the N points according to the selected coordinate system and the total station erection positionN，YN，ZN)。
(6) mathematical model multiplication by vector points
Wherein,determining the axis and the outer contour of the bullet track of the gun barrel
the azimuth angle difference delta α of the marking line in the horizontal direction and the mathematical model is utilized
Δv＝v2-v1，
Wherein,and determining the inclination angle difference delta v between the axis of the gun barrel and the marking line of the outer contour in the vertical direction.
(7) As shown in figure 3, the rocket gun barrel is arbitrarily rotated, and the three-dimensional coordinates (X) of the characteristic points 2 and 3 at the moment are respectively measured by using a total station erected at the point S2，Y2，Z2)、(X3，Y3，Z3) utilizing mathematical models
solving the postures of the feature points 2 and 3 on the outer contour of the gun barrel at any moment of vector, and then utilizing a mathematical model [ + ]
and correcting the real-time posture of the outer contour characteristic point into an absolute azimuth α and an inclination angle v at the corresponding moment of the axis of the gun barrel trajectory.
Claims (4)
1. A method for automatically and rapidly determining azimuth inclination angles of agricultural and forestry rocket guns by using a total station is characterized by comprising the following steps: the purposes of fixed point orientation of the total station, rocket gun barrel calibration and gun attitude (azimuth angle and inclination angle) adjustment real-time rapid measurement are achieved by utilizing the precise angular distance measurement function of the total station and matching with two high-precision Beidou RTKs.
2. The total station fixed-point orientation method according to claim 1, characterized in that: a, B two distinct fixing points are arranged far from the visual range near the gun barrel, and two obvious fixing points are usedThe platform high-precision Beidou RTK accurately measures coordinates of A, B two points and converts the coordinates into geodetic three-dimensional coordinates (X)A，YA，ZA) And (X)B，YB，ZB) selecting a total station to set a station S according to the position of the gun barrel, erecting an instrument at the point S, measuring the height h of the instrument, observing A, B points respectively, and measuring the azimuth angle α of the point A1(zero setting at this time), slope distance S from S point to A point1And its corresponding inclination angle vAthe assumed azimuth angle (alpha) of the B point is measured1+β3) And measuring the slope distance S from the point S to the point B2And its corresponding inclination angle vBuse of mathematical model
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Wherein (X)1，Y1，Z1) And (X)2，Y2，Z2) Respectively representing the object coordinates of station S estimated from point a and point B,and solving the object space three-dimensional coordinate (X) of the total station set station S at the moment by matching with the space rear intersection principles，Ys，Zs) (ii) a And respectively setting a total station measuring point and a rear viewpoint (A or B can be used as the rear viewpoint), and orienting the rear viewpoint to realize fixed-point orientation of the total station.
3. The gun barrel calibration method according to claim 1, characterized in that: adjusting the body of a rocket gun to be horizontal, respectively arranging cross hairs in the horizontal and vertical directions at the two ends of a gun barrel to determine the axis positions (a large-head end point M and a small-head end point N) of the projectile path of a gun bore, marking the intersection points of the horizontal line of the cross hairs and the outer contour of the cross-head section at the two ends of the gun barrel, connecting the two intersection points of the outer contour of the gun barrel on the first side of the gun barrel visible by a total station by using an ink marker to determine a straight line parallel to the trajectory of the projectile, respectively selecting a characteristic point at the position close to the two end points on the straight line, and sequentially marking the straight line as 1, 2, 3 and 4 from the small-; measuring the radius R of the gun barrel at the positions of 1, 2, 3 and 4 points by using a precise circumference gauge respectively1、R2、R3、R4Measuring the outer contour 1 of the gun barrel,Distance D between 2 points1And 3, 4-point distance D3; respectively measuring the three-dimensional coordinates (X) of the characteristic points 1, 2, 3 and 4 by using a total station1，Y1，Z1)、(X2，Y2，Z2)、(X3，Y3，Z3)、(X4，Y4，Z4) the mathematical model 2 is used
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mn>1</mn> <mn>2</mn> </msubsup> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>M</mi> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>D</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>-</mo> <mn>2</mn> <msub> <mi>D</mi> <mn>1</mn> </msub> <msub> <mi>R</mi> <mn>1</mn> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <msub> <mi>&theta;</mi> <mn>1</mn> </msub> <mo>+</mo> <mfrac> <mi>&pi;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>Z</mi> <mi>M</mi> </msub> <mo>=</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>=</mo> <msub> <mi>Z</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
Wherein,calculating the three-dimensional coordinate of one end point M of the axis of the gun barrel trajectory, and determining the appropriate coordinate (X) of the point M according to the selected coordinate system and the total station erection positionM，YM，ZM) use of mathematical model
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>X</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>4</mn> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>Y</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>4</mn> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>Z</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>4</mn> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mn>4</mn> <mn>2</mn> </msubsup> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>=</mo> <msubsup> <mi>R</mi> <mn>4</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>D</mi> <mn>3</mn> <mn>2</mn> </msubsup> <mo>-</mo> <mn>2</mn> <msub> <mi>D</mi> <mn>3</mn> </msub> <msub> <mi>R</mi> <mn>4</mn> </msub> <msub> <mi>cos&theta;</mi> <mn>2</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mi>N</mi> </msub> <mo>=</mo> <msub> <mi>Z</mi> <mn>3</mn> </msub> <mo>=</mo> <msub> <mi>Z</mi> <mn>4</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
Wherein,calculating the three-dimensional coordinates of one end point N of the axis of the gun barrel trajectory, and determining the appropriate coordinates (X) of the N points according to the selected coordinate system and the total station erection positionN，YN，ZN) mathematical model of multiplication by vector points
Wherein,determining the azimuth angle difference delta α between the gun barrel trajectory axis and the outer contour mark line in the horizontal direction, and using the mathematical model
Δv＝v2-v1，
Wherein,and determining the inclination angle difference delta v between the axis of the gun barrel and the marking line of the outer contour in the vertical direction.
4. the method for automatically and rapidly determining the azimuth angle and the inclination angle of the agricultural and forestry rocket gun as claimed in claim 1, wherein after the azimuth angle difference delta α between the axis of the trajectory of the gun barrel and the outer contour of the gun barrel in the horizontal direction and the inclination angle difference delta v in the vertical direction are determined through the gun barrel calibration work, the gun barrel of the rocket gun is rotated randomly, and the three-dimensional coordinates (X) of the characteristic points 2 and 3 at the moment are respectively measured by the total station erected at the point S2，Y2，Z2)、(X3，Y3，Z3) utilizing mathematical models
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solving the postures of the feature points 2 and 3 on the outer contour of the gun barrel at any moment of vector, and then utilizing a mathematical model [ + ]
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>&alpha;</mi> <mo>=</mo> <msub> <mi>&alpha;</mi> <mn>23</mn> </msub> <mo>+</mo> <mi>&Delta;</mi> <mi>&alpha;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>v</mi> <mo>=</mo> <msub> <mi>v</mi> <mn>23</mn> </msub> <mo>-</mo> <mi>&Delta;</mi> <mi>v</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
and correcting the real-time posture of the outer contour characteristic point into an absolute azimuth α and an inclination angle v at the corresponding moment of the axis of the gun barrel trajectory.
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| CN108680144A (en) * | 2018-05-17 | 2018-10-19 | 北京林业大学 | A kind of method of monolithic photogrammetric calibration ground point |
| CN109883406A (en) * | 2019-03-28 | 2019-06-14 | 江西日月明测控科技股份有限公司 | Calculation method and system based on the total station outline pose less put |
| CN110631564A (en) * | 2019-09-17 | 2019-12-31 | 西安建筑科技大学 | Method for measuring inclination of cylinder with circular cross section |
| CN110631565A (en) * | 2019-09-17 | 2019-12-31 | 西安建筑科技大学 | Method for measuring inclination of wind power generation tower model |
| CN111750831A (en) * | 2019-03-26 | 2020-10-09 | 中冶建筑研究总院有限公司 | Method for measuring inclination rate of cylinder |
| CN113390289A (en) * | 2021-07-05 | 2021-09-14 | 新乡北方车辆仪表有限公司 | General detection and non-contact measurement method and system for adjusting gun of multi-caliber gun barrel |
| CN113865432A (en) * | 2021-09-17 | 2021-12-31 | 中国人民解放军陆军工程大学 | Self-propelled artillery barrel orientation detection method |
| CN117405101A (en) * | 2023-09-11 | 2024-01-16 | 北京国卫星通科技有限公司 | Inertial navigation data acquisition and analysis system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680144A (en) * | 2018-05-17 | 2018-10-19 | 北京林业大学 | A kind of method of monolithic photogrammetric calibration ground point |
| CN111750831A (en) * | 2019-03-26 | 2020-10-09 | 中冶建筑研究总院有限公司 | Method for measuring inclination rate of cylinder |
| CN109883406A (en) * | 2019-03-28 | 2019-06-14 | 江西日月明测控科技股份有限公司 | Calculation method and system based on the total station outline pose less put |
| CN110631564A (en) * | 2019-09-17 | 2019-12-31 | 西安建筑科技大学 | Method for measuring inclination of cylinder with circular cross section |
| CN110631565A (en) * | 2019-09-17 | 2019-12-31 | 西安建筑科技大学 | Method for measuring inclination of wind power generation tower model |
| CN113390289A (en) * | 2021-07-05 | 2021-09-14 | 新乡北方车辆仪表有限公司 | General detection and non-contact measurement method and system for adjusting gun of multi-caliber gun barrel |
| CN113865432A (en) * | 2021-09-17 | 2021-12-31 | 中国人民解放军陆军工程大学 | Self-propelled artillery barrel orientation detection method |
| CN117405101A (en) * | 2023-09-11 | 2024-01-16 | 北京国卫星通科技有限公司 | Inertial navigation data acquisition and analysis system |
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