CN108759873A - The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel - Google Patents
The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel Download PDFInfo
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- CN108759873A CN108759873A CN201810852694.XA CN201810852694A CN108759873A CN 108759873 A CN108759873 A CN 108759873A CN 201810852694 A CN201810852694 A CN 201810852694A CN 108759873 A CN108759873 A CN 108759873A
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- gyro
- gun sight
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- optical fibre
- optronic tracker
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to a kind of measurement method at the pitching error of zero angle of detecting devices peculiar to vessel, characteristic point be include pivot of maneuver, supporting rod, shaft, optronic tracker gun sight, three axis optical fibre gyro measurement assembly and data acquisition and processing (DAP) computer；When measurement, make the gyro sensitive axes of three axis optical fibre gyro measurement assembly and optronic tracker gun sight to take aim at spool parallel, then rotation optronic tracker gun sight makes the i.e. angle output of its pitch angle ε zeros be zero, at this moment pitch angle ε is kept to be zero and rotate pivot of maneuver, optronic tracker gun sight and three axis optical fibre gyro measurement assembly are rotated together with pivot of maneuver at this time, data acquisition and processing (DAP) computer acquires the gyro data of three axis optical fibre gyro measurement assembly output simultaneously, and the pitch angle ε errors of zero of optronic tracker gun sight can be found out using these gyro datas.It eliminates the link for needing to take aim at " star " in traditional measurement method or taking aim at " mark ", has daytime measurement ability, easy to operate, and measurement result precision is high, can greatly improve the maintenance ability to detecting devices peculiar to vessel.
Description
Technical field
The present invention relates to a kind of measurement methods at the pitching error of zero angle of detecting devices peculiar to vessel.
Background technology
Detecting devices peculiar to vessel includes optronic tracker, radar etc., and one of function is detection and finds target and measure it
Pitch angle, due to long-time service causes abrasion, mechanically or electrically zero-bit imbalance etc., the pitch angle zero-bit of detecting devices may
It moves, measurement result will appear error.By taking optronic tracker as an example, as shown in Figure 1, its pitch angle measured is to take aim at spool
（41）With cycle normal plane（42）Angle, i.e. pitch angle in Fig. 1, mesocycle normal plane（42）It is virtual plane,
It is the zero-bit of pitch angle, physically zero-bit is demarcated by the initial fastening position of angular transducer, therefore this zero-bit is adjustable
, it is also possible to it moves.To ensure the measurement accuracy of optronic tracker, need to check in equipment maintenance this zero
Position.But there are two types of traditional inspection methods, first, star is taken aim at, as shown in Fig. 2, using night visible celestial body, with reference to another on ship
The measurement angle to the same celestial body of calibrated equipment is calibrated the zero of tracker by the comparison determination of two device measuring values
Position error, but this method needs carry out under conditions of having visible celestial body at night, and complexity is organized and coordinated, it is artificial more, when
Between it is long, resultant error is big；Another method is to take aim at mark, this mark is the reference point manually placed or selected in land, passes through ratio
The error of zero is calculated to the measurement result of two trackers, since reference point is apart from limited, it is therefore desirable to pass through geometrical relationship solution
It obtains a result, since the position relationship of different trackers on ship is not easy to obtain, because the method is limited.
Invention content
The object of the present invention is to provide a kind of measurement methods at the pitching error of zero angle of new detecting devices peculiar to vessel, with biography
System method is compared to save and takes aim at " star " or take aim at " mark " link, to overcome the problems, such as to be limited by meteorological condition, while using automatic
Gathered data scheme, have it is efficient, precision is high, daytime measurement ability can effectively improve the repair to detecting devices peculiar to vessel
Supportability.
In order to achieve the above object, the measurement method at the pitching error of zero angle of detecting devices peculiar to vessel of the invention is in this way
It realizes, it is characterised in that including pivot of maneuver, supporting rod, shaft, optronic tracker gun sight, three axis optical fibre gyro measurement assembly
And data acquisition and processing (DAP) computer；Wherein, the lower end of the supporting rod is fixed on pivot of maneuver, the optronic tracker gun sight
It is fixed in shaft by supporting rod, the three axis optical fibre gyro measurement assembly connects firmly on optronic tracker gun sight, three axis
Optical fibre gyro measurement assembly transmits gyro data by bluetooth channel to data acquisition and processing (DAP) computer；
When measurement, make the gyro sensitive axes of three axis optical fibre gyro measurement assembly and optronic tracker gun sight to take aim at spool parallel,
Then rotation optronic tracker gun sight makes the i.e. angle output of its pitch angle ε zeros be zero, and pitch angle ε is at this moment kept to be zero and turn
Pivot of maneuver is moved, optronic tracker gun sight and three axis optical fibre gyro measurement assembly are rotated together with pivot of maneuver at this time, data acquisition
The gyro data for acquiring the output of three axis optical fibre gyro measurement assembly simultaneously with processing computer, light can be found out using these gyro datas
The pitch angle ε errors of zero of electric tracing instrument gun sight；Derivation algorithm is as follows：
Three axis optical fibre gyro measurement assembly core component be the orthogonal gyro of three axis, output gyro data can synthesize photoelectricity with
Track instrument gun sight turning motion vector, i-th of data value are：
In the formula and respectively output valve of tri- axis of gyro X, Y and Z, the direction of optronic tracker gun sight turning motion vector
It is parallel to pivot of maneuver, if the spool of taking aim at of optronic tracker gun sight does not have the error of zero, at this moment taking aim at spool, to be parallel to cycle flat
The output in face, Y-axis gyro data is zero, that is, if not parallel, the output of Y-axis gyro is not equal to 0, and i-th of pitch angle ε zero-bit is missed
Aberration measurements can be calculated by following formula：
Or
Because unavoidably there is error in measurement result, it is therefore desirable to be filtered to measured value, be using least squares filtering
Most of interference can be filtered out；Calculation formula is as follows：
It is the filter value in formula, the size of i is depending on filtering accuracy requirement.
The present invention compared with prior art the advantages of be：It eliminates and needs to take aim at " star " in traditional measurement method or take aim at " mark "
Link overcomes the problem influenced by meteorological condition, and has daytime measurement ability, simultaneously because using automatic data collection
Scheme, to easy to operate, measurement result precision is high, can greatly improve the maintenance ability to detecting devices peculiar to vessel.
Description of the drawings
Fig. 1 is the schematic diagram that prior art optronic tracker gun sight measures；
Fig. 2 is the schematic diagram of two optronic tracker gun sight conjunction measurings of the prior art；
Fig. 3 is the schematic diagram that the present invention measures；
Fig. 4 is pitch angle zero-bit calculating figure of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not constitute limitation of the invention.In addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
In the present description, the orientation or positional relationship of the instructions such as term "upper" and "lower" is based on ... shown in the drawings
Orientation or positional relationship is merely for convenience of the description present invention rather than requires the present invention must be with specific azimuth configuration and behaviour
Make, therefore is not considered as limiting the invention.
As shown in Figures 3 and 4, it is a kind of measurement method at the pitching error of zero angle of detecting devices peculiar to vessel, including rotation
Return axis 1, supporting rod 2, shaft 3, optronic tracker gun sight 4, three axis optical fibre gyro measurement assembly 5 and data acquisition and processing (DAP) electricity
Brain 6；Wherein, the lower end of the supporting rod 3 is fixed on pivot of maneuver 1, and the optronic tracker gun sight 4 is solid by supporting rod 2
It is scheduled on the upper end of shaft 3, the three axis optical fibre gyro measurement assembly 5 connects firmly on optronic tracker gun sight 4, three axis optical fiber tops
Spiral shell measurement assembly 5 transmits gyro data by bluetooth channel to data acquisition and processing (DAP) computer 6；
When measurement, make the gyro sensitive axes 51 of three axis optical fibre gyro measurement assembly 5 and optronic tracker gun sight 4 takes aim at spool 41
Parallel, then rotating optronic tracker gun sight 4 makes the i.e. angle output of its pitch angle ε zeros be zero, and at this moment holding pitch angle ε is
Zero and pivot of maneuver 1 is rotated, optronic tracker gun sight 4 and three axis optical fibre gyro measurement assembly 5 are with 1 turn of pivot of maneuver at this time
Dynamic, data acquisition and processing (DAP) computer 6 acquires the gyro data of the output of three axis optical fibre gyro measurement assembly 5 simultaneously, utilizes these tops
Spiral shell data can find out the pitch angle ε errors of zero of optronic tracker gun sight 4；Derivation algorithm is as follows：
5 core component of three axis optical fibre gyro measurement assembly is the orthogonal gyro of three axis, and the gyro data of output can synthesize photoelectricity
4 turning motion vector of tracker gun sight, i-th of data value are：
In the formula and respectively output valve of tri- axis of gyro X, Y and Z, the direction of 4 turning motion vector of optronic tracker gun sight
It is parallel to pivot of maneuver 1, if the spool 41 of taking aim at of optronic tracker gun sight 4 does not have the error of zero, spool 41 is at this moment taken aim at and is parallel to
The output of cycle plane 42, Y-axis gyro data is zero, that is, if not parallel, the output of Y-axis gyro is not equal to 0, i-th of pitch angle
ε errors of zero measured value can be calculated by following formula：
Or
Because unavoidably there is error in measurement result, it is therefore desirable to be filtered to measured value, be using least squares filtering
Most of interference can be filtered out；Calculation formula is as follows：
It is the filter value in formula, the size of i is depending on filtering accuracy requirement.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to described reality
Apply mode.For the ordinary skill in the art, without departing from the principle and spirit of the present invention to these
Embodiment carries out a variety of variations, modification, replacement and deformation and still falls within the scope of the present invention.
Claims (1)
1. a kind of measurement method at the pitching error of zero angle of detecting devices peculiar to vessel, it is characterised in that including pivot of maneuver（1）, support
Bar（2）, shaft（3）, optronic tracker gun sight（4）, three axis optical fibre gyro measurement assembly（5）And data acquisition and processing (DAP) computer
（6）；Wherein, the supporting rod（2）Lower end be fixed on pivot of maneuver（1）On, the optronic tracker gun sight（4）Pass through support
Bar（2）It is fixed on shaft（3）On, the three axis optical fibre gyro measurement assembly（5）It connects firmly in optronic tracker gun sight（4）On,
Three axis optical fibre gyro measurement assembly（5）By bluetooth channel to data acquisition and processing (DAP) computer（6）Transmit gyro data；
When measurement, make three axis optical fibre gyro measurement assembly（5）Gyro sensitive axes（51）With optronic tracker gun sight（4）Take aim at
Spool（41）It is parallel, then rotate optronic tracker gun sight（4）It is zero to make the i.e. angle output of its pitch angle ε zeros, is at this moment protected
Pitch angle ε is held to be zero and rotate pivot of maneuver（1）, optronic tracker gun sight at this time（4）And three axis optical fibre gyro measurement assembly（5）
With pivot of maneuver（1）It rotates together, data acquisition and processing (DAP) computer（6）Acquire three axis optical fibre gyro measurement assembly simultaneously（5）Output
Gyro data, can find out optronic tracker gun sight using these gyro datas（4）The pitch angle ε errors of zero；It solves and calculates
Method is as follows：
Three axis optical fibre gyro measurement assembly（5）Core component is the orthogonal gyro of three axis, and the gyro data of output can synthesize light
Electric tracing instrument gun sight（4）Turning motion vector, i-th of data value are：
In the formula and respectively output valve of tri- axis of gyro X, Y and Z, optronic tracker gun sight（4）The side of turning motion vector
To being parallel to pivot of maneuver（1）If optronic tracker gun sight（4）Take aim at spool (41) do not have the error of zero, at this moment take aim at spool
(41) it is parallel to cycle plane（42）, the output of Y-axis gyro data is zero, that is, if not parallel, the output of Y-axis gyro is not equal to
0, i-th of pitch angle ε errors of zero measured value can be calculated by following formula：
Or
Because unavoidably there is error in measurement result, it is therefore desirable to be filtered to measured value, be using least squares filtering
Most of interference can be filtered out；Calculation formula is as follows：
It is the filter value in formula, the size of i is depending on filtering accuracy requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810852694.XA CN108759873A (en) | 2018-07-30 | 2018-07-30 | The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel |
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| CN201810852694.XA CN108759873A (en) | 2018-07-30 | 2018-07-30 | The measurement method at the pitching error of zero angle of detecting devices peculiar to vessel |
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| CN108759873A true CN108759873A (en) | 2018-11-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940354A (en) * | 2019-12-02 | 2020-03-31 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
| CN111490819A (en) * | 2020-03-13 | 2020-08-04 | 威海市赢海通信技术有限公司 | Shipborne laser communication beam tracking control method based on fiber-optic gyroscope |
| CN114166240A (en) * | 2021-10-25 | 2022-03-11 | 河北汉光重工有限责任公司 | Method and device for correcting and calibrating baseline of target range test |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110940354A (en) * | 2019-12-02 | 2020-03-31 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
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| CN114166240A (en) * | 2021-10-25 | 2022-03-11 | 河北汉光重工有限责任公司 | Method and device for correcting and calibrating baseline of target range test |
| CN114166240B (en) * | 2021-10-25 | 2024-05-24 | 河北汉光重工有限责任公司 | Method and device for correcting and calibrating target range test baseline |
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Application publication date: 20181106 |