CN110285708B - Rapid detection method for north-seeking precision of self-propelled gun positioning and orienting system - Google Patents
Rapid detection method for north-seeking precision of self-propelled gun positioning and orienting system Download PDFInfo
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Abstract
The invention discloses a method for quickly detecting north-seeking precision of a self-propelled gun positioning and orienting system, which comprises the following steps of: step 1: firstly, stopping the self-propelled artillery at a certain position in the wide and flat detection area, and then adjusting the direction of an artillery barrel; step 2: transparent target correcting discs are arranged at the scribed line position and the tail position of the muzzle brake, and a laser emitter capable of finely adjusting the angle and the position is arranged at the front end of the tail; and step 3: firstly, erecting a No. 1 target at a position A with an unknown distance x m at the far end in front of a gun barrel, enabling laser beams to pass through the centers of front and rear transparent target correcting discs and align to the center of a No. 1 target prism; then erecting a No. 2 target at a position B with an unknown distance y m at the near end right in front of the gun barrel, and finely adjusting the position of the No. 2 target to enable the laser beam to be aligned to the center of a No. 2 target prism; the method for rapidly detecting the north-seeking precision of the self-propelled artillery positioning and orienting system can rapidly and accurately check the north-seeking orientation error of the self-propelled artillery before a battle.
Description
Technical Field
The invention relates to a method for quickly detecting north-seeking precision of a self-propelled gun positioning and orienting system, and belongs to the technical field of performance detection of self-propelled gun positioning and orienting systems.
Background
The paroxysmal, rapidity and variability of modern wars put forward higher and higher requirements on the response speed and the hit precision of a weapon system, and the requirements on quick maneuverability and strong survivability are also required; therefore, the self-propelled artillery and other war vehicles can quickly determine the self direction, the horizontal posture and the geographic position in a position or in a traveling process in real time, namely, the self direction, the horizontal posture and the geographic position can be quickly positioned and oriented, and the vehicle-mounted positioning and orientation technology is developed; the positioning and orientation system is a navigation system which can provide accurate geographic position coordinates, north-pointing directions and attitude angles for a carrier, is usually used for functional platforms such as ships, airplanes and vehicles, and provides accurate position and attitude reference information for equipment on the platforms; the positioning and orientation system applied to the self-propelled gun is mainly used for geodetic and direction-finding of the gun and is used for navigation; after the artillery has the accurate geodesic direction-finding function, other shooting data correction measures are provided, the method of effective shooting without correcting can be implemented, the shooting abruptness is reflected, and the damage to enemies is improved; meanwhile, the method can also be implemented in a battlefield in a maneuvering transfer operation mode, prevents the enemy from fighting against the attack of firepower of artillery, and improves the survivability of the artillery battlefield. The self-propelled artillery can shoot under the command of a command system, then is safely transferred by 30-50 m and shoots again on a new place, so that the self-propelled artillery can become a target which is difficult to deal with the fire of enemy counter artillery.
The gyro north finder in the positioning and orientation system mainly finds north by a four-position method and a rotation modulation method. The four-position method is based on the least square thought, and the influence of constant drift can be eliminated and the influence of scale factors on the north-seeking result can be well reduced through the measurement of the symmetrical positions; however, this method requires a precise indexing mechanism to control the Inertial Measurement Unit (IMU) to stop at different precisely known angular positions during the north-seeking period, thereby resulting in an increase in the size, weight, power consumption, and cost of the system; compared with a four-position method, the rotary modulation north-seeking method can obviously shorten north-seeking time and improve north-seeking precision theoretically by virtue of modulation and demodulation of zero offset of the gyro. However, the continuous rotation scheme of the rotation modulation north-seeking method has high requirements on the hardware structure and performance of the system, particularly on the rotation precision, the rotation speed and the rotation stability of the turntable, namely the north-seeking precision depends on the precision of the turntable to a great extent; however, although the installation direction of the north seeker is preset to be in one-to-one correspondence with the steering mathematical model of the self-propelled gun, the inclination of the turret causes principle errors, and the self-propelled gun causes system errors through long marching and the abrasion process of the turret, so that a non-alignment error exists between the actual rotation angle of the turret turntable and the more accurate rotation angle difference of the north seeker gyroscope, and the actual north seeker angle and the instrument display north seeker angle inevitably have deviation.
Therefore, the self-propelled artillery can carry out north-seeking precision detection of the positioning and orientation system before the live-action shooting is carried out. The main positioning and orientation error checking method in the industry at present comprises the following basic steps: 1) setting coordinates of a shot point which is as firm and flat as possible and a sighting point which is relatively far away from the shot point (generally 1.5 km); 2) the artillery chassis is basically aligned to the target on the gun position, and the barrel is positioned right in front of the chassis as far as possible and is kept horizontal; 3) pasting a cross line at the scribed line of the muzzle brake and installing a target correcting disc at the tail of the gun; 5) aligning the cross line of the muzzle to a distant aiming point through a central hole of the target correcting disc; 6) and continuously searching north by using a positioning and orienting system for several times to obtain an average value.
The steps show that the existing self-propelled gun positioning and orientation north-seeking precision rapid detection method has the defects of long aiming point distance, large gun position reference error, low detection efficiency and the like; moreover, as the distance of the aiming point is too far, the distance between the calibration target and the sight cross is relatively very close, a large error occurs when an aiming hand observes, the positioning and orientation precision requirement required by actual combat cannot be met, the remote meat eye observation is easily influenced by cloud and fog weather, and inconvenience is brought to the rapid detection and calibration of the actual battle field maneuvering operation of the self-propelled artillery; therefore, how to realize that the performance detection of the positioning and orienting system can be quickly and effectively finished after the self-propelled gun is used in long-distance marching is a very critical point for stably exerting the firepower of the self-propelled gun in modern maneuvering operation, and becomes a problem to be solved urgently.
Disclosure of Invention
In order to solve the problems, the invention provides a method for quickly detecting the north-seeking precision of a self-propelled gun positioning and orienting system, which can quickly and accurately check the north-seeking orientation error of a self-propelled gun before a battle.
The invention discloses a method for quickly detecting north-seeking precision of a self-propelled gun positioning and orienting system, which comprises the following steps of:
step 1: firstly, stopping the self-propelled gun at a certain position in an open and flat detection area, then adjusting the direction of a gun barrel and ensuring that no shielding exists in the detection area in front of the gun barrel; leveling the vehicle body by using a jack, and checking the trim and the heeling on the plane of the undercarriage by using a cannon quadrant;
step 2: transparent target correcting discs are arranged at the scribed line position and the tail position of the muzzle brake, and a laser emitter capable of finely adjusting the angle and the position is arranged at the front end of the tail;
and step 3: firstly, erecting a No. 1 target at a position A with an unknown distance x m at the far end right in front of a gun barrel, finely adjusting the positions of a laser emitter and the No. 1 target, enabling a laser beam to pass through the centers of front and rear transparent target correcting discs and aligning to the center of a No. 1 target prism; then erecting a No. 2 target at a position B with an unknown distance y m at the near end right in front of the gun barrel, and finely adjusting the position of the No. 2 target to enable the laser beam to be aligned to the center of a No. 2 target prism;
and 4, step 4: fixing and recording the positions A, B of the No. 1 target and the No. 2 target, performing the north-seeking operation of the self-propelled gun positioning and orienting system, recording the north-seeking angle data, erecting a total station at a surveying and mapping reference point C, and erecting a reference datum rod at a surveying and mapping reference point D;
and 5: setting the heights of a total station at a surveying and mapping reference point C and a target at A, B to enable the centers of prisms of the total station and the two targets to be in the same horizontal line, enabling the total station to be in an angle measurement mode, aiming at a reference rod at a surveying and mapping reference point D, setting the reading of a horizontal dial at the moment to be 0-degree 00', then operating the total station to aim at the center of the prism of the 1# target at the A, recording the reading theta of the horizontal dial displayed at the moment, and directly measuring the distance a between the ACs after setting prism constants, air temperature and pressure values and prism height parameters; continuing to operate the total station to aim at the center of the prism of the No. 2 target at the B position, recording the reading alpha of the displayed horizontal scale at the moment, and simultaneously directly measuring the distance B between BC;
step 6: using the horizontal angles alpha and theta and the distances a and b measured by the total station, setting the distance c between AB as x-y, as shown in fig. 3, making a positive north perpendicular line passing through A and intersecting a datum line CD at a point E, and drawing the north-offset angles of AB and CD; setting a north-seeking angle psi of a surveying and mapping reference line CD, setting a north-seeking angle phi of a gun line AB, wherein phi is a north-seeking direction angle of a gun barrel;
to find out phi, then setting < BAC as beta and < CAE as gamma, then:
φ＝β+γ， (1)
from the cosine theorem, it can be known that:
since Ψ is directly given by mapping reference points C and D, Φ is directly solved by:
and 7: comparing the recorded north-seeking angle data of the self-propelled gun positioning and orienting system, and calculating the north-seeking precision error of the self-propelled gun positioning and orienting system; in order to avoid accidental errors, the cannon can be made to be still, the barrel direction can be rotated, and the north-seeking precision rapid detection method can be repeatedly carried out.
Further, in the step 1, the general north direction of the gun barrel is determined by referring to the known mapping reference points C and D, and the self-propelled gun or the gun is moved to enable the gun barrel to face the northeast/northwest direction.
Still further, survey reference point C point and survey reference point D point are measured by national survey bureau geodetic survey team in advance.
Furthermore, the transparent boresight disc is provided with a cross line and a hollow sight, and the diameter of a central hollow circle of the transparent boresight disc is larger than that of the laser beam column.
Further, in the step 3, the distance between the No. 1 target at the front far end A of the gun barrel and the gun barrel is not more than 20 times of the barrel length; the distance between the No. 2 target at the front near end B of the gun barrel and the gun barrel is not less than 5 times of the barrel length.
Compared with the prior art, the method for rapidly detecting the north-seeking precision of the self-propelled artillery positioning and orienting system can rapidly and accurately check the north-seeking orientation error of the self-propelled artillery before operation, does not need to set long-distance spaced artillery sites and aiming points, avoids strict detection site limitation, has no gun site reference error, has high detection efficiency, saves manpower, material resources and fields, and reduces the working intensity of operators.
Drawings
FIG. 1 is a schematic illustration of the field, instrumentation setup and shot line recording method of the present invention.
FIG. 2 is a schematic plan view of a transparent boresight disk of the present invention.
Figure 3 is a schematic view of the laser alignment of the gun line of the present invention.
Fig. 4 is a schematic diagram of the instrumentation operation and shot line measurement method of the present invention.
Fig. 5 is a schematic view of the arrangement of the prism-equipped measuring target of the present invention.
The parts in the drawings are marked as follows: the system comprises a laser emitter 1, a transparent calibration target disc 2, a target plate 3-2#, a target plate 4-1#, a surveying and mapping reference point C5, a surveying and mapping reference point D6, a total station 7, a reference rod 8, a gun barrel 9, a laser gun line 10, a target plate prism 11, a target plate prism 12-2# and a target plate prism 13-1 #.
Detailed Description
The method for rapidly detecting the north-seeking precision of the self-propelled gun positioning and orienting system shown in the figures 1 to 5 comprises the following steps:
step 1: firstly, stopping the self-propelled gun at a certain position in the wide and flat detection area, then adjusting the direction of the gun barrel 12, and ensuring that no shielding exists in the detection area in front of the gun barrel 9; leveling the vehicle body by using a jack, and checking the trim and the heeling on the plane of the undercarriage by using a cannon quadrant;
step 2: transparent target correcting discs 2 are arranged at the scribed line position and the tail position of the muzzle brake, and a laser emitter 1 capable of finely adjusting the angle and the position is arranged at the front end of the tail;
and step 3: firstly, erecting a No. 1 target 4 at a position A with an unknown distance x m at the far end in front of a gun barrel 9, finely adjusting the positions of a laser emitter 1 and the No. 1 target 4, enabling a laser beam to pass through the centers of front and rear transparent target correcting discs 2 and align to the center of a No. 1 target prism 13; then erecting a No. 2 target 3 at a position B with an unknown distance y m at the near end right in front of the gun barrel 9, and finely adjusting the position of the No. 2 target 3 to enable the laser beam to be aligned with the center of the No. 2 target prism 12;
and 4, step 4: fixing and recording the positions A, B of the No. 1 target 4 and the No. 2 target 3, performing the north-seeking operation of the self-propelled gun positioning and orienting system, recording the north-seeking angle data, erecting a total station 7 at a surveying and mapping reference point C point 5, and erecting a reference datum rod 8 at a surveying and mapping reference point D point 6;
and 5: setting the heights of the total station 7 at a surveying and mapping reference point C point 5 and the target at a point A, B to enable the lens of the total station 7 and the centers of two target prisms 11 to be in the same horizontal line, enabling the total station 7 to be in an angle measurement mode, aiming at a reference datum rod 8 at a surveying and mapping reference point D point 6, setting the reading of a horizontal scale at the moment to be 0-degree 00', then operating the total station 7 to aim at the center of a No. 1 target prism 13 at a point A, recording the reading theta of the horizontal scale displayed at the moment, and directly measuring the distance a between the AC after setting prism constants, air temperature and pressure values and prism height parameters; continuing to operate the total station 7 to aim at the center of the 2# target prism 12 at the B position, recording the reading alpha of the displayed horizontal scale at the moment, and simultaneously directly measuring the distance B between the BC;
step 6: using the horizontal angles α and θ and the distances a and b measured by the total station 7, setting the distance c between AB as x-y, as shown in fig. 4, drawing a positive north perpendicular line passing through a and intersecting the datum line CD at point E, and drawing the north-offset angles of AB and CD; setting a north-seeking angle psi of a surveying and mapping reference line CD, setting a north-seeking angle phi of a gun line AB, wherein phi is the north-seeking direction angle of a gun barrel 9;
to find out phi, then setting < BAC as beta and < CAE as gamma, then:
φ＝β+γ， (1)
from the cosine theorem, it can be known that:
since Ψ is directly given by mapping reference points C and D, Φ is directly solved by:
and 7: comparing the recorded north-seeking angle data of the self-propelled gun positioning and orienting system, and calculating the north-seeking precision error of the self-propelled gun positioning and orienting system; in order to avoid accidental errors, the cannon can be made to be still, the barrel direction can be rotated, and the north-seeking precision rapid detection method can be repeatedly carried out.
In the step 1, the general north direction of the gun barrel 9 is determined by referring to the known mapping reference points C and D5 and 6, and the self-propelled gun or the gun is moved to enable the gun barrel to face the northeast/northwest direction.
The surveying reference point C point 5 and the surveying reference point D point 6 are measured in advance by the national surveying and mapping bureau geodetic team.
The transparent boresight disc 2 is provided with a cross line and a hollow sight, and the diameter of a central hollow circle of the transparent boresight disc 2 is larger than that of a laser beam column.
In the step 3, the distance between the No. 1 target 4 at the front far end A of the gun barrel 9 and the gun barrel 9 is not more than 20 times the barrel length; the distance between the No. 2 target 3 at the front near end B of the gun barrel 9 and the gun barrel 9 is not less than 5 times the barrel length.
The invention relates to a self-propelled gun positioning and orienting system north-seeking precision rapid detection method, which is divided into a gun line recording method and a gun line measuring method, wherein the gun line recording method comprises the steps of recording a far-end point A (the distance between the far end and the barrel is not more than 20 times the length of the barrel) and a near-end point B (the distance between the near end and the barrel is not less than 5 times the length of the barrel) on a gun barrel aiming line by utilizing a 1# target plate and a 2# target plate with prisms, so that the gun line in the barrel aiming direction is converted into two positioning points recorded by the target on the gun line, and then aiming and recording the positioning points by utilizing a laser transmitter and transparent target correcting discs (the diameter of a central hollow circle is slightly larger than that of a laser beam column) which are arranged at the front end and the rear end of the barrel and are provided with cross hairs and hollow sights; the shot line measuring method includes the steps that a total station and a reference datum rod are respectively erected at a C point and a D point of two known surveying and mapping datum points (the C point and the D point of the surveying and mapping datum points are measured by a geodetic survey team of the national surveying and mapping bureau in advance), the total station is used for respectively measuring A, B the distance from the center of a target prism at two points to the C point of the total station and the rotating angle relative to the D point of the reference datum rod, the distance and the north angle between two points of a No. 1 target and a No. 2 target A, B are directly calculated by utilizing the measured data and the known north angle of a connecting line of the two points C, D, the north angle is the real north-seeking angle of a self-propelled gun sound tube shot line, and the north-seeking orientation error is checked by matching with a positioning system machine in a searching vehicle to display the north angle.
The method for quickly detecting the north-seeking precision of the self-propelled gun positioning and orienting system does not need to arrange gun sites and aiming points which are spaced at long distances, avoids strict detection site limitation, has no gun site reference error, has high detection efficiency, saves manpower, material resources and sites, and reduces the working intensity of operators.
The above-described embodiments are merely preferred embodiments of the present invention, and all equivalent changes or modifications of the structures, features and principles described in the claims of the present invention are included in the scope of the present invention.
Claims (5)
1. A fast detection method for north seeking precision of a self-propelled gun positioning and orienting system is characterized by comprising the following steps:
step 1: firstly, stopping the self-propelled gun at a certain position in an open and flat detection area, then adjusting the direction of a gun barrel and ensuring that no shielding exists in the detection area in front of the gun barrel; leveling the vehicle body by using a jack, and checking the trim and the heeling on the plane of the undercarriage by using a cannon quadrant;
step 2: transparent target correcting discs are arranged at the scribed line position and the tail position of the muzzle brake, and a laser emitter capable of finely adjusting the angle and the position is arranged at the front end of the tail;
and step 3: firstly, erecting a No. 1 target at a position A with an unknown distance x m at the far end right in front of a gun barrel, finely adjusting the positions of a laser emitter and the No. 1 target, enabling a laser beam to pass through the centers of front and rear transparent target correcting discs and aligning to the center of a No. 1 target prism; then erecting a No. 2 target at a position B with an unknown distance y m at the near end right in front of the gun barrel, and finely adjusting the position of the No. 2 target to enable the laser beam to be aligned to the center of a No. 2 target prism;
and 4, step 4: fixing and recording the positions A, B of the No. 1 target and the No. 2 target, performing the north-seeking operation of the self-propelled gun positioning and orienting system, recording the north-seeking angle data, erecting a total station at a surveying and mapping reference point C, and erecting a reference datum rod at a surveying and mapping reference point D;
and 5: setting the heights of a total station at a surveying and mapping reference point C and a target at A, B to enable the centers of prisms of the total station and the two targets to be in the same horizontal line, enabling the total station to be in an angle measurement mode, aiming at a reference rod at a surveying and mapping reference point D, setting the reading of a horizontal dial at the moment to be 0-degree 00', then operating the total station to aim at the center of the prism of the 1# target at the A, recording the reading theta of the horizontal dial displayed at the moment, and directly measuring the distance a between the ACs after setting prism constants, air temperature and pressure values and prism height parameters; continuing to operate the total station to aim at the center of the prism of the No. 2 target at the B position, recording the reading alpha of the displayed horizontal scale at the moment, and simultaneously directly measuring the distance B between BC;
step 6: using horizontal angles alpha and theta and distances a and b measured by a total station, setting the distance c between AB as x-y, making a positive north-oriented vertical line passing through A and intersecting a datum line CD at a point E, and drawing the north-offset angles of AB and CD; setting a north-seeking angle psi of a surveying and mapping reference line CD, setting a north-seeking angle phi of a gun line AB, wherein phi is a north-seeking direction angle of a gun barrel;
to find out phi, then setting < BAC as beta and < CAE as gamma, then:
φ＝β+γ， (1)
from the cosine theorem, it can be known that:
since Ψ is directly given by mapping reference points C and D, Φ is directly solved by:
and 7: comparing the recorded north-seeking angle data of the self-propelled gun positioning and orienting system, and calculating the north-seeking precision error of the self-propelled gun positioning and orienting system; in order to avoid accidental errors, the cannon can be made to be still, the barrel direction can be rotated, and the north-seeking precision rapid detection method can be repeatedly carried out.
2. The method according to claim 1, wherein in step 1, the approximate north direction of the barrel of the self-propelled gun is determined by referring to the known mapping reference points C and D, and the self-propelled gun is moved or adjusted to make the barrel face the northeast/northwest direction.
3. The self-propelled gun location and orientation system north-seeking precision rapid detection method according to claim 1 or 2, wherein the survey reference point C and the survey reference point D are measured in advance by a national survey bureau geodetic survey team.
4. The self-propelled gun positioning and orienting system north-seeking precision rapid detection method as claimed in claim 1, wherein said transparent boresight disc has a cross line and a hollow sight, and the diameter of the central hollow circle of the transparent boresight disc is larger than that of the laser beam column.
5. The self-propelled gun positioning and orienting system north-seeking precision rapid detection method as claimed in claim 1, wherein in said step 3, the distance between the No. 1 target at the far end A right in front of the gun barrel and the gun barrel is not more than 20 times the barrel length; the distance between the No. 2 target at the front near end B of the gun barrel and the gun barrel is not less than 5 times of the barrel length.
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| CN113606988A (en) * | 2021-08-05 | 2021-11-05 | 齐胜应 | Device for detecting gun aiming precision |
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| CN114281112B (en) * | 2021-12-24 | 2023-08-15 | 中国人民解放军陆军工程大学 | Device and method for measuring space angle of gun barrel based on photoelectric tracking |
| CN115111963B (en) * | 2022-08-12 | 2024-05-14 | 中国人民解放军陆军工程大学 | Test system and test method for measuring absolute direction of barrel |
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| CN207095517U (en) * | 2017-02-28 | 2018-03-13 | 北京卓力新航科技有限责任公司 | Cannon multibarrel axis parallel degree optical alignment set |
| CN109682399A (en) * | 2019-01-07 | 2019-04-26 | 华南农业大学 | It is a kind of based on three-axle table to the precision checking method of total station pose measurement result |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113606988A (en) * | 2021-08-05 | 2021-11-05 | 齐胜应 | Device for detecting gun aiming precision |
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