CN110455498B - Performance testing device and method for composite shaft tracking and aiming system - Google Patents
Performance testing device and method for composite shaft tracking and aiming system Download PDFInfo
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- CN110455498B CN110455498B CN201910599569.7A CN201910599569A CN110455498B CN 110455498 B CN110455498 B CN 110455498B CN 201910599569 A CN201910599569 A CN 201910599569A CN 110455498 B CN110455498 B CN 110455498B
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Abstract
The invention discloses a performance testing device and a testing method for a composite shaft tracking and aiming system, which comprises the following steps: a base; an indication light source; a detector; the rotating arm is rotatably arranged on the base; the quick reflector is fixedly arranged at one end of the rotating arm and used for reflecting the indicating light emitted by the indicating light source to the composite shaft tracking and aiming system and reflecting the tracking and aiming light emitted by the composite shaft tracking and aiming system to the detector; a driver disposed on the fast mirror; the controller, the controller all links to each other with swinging boom, driver to and the rotation of control swinging boom, and control driver drive quick speculum and vibrate, relate to compound axle and follow tracks of technical field. The invention can simultaneously measure four key indexes of the tracking and aiming system under the condition of an internal field, has simple and convenient test process, does not need to spend a large amount of manpower and material resources to carry out external field test, shortens the test time of tracking and aiming performance, saves the test cost and ensures the test precision.
Description
Technical Field
The invention relates to the technical field of composite axis tracking, in particular to a performance testing device and a testing method for a composite axis tracking and aiming system.
Background
The composite shaft tracking and aiming system adopts a coarse and fine two-stage tracking mode, wherein the coarse tracking realizes the capture and tracking of a 360-degree omnibearing area through a two-dimensional turntable; the fine tracking utilizes a high-broadband fast-reflection mirror to inhibit coarse tracking residual error, and high-precision target tracking is realized. The tracking and aiming precision of the composite shaft tracking and aiming system reaches the level of micro rad (micro radian), the tracking precision is very high, and a corresponding high-precision tracking and aiming performance testing device is required to be equipped.
At present, there are special internal field, external field test equipment to the tracking and aiming performance test at home, but the ubiquitous problem of test precision not high, test index coverage, wherein, the internal field test generally adopts ordinary photoelectricity to change the target, has following problem: 1. the common photoelectric rotary target is mainly used for detecting the tracking performance of the theodolite, can only test the tracking precision and does not have the function of testing the aiming precision; 2. the tracking system images and tracks the light spot on the common photoelectric rotating target, but the light spot on the image rotates along with the rotation of the rotating target to generate image rotation, and if the shape of the light spot is irregular, the image tracking is influenced to a certain extent. The outfield test aiming at the tracking and aiming performance is generally realized by adopting a mode that a target carrying platform carries an array target spot instrument, but the flying speed of the carrying platform is generally about 20m/s, the speed is slow, and the tracking system can not test the maximum angular speed of the tracking and aiming system with guaranteed precision and the maximum angular acceleration of the tracking and aiming system with guaranteed precision.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a performance testing device and a testing method of a composite shaft tracking and aiming system, which can complete multiple performance tests of the composite shaft tracking and aiming system in an internal field environment, and have the advantages of convenient use and high testing precision.
The invention provides a performance testing device of a composite shaft tracking and aiming system, which comprises:
a base;
an indication light source;
a detector;
the rotating arm is rotatably arranged on the base;
the quick reflector is fixedly arranged at one end of the rotating arm and used for reflecting the indicating light emitted by the indicating light source to the composite shaft tracking and aiming system and reflecting the tracking and aiming light emitted by the composite shaft tracking and aiming system to the detector;
a driver disposed on the fast mirror;
and the controller is connected with the rotating arm and the driver and is used for controlling the rotation of the rotating arm and controlling the driver to drive the quick reflector to vibrate.
On the basis of the technical scheme, the testing device further comprises a spectroscope, the spectroscope is arranged on a light path between the indicating light source and the quick reflecting mirror, the spectroscope is provided with a transmission surface and a reflection surface, the transmission surface is used for transmitting part of indicating light emitted by the indicating light source to the detector to form an indicating light spot, transmitting part of tracking light emitted by the composite shaft tracking and aiming system to the detector to form an integral light spot, and the reflection surface is used for reflecting part of the indicating light emitted by the indicating light source to the quick reflecting mirror.
On the basis of the technical scheme, the testing device further comprises a coupling alignment unit, the coupling alignment unit is arranged on a light path between the indicating light source and the spectroscope, and the coupling alignment unit is used for adjusting the light path of the indicating light so as to adjust the position of the indicating light spot on the detector.
On the basis of the technical scheme, the testing device further comprises a light guide blocking sheet and a pyramid, wherein the pyramid is used for reflecting the indicating light transmitted by the spectroscope to the detector through the spectroscope, the light guide blocking sheet is connected with the controller, and the light guide blocking sheet is provided with:
the opening state, when in the opening state, the indicating light transmitted by the spectroscope irradiates the pyramid;
and in the closed state, the indication light transmitted by the spectroscope is shielded by the light guide blocking sheet.
On the basis of the technical scheme, set up the light guide channel in the base, the light guide channel is located light path between spectroscope and the quick-operation mirror, the light guide channel with the coaxial setting of the rotation axis of swinging boom, the fixed first speculum that is provided with on the swinging boom, first speculum is used for with the interior pilot light reflection of light guide channel extremely the quick-operation mirror.
On the basis of the technical scheme, the base is provided with a light inlet communicated with the light guide channel, the light inlet is positioned on a light path between the spectroscope and the light guide channel, and a second reflecting mirror is arranged at the communication position of the light guide channel and the light inlet in the base and used for reflecting the indicating light at the light inlet to the first reflecting mirror.
The invention also provides a performance test method of the composite shaft tracking and aiming system, which comprises the following steps:
providing the test device of claim 1;
adjusting the positions of the composite shaft tracking system and the testing device to ensure that the rotation central point of the composite shaft tracking system coincides with the intersection point of the light path between the quick reflector and the composite shaft tracking system and the rotation shaft of the rotating arm;
the indicating light source emits indicating light, and the composite shaft tracking system tracks the indicating light;
controlling the quick reflector to keep still or vibrate according to a preset frequency according to the test requirement;
controlling the rotating arm to rotate and gradually accelerate, stopping accelerating when the angular speed or the angular acceleration reaches a preset value, and keeping the rotating arm rotating at a constant speed;
the composite shaft tracking system emits tracking light and forms an integral light spot on the detector;
and processing the integrated light spots to obtain a group of test data, and calculating aiming errors and tracking errors according to the group a of test data.
On the basis of the technical scheme, the testing device further comprises a coupling alignment unit, the coupling alignment unit is used for adjusting the light path of the indicating light so as to adjust the position of the indicating light spot on the detector, and the testing device further comprises the following steps before the compound shaft tracking and aiming system sends out tracking and aiming light:
the indicating light source emits indicating light, and the coupling alignment unit is adjusted to enable an indicating light spot formed by the indicating light on the detector to be positioned in the center of the image.
On the basis of the technical scheme, the aiming error is calculated according to the following formula:
Δθp,x＝arctan(xc-x0)
Δθp,y＝arctan(yc-y0)
in the formula,. DELTA.theta.p,xFor the x-component of the aiming error, Δ θp,yFor the y-component of the aiming error, xcIs the x-component of the centroid of the integrated spot, ycIs the y-component of the centroid of the integrated spot, x0Is the x-component, y, of the detector's central position0The y component of the central position of the detector, Δ θpAiming error;
integrating the x-component x of the spot centroidcThe y-component y of the centroid of the integrated spotcCalculated according to the following formula:
in the formula, P is the total power of the tracking light on the detector, M is the number of rows of the detector unit, N is the number of columns of the detector unit, M is the total number of rows of the detector unit, N is the total number of columns of the detector unit, and xmnIs the x-coordinate, y, of the m-th row and n-th column detector unitmnIs the y-coordinate of the detector unit of the mth row and nth column.
On the basis of the technical scheme, the tracking error is calculated according to the following formula:
in the formula,. DELTA.theta.T,xTo track the x-component of the error, Δ θT,yFor the y-component of the tracking error, Δ θj,x、Δθj,yThe x-direction component and the y-direction component of the angular deviation value of the short-exposure light spot centroid relative to the long-exposure light spot centroid in the jth data are respectively delta thetaTIs the tracking error.
Compared with the prior art, the invention has the following advantages:
(1) the performance testing device of the composite shaft tracking and aiming system provided by the invention adopts the rotatable rotating arm arranged on the base to simulate the outfield testing environment, and can easily reach larger angular velocity and angular acceleration, so that four key indexes of the tracking system, such as the maximum angular velocity, the maximum angular acceleration, the tracking precision and the aiming precision, can be measured simultaneously under the condition of an outfield; the rotating arm is arranged on the base, so that the shaking caused by rotation can not be introduced into a test result, and the test precision is ensured.
(2) In the performance test method of the composite shaft tracking and aiming system, the mass center position of the indication light spot tracked by the tracking and aiming system is the aiming point in the test process, so that the aiming error can be accurately tested; the high-frequency vibration environment of the tracking loop is simulated through the small-amplitude and high-frequency movement of the quick reflector, so that the high-speed target movement can be simulated, the high-frequency vibration environment of the tracking loop can also be simulated, the target tracking characteristic of the actual tracking loop can be simulated more truly, and the testing precision of the tracking precision and the aiming precision can be greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of a performance testing device of a composite shaft tracking system according to an embodiment of the present invention.
Reference numerals: the system comprises a base 1, an indicating light source 2, a detector 3, a rotating arm 4, a quick reflector 5, a composite axis tracking and aiming system 6, a spectroscope 7, a coupling alignment unit 8, a light guide baffle 9, a pyramid 10, a first reflector 11 and a second reflector 12.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Referring to fig. 1, an embodiment of the present invention provides a performance testing apparatus for a composite shaft tracking and aiming system, including: the device comprises a base 1, an indicating light source 2, a detector 3, a rotating arm 4, a quick reflector 5, a driver and a controller.
The rotating arm 4 is rotatably arranged on the base 1; the fast reflector 5 is fixedly arranged at one end of the rotating arm 4, and the fast reflector 5 is used for reflecting the indicating light emitted by the indicating light source 2 to the composite shaft tracking and aiming system 6 and reflecting the tracking and aiming light emitted by the composite shaft tracking and aiming system 6 to the detector 3; the driver is arranged on the quick reflector 5; the controller is connected with the rotating arm 4 and the driver, and is used for controlling the rotation of the rotating arm 4 and controlling the driver to drive the quick reflecting mirror 5 to vibrate.
The performance testing device of the composite shaft tracking and aiming system adopts the rotatable rotating arm 4 arranged on the base 1 to simulate an outfield testing environment, and can easily reach larger angular velocity and angular acceleration, so that four key indexes of the tracking system, such as the maximum angular velocity, the maximum angular acceleration, the tracking precision and the aiming precision, can be simultaneously measured under the condition of an outfield; the rotating arm 4 is arranged on the base 1, so that the shaking caused by rotation can not be introduced into a test result, and the test precision is ensured.
The controller can control the quick reflector 5 according to the data of the high-frequency vibration environment, so that the high-frequency vibration characteristic of the tracking loop is simulated and injected into the composite shaft tracking and aiming system 6, and the inhibition capability of the composite shaft tracking and aiming system 1 on the high-frequency vibration is detected; the motion of the fast reflector 5 adopts a servo closed loop mode, data of a high-frequency vibration environment is used as input, and the motion of the fast reflector 5 is controlled through feedback of a sensor (such as a strain sensor) on the fast reflector 5.
In this embodiment, preferably, the testing apparatus further includes a beam splitter 7, the beam splitter 7 is disposed on a light path between the indication light source 2 and the fast reflector 5, the beam splitter 7 has a transmission surface and a reflection surface, the transmission surface is configured to transmit a part of the indication light emitted by the indication light source 2 to the detector 3 to form an indication light spot, and transmit a part of the tracking light emitted by the composite axis tracking system 6 to the detector 3 to form an integral light spot, and the reflection surface is configured to reflect a part of the indication light emitted by the indication light source 2 to the fast reflector 5; the spectroscope 7 can divide one beam into a plurality of beams of light, the indicating light emitted by the indicating light source 2 is divided into two beams, one beam of light is transmitted to the detector 3 to form an indicating light spot, and the other beam of light is reflected to the quick reflector 5; and the tracking light emitted by the composite shaft tracking system 6 is transmitted to the detector 3 to form an integral light spot.
In this embodiment, preferably, the testing apparatus further includes a coupling alignment unit 8, the coupling alignment unit 8 is disposed on the optical path between the indication light source 2 and the spectroscope 7, and the coupling alignment unit 8 is configured to adjust the optical path of the indication light to adjust the position of the indication light spot on the detector 3; the indicating light is focused and imaged on the detector 3, and the coupling alignment unit 8 moves two-dimensionally along the vertical axis direction of the light path, so that an indicating light spot is positioned at the center of an imaging image, a common light path of a transmitting light path and a receiving light path is realized, and the testing precision of tracking precision and aiming precision is ensured.
In this embodiment, preferably, the testing apparatus further includes a light guide blocking plate 9 and a pyramid 10, the pyramid 10 is configured to reflect the indicating light transmitted by the beam splitter 7 to the detector 3 through the beam splitter 7, the light guide blocking plate 9 is connected to the controller, and the light guide blocking plate 9 has:
an open state, when in the open state, the indicating light transmitted by the spectroscope 7 is irradiated to the pyramid 10;
and the closed state, when in the closed state, the indication light transmitted by the spectroscope 7 is shielded by the light guide baffle 9.
The light guide blocking sheet 9 and the pyramid 10 are matched with the coupling alignment unit 8 and used for adjusting the imaging position of the indicating light on the detector 3 before the test is started, so that the center of mass of the indicating light spot is in the center of the image, the common light path of the transmitting light path and the receiving light path is realized, the test precision of the tracking precision and the aiming precision is ensured, and the calculation of the subsequent detection result is facilitated. And the common optical path adjustment is not needed in the formal test process.
In this embodiment, preferably, a light guide channel is formed in the base 1, the light guide channel is located on a light path between the spectroscope 7 and the fast reflector 5, the light guide channel is coaxially arranged with a rotating shaft of the rotating arm 4, a first reflector 11 is fixedly arranged on the rotating arm 4, and the first reflector 11 is used for reflecting the indicating light in the light guide channel to the fast reflector 5; further, a light inlet communicated with the light guide channel is formed in the side wall of the base 1, the light inlet is located on a light path between the spectroscope 7 and the light guide channel, a second reflecting mirror 12 is arranged at a position where the light guide channel in the base 1 is communicated with the light inlet, and the second reflecting mirror 12 is used for reflecting the indicating light at the light inlet to the first reflecting mirror 11; the light guide channel, the light inlet, the first reflecting mirror 11 and the second reflecting mirror 12 are used for reflecting the indicating light reflected by the beam splitter 7 to the quick reflecting mirror 5 in a matching way, and the light path of the rotating arm 4 is ensured not to be influenced no matter how the rotating arm rotates.
The embodiment of the invention also provides a performance test method of the composite shaft tracking and aiming system, which comprises the following steps:
providing the test device of claim 1;
adjusting the positions of the composite shaft tracking and aiming system 6 and the testing device to ensure that the rotation central point of the composite shaft tracking and aiming system 6 is superposed with the intersection point of the light path between the quick reflector 5 and the composite shaft tracking and aiming system 6 and the rotation shaft of the rotating arm 4;
the indicating light source 2 emits indicating light, and the composite shaft tracking system 6 tracks the indicating light;
controlling the quick reflector 5 to keep still or vibrate according to a preset frequency according to the test requirement;
controlling the rotating arm 4 to start rotating and gradually accelerate, and stopping accelerating when the angular velocity or the angular acceleration reaches a preset value, wherein the rotating arm 4 keeps rotating at a constant speed;
the compound shaft tracking and aiming system 6 emits tracking and aiming light and forms an integral light spot on the detector 3;
and processing the integrated light spots to obtain a group of test data, and calculating aiming errors and tracking errors according to the group a of test data.
In the performance test method of the composite shaft tracking and aiming system, the mass center position of the indication light spot tracked by the tracking and aiming system is the aiming point in the test process, so that the aiming error can be accurately tested; the small-amplitude and high-frequency motion of the quick reflector 5 simulates the high-frequency vibration environment of the tracking loop, so that the high-speed target motion can be simulated, the high-frequency vibration environment of the tracking loop can also be simulated, the target tracking characteristic of the actual tracking loop can be simulated more truly, and the testing precision of the tracking precision and the aiming precision can be greatly improved.
In this embodiment, it is preferable that the testing apparatus further includes a coupling alignment unit 8, where the coupling alignment unit 8 is configured to adjust a light path of the indication light to adjust a position of the indication light spot on the detector 3, and before the compound axis tracking system 6 emits the tracking light, the method further includes the following steps:
the pointing light source 2 emits pointing light and the coupling alignment unit 8 is adjusted so that the pointing light spot formed on the detector 3 by the pointing light is located at the center of the image.
Testing the tracking and aiming performance, wherein the intersection point of the system position and the pitching rotating shaft of the composite shaft tracking and aiming system 6 is required to be near a scanning light cone point formed by the emergent light of the testing device rotating around the rotating shaft, the composite shaft tracking and aiming system 6 tracks the indicating light, and the maximum angular velocity and the maximum angular acceleration of the precision are checked by controlling the rotating speed of the rotating arm 4; after the indication light is stably tracked, the composite shaft tracking and aiming system 6 emits a low-power light beam, real-time imaging is carried out on a detector 3 of the testing device to form an integral light spot, and a tracking error and an aiming error are obtained through image acquisition and processing. The position attitude angle of the fast reflecting mirror 5 can be adjusted manually, the half cone angle alpha of the tracking light path is changed, the azimuth angle A and the pitch angle E tracked by the composite shaft tracking and aiming system 6 are changed correspondingly, and the tracking angular velocity and the tracking angular acceleration can be calculated by first derivation and second derivation of the time t of one rotation period by the azimuth angle A respectively, so that the matching relation between the tracking angular velocity and the tracking angular acceleration is changed.
The real-time angular positions of the azimuth angle A and the pitch angle E tracked by the composite shaft tracking and aiming system 6 can be calculated according to the following formula, the azimuth angle speed and the angular acceleration can be calculated respectively by the first derivative and the second derivative of the azimuth angle A to the time t of one rotation period, and the pitch angle speed and the angular acceleration can be calculated in the same way. And adjusting the half cone angle alpha before testing, and matching the tracking angular velocity and the tracking angular acceleration value of the composite shaft tracking and aiming system 6:
A＝arcsin(sinα*sin wt/cos E)
E＝arcsin(cosα*sin b+sinα*cos b*cos wt)
in the formula, omega is the rotation angular velocity of the rotating arm; and b is the included angle between the rotating axis of the rotating arm and the horizontal plane.
In this embodiment, preferably, the aiming error is calculated according to the following formula:
Δθp,x＝arctan(xc-x0)
Δθp,y＝arctan(yc-y0)
in the formula,. DELTA.theta.p,xFor the x-component of the aiming error, Δ θp,yFor the y-component of the aiming error, xcIs the x-component of the centroid of the integrated spot, ycIs the y-component of the centroid of the integrated spot, x0Is the x-component, y, of the central position of the detector 30Is the y component of the central position of the detector 3, Delta thetapAiming error;
integrating the x-component x of the spot centroidcThe y-component y of the centroid of the integrated spotcCalculated according to the following formula:
in the formula, P is the total power of the tracking light on the detector, M is the number of rows of the detector unit, N is the number of columns of the detector unit, M is the total number of rows of the detector unit, N is the total number of columns of the detector unit, and xmnIs the x-coordinate, y, of the m-th row and n-th column detector unitmnIs the y-coordinate of the detector unit of the mth row and nth column.
The tracking error is calculated according to the following formula:
in the formula,. DELTA.theta.T,xTo track the x-component of the error, Δ θT,yFor the y-component of the tracking error, Δ θj,x、Δθj,yThe x-direction component and the y-direction component of the angular deviation value of the short-exposure light spot centroid relative to the long-exposure light spot centroid in the jth data are respectively delta thetaTIs the tracking error.
And the single image of the integral light spot obtained after the test is a short exposure light spot, the multiple images are accumulated to be a long exposure light spot, and the single image and the multiple images are respectively calculated according to the formula to obtain the aiming error and the tracking error.
Various modifications and variations of the embodiments of the present invention may be made by those skilled in the art, and they are also within the scope of the present invention, provided they are within the scope of the claims of the present invention and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (10)
1. The utility model provides a compound axle tracking and aiming system capability test device which characterized in that includes:
a base (1);
an indication light source (2);
a detector (3);
the rotating arm (4), the said rotating arm (4) can be set up on the said base (1) rotatably;
the quick reflector (5) is fixedly arranged at one end of the rotating arm (4), and the quick reflector (5) is used for reflecting the indicating light emitted by the indicating light source (2) to the composite shaft tracking and aiming system (6) and reflecting the tracking and aiming light emitted by the composite shaft tracking and aiming system (6) to the detector (3);
a driver arranged on the fast mirror (5);
and the controller is connected with the rotating arm (4) and the driver and is used for controlling the rotation of the rotating arm (4) and controlling the driver to drive the quick reflecting mirror (5) to vibrate.
2. The composite shaft tracking system performance testing device of claim 1, wherein: the testing device further comprises a spectroscope (7), wherein the spectroscope (7) is arranged on a light path between the indicating light source (2) and the quick reflecting mirror (5), the spectroscope (7) is provided with a transmission surface and a reflection surface, the transmission surface is used for transmitting part of indicating light emitted by the indicating light source (2) to the detector (3) to form an indicating light spot, transmitting tracking light emitted by the composite shaft tracking and aiming system (6) to the detector (3) to form an integral light spot, and the reflection surface is used for reflecting part of the indicating light emitted by the indicating light source (2) to the quick reflecting mirror (5).
3. The composite shaft tracking system performance testing apparatus of claim 2, wherein: the testing device further comprises a coupling alignment unit (8), the coupling alignment unit (8) is arranged on a light path between the indicating light source (2) and the spectroscope (7), and the coupling alignment unit (8) is used for adjusting the light path of the indicating light so as to adjust the position of the indicating light spot on the detector (3).
4. The composite shaft tracking system performance testing apparatus of claim 2, wherein: the testing device further comprises a light guide blocking sheet (9) and a pyramid (10), wherein the pyramid (10) is used for reflecting the indicating light transmitted by the spectroscope (7) to the detector (3) through the spectroscope (7), the light guide blocking sheet (9) is connected with the controller, and the light guide blocking sheet (9) is provided with:
the opening state, when in the opening state, the indicating light transmitted by the spectroscope (7) is irradiated to the pyramid (10);
and in the closed state, the indication light transmitted by the spectroscope (7) is shielded by the light guide baffle (9).
5. The composite shaft tracking system performance testing apparatus of claim 2, wherein: light guide channel has been seted up in base (1), light guide channel is located light path between spectroscope (7) and quick-operation mirror (5), light guide channel with the coaxial setting of the rotation axis of swinging boom (4), the fixed first speculum (11) that is provided with on swinging boom (4), first speculum (11) are used for with the interior instruction light reflection of light guide channel extremely quick-operation mirror (5).
6. The composite shaft tracking system performance testing apparatus of claim 5, wherein: the light guide plate is characterized in that a light inlet communicated with the light guide channel is formed in the base (1), the light inlet is located on a light path between the spectroscope (7) and the light guide channel, a second reflecting mirror (12) is arranged at the position where the light guide channel and the light inlet are communicated in the base (1), and the second reflecting mirror (12) is used for reflecting indication light entering the light inlet to the first reflecting mirror (11).
7. A performance test method for a composite shaft tracking and aiming system is characterized by comprising the following steps:
providing the test device of claim 1;
adjusting the positions of the composite shaft tracking and aiming system (6) and the testing device to ensure that the rotation central point of the composite shaft tracking and aiming system (6) is superposed with the intersection point of the light path between the quick reflector (5) and the composite shaft tracking and aiming system (6) and the rotation shaft of the rotating arm (4);
the indicating light source (2) emits indicating light, and the composite shaft tracking system (6) tracks the indicating light;
controlling the quick reflector (5) to keep still or vibrate according to a preset frequency according to the test requirement;
controlling the rotating arm (4) to rotate and gradually accelerate, stopping accelerating when the angular velocity or the angular acceleration reaches a preset value, and keeping the rotating arm (4) rotating at a constant speed;
the composite shaft tracking system (6) emits tracking light and forms an integral light spot on the detector (3);
and processing the integrated light spots to obtain a group of test data, and calculating aiming errors and tracking errors according to the group a of test data.
8. The performance testing method of the composite axis tracking system according to claim 7, wherein the testing device further comprises a coupling alignment unit (8), the coupling alignment unit (8) is used for adjusting the optical path of the indication light to adjust the position of the indication light spot on the detector (3), and the composite axis tracking system (6) further comprises the following steps before emitting the tracking light:
the indicating light source (2) emits indicating light, and the coupling alignment unit (8) is adjusted so that an indicating light spot formed by the indicating light on the detector (3) is positioned at the center of the image.
9. The method for testing the performance of a composite axis tracking system according to claim 7 or 8, wherein the tracking error is calculated according to the following formula:
Δθp,x＝arctan(xc-x0)
Δθp,y＝arctan(yc-y0)
in the formula,. DELTA.theta.p,xFor the x-component of the aiming error, Δ θp,yFor the y-component of the aiming error, xcIs the x-component of the centroid of the integrated spot, ycIs the y-component of the centroid of the integrated spot, x0Is the x-component, y, of the detector's central position0The y component of the central position of the detector, Δ θpAiming error;
integrating the x-component x of the spot centroidcThe y-component y of the centroid of the integrated spotcCalculated according to the following formula:
in the formula, P is the total power of the tracking light on the detector, M is the number of rows of the detector unit, N is the number of columns of the detector unit, M is the total number of rows of the detector unit, N is the total number of columns of the detector unit, and xmnIs the x-coordinate, y, of the m-th row and n-th column detector unitmnIs the y-coordinate of the detector unit of the mth row and nth column.
10. The method for testing the performance of a composite axis tracking system according to claim 7 or 8, wherein the tracking error is calculated according to the following formula:
in the formula,. DELTA.theta.T,xTo track the x-component of the error, Δ θT,yFor the y-component of the tracking error, Δ θj,x、Δθj,yThe x-direction component and the y-direction component of the angle deviation value of the short-exposure light spot centroid relative to the long-exposure light spot centroid in the jth data in the test data are respectively delta thetaTIs the tracking error.
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| WO2021258310A1 (en) * | 2020-06-23 | 2021-12-30 | 深圳市大疆创新科技有限公司 | Test device, test method and flight test system |
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