CN110806307B - Method for rapidly detecting stability precision of photoelectric sight-stabilizing system - Google Patents
Method for rapidly detecting stability precision of photoelectric sight-stabilizing system Download PDFInfo
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Abstract
The invention discloses a method for quickly detecting the stability precision of a photoelectric sight stabilizing system, which belongs to the field of detection of the photoelectric sight stabilizing system.
Description
Technical Field
The invention relates to the field of detection of photoelectric sight stabilizing systems, in particular to a method for quickly detecting the stability precision of a photoelectric sight stabilizing system.
Background
With the wide application of the aviation, aerospace, vehicle-mounted and ship-based photoelectric sight stabilizing systems, the requirements on the stability of the photoelectric sight stabilizing systems are higher and higher. The stability refers to a function that the photoelectric sight stabilizing system keeps stable in a certain specified coordinate system, that is, when the surrounding environment changes dynamically, angles of the direction, the pitch direction and the roll direction of the photoelectric sight stabilizing system relative to the coordinate system are always kept unchanged. The stability accuracy of the photoelectric sight stabilizing system is taken as an important index, and the feasibility and the reliability of the detection method are particularly important, so that the patent provides a method for detecting the stability accuracy of the photoelectric sight stabilizing system, and the detection method has the characteristics of rapidness and effectiveness.
At present, there are some methods for detecting the stability accuracy of the photoelectric sight-stabilizing system, as shown in fig. 1, based on that a planar mirror is fixedly connected to the photoelectric sight-stabilizing system and is placed on a six-degree-of-freedom rocking platform, light emitted by a light source is reflected by the planar mirror to a Position Sensitive Detector (PSD), and then the stability accuracy of the photoelectric sight-stabilizing system is calculated according to corresponding data processing, and the method has the main defects that: the gyro-stabilization-based photoelectric sight-stabilizing system cannot eliminate line-of-sight stabilization errors of the photoelectric sight-stabilizing system caused by translation of a moving carrier.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a method for quickly detecting the stability precision of a photoelectric sight stabilizing system, which is simple and convenient to operate, simple in calculation and high in implementability.
The invention is realized by the following technical scheme:
a method for rapidly detecting the stability precision of a photoelectric sight-stabilizing system takes a six-freedom-degree swing platform, a semiconductor laser indicator, a collimating lens, a PSD, a processing circuit and a computer as a test tool, and comprises the following steps:
1) mounting a semiconductor laser indicator on a sight stabilizing optical bench of a photoelectric sight stabilizing system to enable a laser beam to be parallel to a sight stabilizing line of the photoelectric sight stabilizing system;
2) keeping the six-degree-of-freedom swing table in a stop state, and fixing the photoelectric sight stabilizing system on the six-degree-of-freedom swing table;
3) placing an optical platform at a position 2-5 meters away from the laser emitting direction, and installing a collimating lens on the optical platform to enable laser to enter along the optical axis direction of the collimating lens;
4) the PSD is arranged on an optical platform, is arranged at a focal plane which is f meters away from the collimating lens and is used for receiving laser emergent light spots, is connected with a corresponding processing circuit and a computer, and records the motion data of the light spots;
5) starting the detection work formally, starting the semiconductor laser indicator and the photoelectric sight stabilizing system, and recording the position data P of the light spot on the PSD by the computer0(x0,y0)；
6) Starting the six-freedom-degree swing platform, and recording the position coordinate P of the light spot on the PSD by using a computeri(xi,yi) Then Δ Sx＝xi-x0，ΔSy＝yi-y0；
7) According to the formula tan alpha ═ delta S/f, the stability accuracy sigma of the photoelectric sight stabilizing system in the direction and the pitch respectively is calculatedx＝actan(ΔSx/f，σy＝actan(ΔSy/f), where f is the focal length of the collimating lens and α represents the optical axisIncident into the collimating lens at an angle of alpha; Δ S represents the distance between the image point formed on the back focal plane and the original image point.
In the invention, a laser is directly arranged on a photoelectric sight stabilizing system, so that a laser beam is kept parallel to a sight line of the photoelectric sight stabilizing system, enters a collimating lens along an optical axis direction and is focused on a PSD (phase-sensitive detector) placed on a rear focal plane of the collimating lens, when the posture of the photoelectric sight stabilizing system is changed, a light ray emitted by the laser enters the collimating lens at an alpha angle with the optical axis, a distance delta S is formed between an image point formed on the rear focal plane and an original image point, and the focal length of the collimating lens is f, so that the stability precision of the photoelectric sight stabilizing system is sigmax＝actan(ΔSx/f)，σy＝actan(ΔSy/f)，σxIndicating the amount of displacement, σ, of the laser beam in the horizontal direction relative to the initial point of sightyThe method is characterized in that the offset of a laser beam relative to an initial aiming point in the height direction is represented, in the running process of the six-freedom-degree swing table, the photoelectric sight stabilizing system overcomes carrier disturbance to keep an aiming line stably pointing in an inertial space, the aiming line of the photoelectric sight stabilizing system is parallel to the laser beam, the offset of a laser spot is equivalent to the offset of the aiming line, the smaller the value of the offset represents the smaller the deviation degree of the aiming line from the initial aiming point, the better the aiming line stability of the photoelectric sight stabilizing system is, the method is simple and convenient to operate, simple to calculate and high in implementability.
In step 5), the test tool needs to be calibrated before the detection work formally starts.
Further, the calibration method comprises the following steps: the method comprises the steps of starting a semiconductor laser indicator, finely adjusting a collimating lens to enable an incident point of laser to be on the central point of the collimating lens, ensuring that the incident point of the laser can be within the aperture of the collimating lens after a six-freedom-degree swing table is started, adjusting a PSD plane to enable emergent rays to fall within the range of the central point of a PSD photosensitive surface, ensuring that a transmission light spot of the laser can fall in an area with good linearity of a PSD device when the six-freedom-degree swing table works, and closing all devices after test work is completed.
Furthermore, the central point range is within the central point radius A-Bcm of the PSD photosensitive surface.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention relates to a method for quickly detecting the stability precision of a photoelectric sight stabilizing system0Aiming line s of photoelectric sight-stabilizing system0Maintained parallel, laser beam l0The light enters the collimating lens along the direction of the optical axis of the collimating lens and is focused on the PSD (phase-sensitive detector) placed on the rear focal plane of the collimating lens, and when the photoelectric sight stabilizing system overcomes the disturbance of a carrier and keeps the sight line stable in the inertial space, if the sight line siWith the initial line of sight s0When the included angle alpha is generated, the laser beam l of the laser indicatoriThe light enters the collimating lens at an angle alpha to the optical axis of the collimating lens, the distance between an image point formed on the back focal plane and the original image point is delta S, the focal length of the collimating lens is f, and the stability precision of the photoelectric sight stabilizing system is sigmax＝actan(ΔSx/f)，σy＝actan(ΔSyAnd/f). If the carrier moves in the process of movement, the line of sight of the photoelectric sight stabilizing system and the laser beam of the laser indicator can synchronously move in an equal amount, and because the collimating lens converges the beams incident parallel to the optical axis on the focal point of the back focal plane, the laser beam translation amount penetrating through the collimating lens is eliminated, so that the influence of the carrier translation on the stability precision is eliminated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic diagram of a detection method in the background art.
FIG. 2 is a schematic view of the detection method of the present invention.
Reference numbers and corresponding part names in the drawings:
the system comprises a 1-six-degree-of-freedom swing table, a 2-photoelectric sight stabilizing system, a 3-semiconductor laser indicator, a 4-collimating lens, a 5-PSD, a 6-processing circuit and a 7-computer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 2, the method for rapidly detecting the stability precision of the photoelectric sight-stabilizing system of the present invention uses a six-degree-of-freedom swing table 1, a semiconductor laser pointer 3, a collimating lens 4, a PSD5, a processing circuit 6 and a computer 7 as test tools, and comprises the following steps:
1) mounting a semiconductor laser indicator 3 on a sight stabilizing optical bench of a photoelectric sight stabilizing system 2, wherein a light beam is parallel to a sight stabilizing line of the photoelectric sight stabilizing system;
2) keeping the six-degree-of-freedom swing table 1 in a stop state, and fixing the photoelectric sight stabilizing system 2 on the six-degree-of-freedom swing table 1;
3) placing an optical platform at a position 2-5 meters away from the laser emitting direction, and installing a collimating lens 4 on the optical platform to enable laser to be incident along the optical axis direction of the collimating lens 4;
4) the PSD5 is arranged on an optical platform, is arranged at a focal plane f meters away from the collimating lens and is used for receiving laser emergent light spots, is connected with a corresponding processing circuit 6 and a computer 7, and records the motion data of the light spots;
5) starting the detection work formally, starting the semiconductor laser indicator 3 and the photoelectric sight stabilizing system 2, and recording the position data P of the light spot on the PSD by the computer 70(x0,y0)；
6) The six-degree-of-freedom swing platform 1 is started, and the position coordinate P of the light spot on the PSD5 at the moment is recorded by the computer 7i(xi,yi) Then Δ Sx＝xi-x0，ΔSy＝yi-y0；
7) Calculating the stability accuracy sigma of the photoelectric sight stabilizing system in the azimuth and the elevation respectively according to the formula tan alpha-delta S/fx＝actan(ΔSx/f)，σy＝actan(ΔSyF), wherein f is the focal length of the collimating lens, and alpha represents that the optical axis is incident into the collimating lens at an angle alpha; Δ S in the back focal planeThe formed image point is separated from the original image point. .
In step 5), before the detection work formally starts, the test tool needs to be calibrated.
The calibration method comprises the following steps: the semiconductor laser indicator 3 is started, the collimating lens 4 is finely adjusted, the incident point of laser is located at the central point of the collimating lens 4, the incident point of the laser can be within the caliber of the collimating lens 4 after the six-freedom-degree swing platform 1 is started, the PSD5 plane is adjusted, the emergent ray falls in the central point range of the PSD photosensitive surface, when the six-freedom-degree swing platform 1 works, the transmission light point of the laser can fall in the area with good linearity of a PSD device, and after the test work is finished, all devices are closed.
The central point range is within the central point radius A-Bcm of the PSD photosensitive surface.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A method for rapidly detecting the stability precision of a photoelectric sight stabilizing system is characterized in that a six-degree-of-freedom swing table (1), a semiconductor laser indicator (3), a collimating lens (4), a PSD (5), a processing circuit (6) and a computer (7) are used as testing tools, and the method comprises the following steps:
1) mounting a semiconductor laser indicator (3) on a sight stabilizing optical bench of a photoelectric sight stabilizing system (2), wherein a light beam is parallel to a sight stabilizing line of the photoelectric sight stabilizing system;
2) keeping the six-degree-of-freedom swing table (1) in a stop state, and fixing the photoelectric sight stabilizing system (2) on the six-degree-of-freedom swing table (1);
3) an optical platform is placed in the laser emergent direction, and a collimating lens (4) is arranged on the optical platform to enable laser to be incident along the optical axis direction of the collimating lens (4);
4) the PSD (5) is arranged on an optical platform, is arranged at a focal plane f meters away from the collimating lens and is used for receiving laser emergent light spots, is connected with a corresponding processing circuit (6) and a computer (7) and records motion data of the light spots;
5) when the detection work formally starts, the semiconductor laser indicator (3) and the photoelectric sight stabilizing system (2) are started, and the computer records (7) the position data P of the light spot on the PSD0(x0,y0)；
6) Starting the six-degree-of-freedom swing platform (1), and recording the position coordinate P of the light spot on the PSD (5) by using a computer (7)i(xi,yi) Then Δ Sx＝xi-x0，ΔSy＝yi-y0；
7) According to the formula tan alpha ═ delta S/f, the stability accuracy sigma of the photoelectric sight stabilizing system in the direction and the pitch respectively is calculatedx＝actan(ΔSx/f)，σy＝actan(ΔSyF), wherein f is the focal length of the collimating lens, and alpha represents that the optical axis is incident into the collimating lens at an angle alpha; Δ S represents the distance between the image point formed on the back focal plane and the original image point.
2. The method for rapidly detecting the stability accuracy of the photoelectric sight-stabilizing system according to claim 1, wherein in the step 5), the test tool needs to be calibrated before the detection work formally starts.
3. The method for rapidly detecting the stability precision of the photoelectric sight stabilizing system according to claim 2, wherein the calibration method comprises the following steps: the method comprises the steps of starting a semiconductor laser indicator (3), finely adjusting a collimating lens (4), enabling an incident point of laser to be on the central point of the collimating lens (4), ensuring that after a six-freedom-degree swing table (1) is started, the incident point of the laser can be within the caliber of the collimating lens (4), adjusting a PSD (5) plane, enabling emergent rays to fall within the range of the central point of a PSD photosensitive surface, ensuring that when the six-freedom-degree swing table (1) works, a transmission light spot of the laser can fall in an area with good linearity of a PSD device, and after test work is completed, closing all devices.
4. The method according to claim 3, wherein the center point range is within a center point radius A-Bcm of the PSD photosurface.
5. The method for rapidly detecting the stability precision of the photoelectric sight-stabilizing system according to claim 1, wherein the distance between the semiconductor laser pointer (3) and the optical platform is 2-5 m.
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| CN112903246B (en) * | 2021-01-20 | 2023-04-28 | 西安应用光学研究所 | Method for measuring stability precision of coarse-fine combined two-stage stable photoelectric system |
| CN116147891A (en) * | 2023-01-04 | 2023-05-23 | 北京东方锐镭科技有限公司 | Laser aiming precision measuring equipment |
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| CN101793523B (en) * | 2010-03-10 | 2011-08-17 | 北京航空航天大学 | Combined navigation and photoelectric detection integrative system |
| CN102735431B (en) * | 2012-06-21 | 2014-11-05 | 中国兵器工业第二0五研究所 | Method for measuring sight line stabilizing accuracy of photoelectric sight-stabilizing system |
| CN103900421B (en) * | 2014-03-18 | 2015-10-07 | 西安应用光学研究所 | For the system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration |
| CN104034511B (en) * | 2014-06-12 | 2016-03-30 | 中国科学院上海技术物理研究所 | A kind of photoelectric tracking method for testing performance |
| CN107515101B (en) * | 2017-09-04 | 2020-06-09 | 中国电子科技集团公司第四十一研究所 | Dynamic parameter calibration device and method for stability measuring device of photoelectric sight stabilizing system |
| CN108152013B (en) * | 2017-12-28 | 2019-08-16 | 西安应用光学研究所 | Electro-optical system pointing accuracy measuring device optical path adjusting process |
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| CN102221450A (en) * | 2011-04-18 | 2011-10-19 | 中国工程物理研究院应用电子学研究所 | Tracking-pointing deviation measurement device for laser system |
| CN109520425A (en) * | 2018-12-29 | 2019-03-26 | 湖北航天技术研究院总体设计所 | A kind of essence tracking error test device and test method |
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