CN111059961A - Gun attitude parameter total station real-time detection method - Google Patents
Gun attitude parameter total station real-time detection method Download PDFInfo
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- CN111059961A CN111059961A CN201811209080.6A CN201811209080A CN111059961A CN 111059961 A CN111059961 A CN 111059961A CN 201811209080 A CN201811209080 A CN 201811209080A CN 111059961 A CN111059961 A CN 111059961A
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- gun barrel
- total station
- gun
- axis
- station
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A31/00—Testing arrangements
- F41A31/02—Testing arrangements for checking gun barrels
Abstract
The invention discloses a total station real-time detection method for artillery attitude parameters, which comprises the steps of marking and calibrating the corresponding position of a barrel body of a gun barrel to be detected, arranging position-fixed measuring targets above and on the side surface of the gun barrel respectively, monitoring and calibrating the gun barrel by using a high-precision total station, determining the fixed difference relation of the axis of a trajectory of the gun barrel through an established algorithm, namely a horizontal angle difference △α, a height angle difference △β and a transverse inclination angle difference △ gamma, then realizing absolute positioning and orientation of a measuring system by using Beidou RTK, determining a coordinate system, and finally completing accurate determination of any attitude of the gun barrel by using the total station according to the gun barrel calibration difference to realize real-time detection of the attitude parameters of the gun barrel.
Description
One, the technical field
The invention relates to a method for measuring the attitude position of an artillery gun barrel at any moment, in particular to a system method for realizing real-time detection of the attitude parameters of the artillery gun barrel by using a high-precision total station and satellite navigation positioning.
Second, technical background
The traditional gun station gun adjustment precision detection mainly uses a far aiming point method, a plumb hanging method and the like for checking a sighting device, and currently adopts a 2-station electronic theodolite aiming and measuring mode, wherein the modes have certain defects and places worth improving, such as low measurement precision, large detection workload and the like, but can not accurately measure the actual gun adjustment angle of the gun station, and the condition that the central axis of a gun bore trajectory shaft is inconsistent with the actual measurement axis exists, so that a novel, efficient and high-precision measurement mode is needed.
Third, the invention
In order to overcome the defects and shortcomings in gun barrel gun-adjusting attitude measurement and realize automatic, accurate and rapid measurement of gun-adjusting attitude position of a gun barrel at any moment, the invention provides a systematic method for implementing detection by using a gun attitude parameter total station.
The object of the invention is the following:
firstly, marking and calibrating the corresponding position of a barrel body of a gun barrel to be measured, setting a measuring target, monitoring and calibrating the gun barrel by using a high-precision total station, and determining the fixed difference relation of the trajectory axis of the gun barrel by establishing an algorithm; then, the Beidou RTK is utilized to realize absolute positioning and orientation of the measuring system and determine a coordinate system; and finally, according to the gun barrel calibration difference, the total station is utilized to finish the accurate determination of any posture of the gun barrel, and the real-time detection of the posture parameters of the gun barrel is realized.
Compared with the prior traditional method, the method has the following advantages:
(1) changing the original complex and low-efficiency measuring mode, and establishing an integrated gun barrel axis detection and attitude determination system;
(2) only one total station is needed, more than two fixed control points are set by adopting high-precision Beidou RTK, and measurement can be carried out
Erecting an instrument at any time, and solving an accurate coordinate value of a set site by resolving;
(3) the measuring precision is high, and the purpose of high-precision measurement is realized by the precise angular distance measuring function of the total station and the correction of the axis position of the cannonball track.
Description of the drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a gun barrel detection calibration principle;
FIG. 2 is a schematic diagram of a process for orienting a gun barrel at a fixed point.
The fifth embodiment is as follows:
compared with the existing gun barrel gun-adjusting angle measuring method, the systematic method for detecting the gun attitude parameter by the total station has great improvement and innovation on the measuring principle, the resolving model and the measuring precision, and specifically comprises the following steps:
(1) selecting a gun barrel, erecting and setting a total station instrument, assuming the coordinates of the gun barrel to be (0,0,0), respectively sticking cross hairs at two ends of a gun muzzle, observing the cross hairs at two ends of the gun barrel when the gun barrel is adjusted to be a horizontal position through a sighting axis of the total station instrument, gradually adjusting the gun barrel to be in a horizontal state, setting the direction to be a direction of zero total station instrument, if a gun platform is higher and is difficult to be adjusted to be in an absolute horizontal state, adjusting the gun barrel body to be approximately horizontal, and recording the height angle β of the trajectory axis of the gun barrel at the moment0；
(2) As shown in fig. 1, two targets 1 and 2 which are one lower and one higher and one close and one far are arranged above the gun barrel, the near target is observed through a total station, the far target is adjusted until the centers of the two targets and the center of the total station are positioned on the same straight line at the moment, the direction of the 12 line and the axis of the bullet track of the gun barrel is ensured to be consistent, and the two targets M, N are arbitrarily stuck at the positions close to the two ends of the side surface of the gun barrel;
(3) the total station moving station is erected at a point which is convenient to measure and is parallel to the gun barrel, the total station is arranged at the position of the last station, the rear view and the orientation are carried out, and the total station is used for respectively measuring the following 4-point coordinates: 1 (X)1,Y1,Z1)，2(X2,Y2,Z2)，M(XM,YM,ZM)，N(XN,YN,ZN)；
(4) Using mathematical model ①
Solve out the horizontal angle difference △α1Angle difference △β1And the difference of the roll angle △ gamma1To determine three poses between the line defined by the target M, N and the axis of the barrel trajectoryDetermining the relation;
(5) using mathematical model ②
Calibrating the fixed posture position relations △α, △β and △ gamma of the gun barrel trajectory axis and the target straight line to finish the detection calibration of the gun barrel;
(6) as shown in fig. 2, a big dipper galaxy reference station is arranged at a proper distance, a big dipper galaxy mobile station is arranged on a measuring total station, the total station is connected with a big dipper, the total station is erected as required, the absolute positioning and orientation of a measuring system of the total station are realized by matching with a big dipper RTK, and a coordinate system is determined;
(7) respectively measuring three-dimensional coordinates (X) of two points of gun barrel fixed target M, N by using total stationM,YM,ZM) And (X)N,YN,ZN) Using a mathematical model ③
Calculation M, N determines the azimuth and inclination of the straight line vector at two points, where,
sgn(YN-YM) Is a sign function, if the parenthesis is positive, the sign is plus, if the parenthesis is negative, the sign is minus, if αMNIf the value is more than or equal to 6000, subtracting 6000 from the whole;
(8) if the outer measurement target of the gun barrel determines that the straight line is on the right side of the axis of the bullet track of the gun barrel, a mathematical model ④ is utilized
And calculating the azimuth α and the inclination β of the axis of the projectile trajectory of the gun barrel, wherein,
△α the difference of the horizontal angle under the horizontal state,
△α' horizontal angle difference after position lift;
(9) if the outer measurement target of the gun barrel determines that the straight line is on the left side of the axis of the bullet track of the gun barrel, a mathematical model ⑤ is used
And calculating the azimuth α and the inclination β of the axis of the projectile trajectory of the gun barrel, wherein,
△α the difference of the horizontal angle under the horizontal state,
△α' position raised.
Claims (4)
1. A gun attitude parameter total station real-time detection method is characterized by comprising the following steps: the method comprises the steps of firstly utilizing a high-precision total station to monitor and calibrate the gun barrel of the artillery, determining the axis fixation relation of the bullet track of the gun barrel through an establishment algorithm, then utilizing Beidou RTK to realize absolute positioning and orientation of a measuring system, and finally utilizing the total station to finish accurate determination of any posture of the gun barrel of the artillery according to the gun barrel calibration difference so as to realize real-time detection of the posture parameters of the gun barrel of the artillery.
2. The total station for detecting the gun attitude parameters according to claim 1, wherein the total station comprises: wherein, the process of monitor and calibration of the gun barrel is as follows:
(1) selecting a gun barrel, erecting and setting a total station instrument, assuming the coordinates of the gun barrel to be (0,0,0), respectively sticking cross hairs at two ends of a gun muzzle, observing the cross hairs at two ends of the gun barrel when the gun barrel is adjusted to be a horizontal position through a sighting axis of the total station instrument, gradually adjusting the gun barrel to be in a horizontal state, setting the direction to be a direction of zero total station instrument, if a gun platform is higher and is difficult to be adjusted to be in an absolute horizontal state, adjusting the gun barrel body to be approximately horizontal, and recording the height angle β of the trajectory axis of the gun barrel at the moment0；
(2) Arranging two targets 1 and 2 which are one lower and one higher and one near and one far above the gun barrel, observing the near target through a total station, adjusting the far target until the centers of the two targets and the center of the total station are positioned on the same straight line, ensuring that the 12 lines are consistent with the axis direction of the bullet track of the gun barrel at the moment, and sticking any two targets M, N at the positions of the side surface of the gun barrel, which are close to the two ends;
(3) the total station moving station is erected at a point which is convenient to measure and is parallel to the gun barrel, the total station is arranged at the position of the last station, the rear view and the orientation are carried out, and the total station is used for respectively measuring the following 4-point coordinates: 1 (X)1,Y1,Z1)，2(X2,Y2,Z2)，M(XM,YM,ZM)，N(XN,YN,ZN)；
(4) Using mathematical model ①
Solving a horizontal angle difference △α, a high-low angle difference △ theta and a transverse inclination angle difference △ gamma so as to determine three attitude fixed relations between a straight line determined by a target M, N and the axis of the gun barrel trajectory;
(5) using mathematical model ②
And (5) calibrating the fixed posture position relations △α, △β and △ gamma between the axis of the gun barrel trajectory and the target straight line, and completing the detection and calibration of the gun barrel.
3. The total station for detecting the gun attitude parameters according to claim 1, wherein the total station comprises: wherein the measurement system is positioned and oriented as follows: firstly, a big Dipper galaxy reference station is arranged at a proper far position in a distance, then a big Dipper galaxy mobile station is arranged on a measuring total station, the total station is connected with a big Dipper, the total station is erected as required, the absolute positioning and orientation of a measuring system of the total station are realized by matching with a big Dipper RTK, and a coordinate system is determined.
4. The total station for detecting the gun attitude parameters according to claim 1, wherein the total station comprises: wherein, the accurate survey process of the arbitrary gesture of gun barrel is:
(1) respectively measuring three-dimensional coordinates (X) of two points of gun barrel fixed target M, N by using total stationM,YM,ZM) And (X)N,YN,ZN) Using a mathematical model ③
Calculation M, N determines the azimuth and inclination of the straight line vector at two points, where,
sgn(YN-YM) Is a sign function, if the parenthesis is positive, the sign is plus, if the parenthesis is negative, the sign is minus, if αMNIf the value is more than or equal to 6000, subtracting 6000 from the whole;
(2) if the outer measurement target of the gun barrel determines that the straight line is on the right side of the axis of the bullet track of the gun barrel, a mathematical model ④ is utilized
And calculating the azimuth α and the inclination β of the axis of the projectile trajectory of the gun barrel, wherein,
△α the difference of the horizontal angle under the horizontal state,
△α' horizontal angle difference after position lift;
(3) if the outer measurement target of the gun barrel determines that the straight line is on the left side of the axis of the bullet track of the gun barrel, a mathematical model ⑤ is used
And calculating the azimuth α and the inclination β of the axis of the projectile trajectory of the gun barrel, wherein,
△α horizontal sewerThe difference value of the straight angle is different from the straight angle,
△α' position raised.
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| CN201811209080.6A CN111059961A (en) | 2018-10-17 | 2018-10-17 | Gun attitude parameter total station real-time detection method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113048838A (en) * | 2021-03-02 | 2021-06-29 | 山东省科学院自动化研究所 | Non-contact artillery azimuth real-time detection system and method |
| CN113390289A (en) * | 2021-07-05 | 2021-09-14 | 新乡北方车辆仪表有限公司 | General detection and non-contact measurement method and system for adjusting gun of multi-caliber gun barrel |
| CN113865432A (en) * | 2021-09-17 | 2021-12-31 | 中国人民解放军陆军工程大学 | Self-propelled artillery barrel orientation detection method |
| CN115111963A (en) * | 2022-08-12 | 2022-09-27 | 中国人民解放军陆军工程大学 | Test system and test method for measuring absolute orientation of barrel |
-
2018
- 2018-10-17 CN CN201811209080.6A patent/CN111059961A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113048838A (en) * | 2021-03-02 | 2021-06-29 | 山东省科学院自动化研究所 | Non-contact artillery azimuth real-time detection system and method |
| CN113390289A (en) * | 2021-07-05 | 2021-09-14 | 新乡北方车辆仪表有限公司 | General detection and non-contact measurement method and system for adjusting gun of multi-caliber gun barrel |
| CN113865432A (en) * | 2021-09-17 | 2021-12-31 | 中国人民解放军陆军工程大学 | Self-propelled artillery barrel orientation detection method |
| CN115111963A (en) * | 2022-08-12 | 2022-09-27 | 中国人民解放军陆军工程大学 | Test system and test method for measuring absolute orientation of barrel |
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