CN112729011B - Small-space bullet-free gun calibration method - Google Patents
Small-space bullet-free gun calibration method Download PDFInfo
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- CN112729011B CN112729011B CN202011566701.3A CN202011566701A CN112729011B CN 112729011 B CN112729011 B CN 112729011B CN 202011566701 A CN202011566701 A CN 202011566701A CN 112729011 B CN112729011 B CN 112729011B
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Abstract
The invention discloses a small-space bullet-free gun calibration method, which comprises the following steps that firstly, a gun is stably fixed, the spatial positions of a sighting base line and a gun barrel axis are equivalently realized through laser beams, and a position sensitive sensor (PSD) position sensitive sensor at a short distance in front of the gun tests position signals and angle direction signals of two laser beams in the space; secondly, the laser beam signals are subjected to rejection, amplification and other processing to obtain the position coordinates of a simulated projectile scattering center and an aiming point on the virtual target surface of the standard shooting range, the two-dimensional coordinate deviation amount of the simulated projectile scattering center and the aiming point is calculated, and the calibration amount of the mechanical sighting device is obtained according to the standard of a shooting table; and finally, verifying the calibrated gun, if the calibration result is within the range of the shooting precision standard requirement, determining that the gun is qualified, and otherwise, performing problem troubleshooting on the gun calibration system and the gun. The invention improves the gun calibration efficiency, reduces the dependence of the gun calibration on shooters and sites, improves the accuracy of gun calibration results, reduces the gun calibration cost, improves the safety of the gun calibration, and realizes the convenience, high efficiency and accuracy of the gun calibration.
Description
Technical Field
The invention belongs to the field of laser and small arms shooting research, and particularly relates to a small-space bullet-free gun calibration method.
Background
The gun calibration is to calibrate the mechanical sighting device according to the deviation of the projectile for the guns before leaving the factory or the guns which do not conform to the expected shooting effect. At present, the existing gun calibration method mainly comprises live-fire gun calibration and shot-free laser gun calibration. The live ammunition firing gun calibration is a gun calibration method which is widely applied at present. The process of the live ammunition firing and gun calibration is that a shooter shoots four to more than ten live ammunition shots by aiming at the target center of the target surface at the standard shooting range position, obtains more than four ammunition hole positions on the standard shooting range target surface, calculates the distribution center of the projectile, calculates the adjustment amount of a mechanical sighting device according to the deviation amount of the mechanical sighting device and adjusts the position of the mechanical sighting device until the distribution center of the projectile is coincided with the target center, so that the aim of gun calibration is fulfilled. The existing live ammunition gun calibration method mainly adopts a method of manually checking targets and calculating the adjustment amount of a mechanical sighting device, and has the following defects:
1. the requirement on the shooter level is extremely high, and the work intensity of the shooter is great: in the shooting process of a shooter, the correction and adjustment result has artificial deviation according to the artificial factors such as gun instability and the like, and the accuracy and the reliability of the gun correction result are influenced. 2. There is a dependency on large space sites: the standard shooting distance of the gun calibration is usually over 100m, so that the gun calibration must be carried out in a large space test target track over 100 m. 3. The cost is high: four to more than ten bullets are consumed for correcting one gun, and the site cost and the labor cost of a shooter are high. 4. The efficiency is low: the manual target checking and the mechanical sighting device adjustment amount calculation are carried out through live ammunition firing, the required time is long, and the gun calibration speed is low and the efficiency is low. 5. The safety is low: . The shooter may face the danger that the gun jumps, explodes the chamber and threatens the life in the shooting process, and is in the working environment with noise, smoke and the like for a long time, and the shooter health is also irreversibly damaged.
The bullet-free laser gun calibration utilizes the collimation characteristic of laser, and a laser is arranged at the front end of a gun barrel and is parallel to the gun barrel, so that the axis position of the gun barrel is equivalently realized, and the deviation amount of an aiming point and a projectile distribution center is calculated. The specific process comprises the following steps: the position of the axis of the gun barrel is equivalently represented by a front-inserting type laser or a shell-type laser, a shooter holds the gun to aim at the target center position on a standard shooting range target surface, the deviation between the aiming point and the projectile distribution center is calculated by observing the position deviation of a laser spot from the target center and considering the influences of trajectory descending and the like, and then the adjustment value of the mechanical sighting device is obtained.
This method has the following disadvantages: influenced by the laser beam scattering, a spot circle with a larger diameter is actually obtained on the standard target surface instead of a spot point, and the deviation amount of the spot circle is difficult to accurately judge by a shooter; due to the influence of the internal structure of the gun barrel and the possible abrasion of the gun barrel and other problems, the laser beam emitted by the laser is difficult to ensure the coaxiality requirement with the gun barrel, and the calibration and adjustment result is always influenced by uncontrollable errors; the laser beam is greatly influenced by factors such as external noise, strong light, air turbulence and the like at the distance of the standard range, and finally the quality of a light spot circle obtained on the target surface is poor, so that the center of the light spot circle can not be judged generally. Therefore, the shot-free laser gun calibration method is mostly applied to rapid and rough gun calibration before emergency combat missions and the like. And if higher gun calibration precision is needed, live-action firing gun calibration is also needed.
At present, the existing gun calibration methods have the problems of low efficiency, high cost and the like, and have great dependence on high-level shooting hands and large-space sites. Therefore, a small-space, bullet-free and efficient gun calibration method is developed, the gun calibration cost is reduced, the gun calibration efficiency is improved, the gun calibration safety is improved, the dependence of the gun calibration on the field and the shooter is eliminated, and the method has important practical value. And the method can be suitable for an automatic gun calibration device, a portable automatic gun calibration device and the like.
Disclosure of Invention
The invention aims to provide a small-space bullet-free gun calibration method, so that the dependence on a gun calibration field and a shooter is eliminated, the gun calibration efficiency and the accuracy of a gun calibration result are improved, the gun calibration cost is reduced, and the safety of the gun calibration is improved.
The technical solution for realizing the purpose of the invention is as follows:
a small-space bullet-free gun calibration method comprises the following steps:
step 2, carrying out equivalent realization of the aiming baseline to obtain two-dimensional coordinates (X ', Y') of an aiming point on the hypothetical target surface of the standard range: the method comprises the steps of adjusting laser beam equivalence by controlling a sighting line laser to achieve the spatial position of a sighting baseline, testing a position signal and an angle pointing signal of the sighting baseline laser beam through a PSD position sensitive sensor at the front end of a gun in a close range, and performing rejection and amplification processing on the measured signal to obtain a position coordinate of a simulated sighting point on a standard shooting distance hypothetical target surface;
and 4, carrying out secondary verification on the gun after the adjustment, and judging whether the gun is qualified or not: and (3) repeating the steps 1 to 3, adjusting the space positions of the emission line laser beam and the aiming baseline laser beam after the gun is calibrated for the second time, obtaining the two-dimensional coordinate deviation amount of the projectile scattering center and the aiming point on the virtual target surface of the standard range after the gun is calibrated, if the position deviation amount of the projectile scattering center and the aiming point after the gun is calibrated is in the range of the shooting precision standard requirement, the gun is calibrated to be qualified, otherwise, the gun calibration system applying the method is judged to have problems or the gun is unqualified, the gun calibration system is subjected to fault troubleshooting, the suspected unqualified gun is checked, and the gun calibration is continued after the problems are found out and eliminated.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the method for testing the laser beam signals at a short distance of 0.5-2 m at the front end of the gun by adopting the PSD position sensitive sensor greatly reduces the influence of external environments such as noise, external strong light, air turbulence and the like on the laser beam signal test result, realizes small-space and portable gun calibration, and gets rid of the dependence of the gun calibration on a standard-range long-distance field.
(2) The method for testing the multi-angle laser beam signals by adopting the forward-inserted laser to be inserted in the gun barrel forward, tensioned and rotated for a circle effectively reduces the influence of laser beam emission angle deviation, laser and front plug-in coaxiality deviation, matching error of the front plug-in and the gun barrel and the like on the gun barrel axis equivalent realization result. And the method of testing the laser beam signals by adopting the PSD position sensitive sensor realizes that the test result of the central position coordinates of the light spots is not influenced by the shape, the light intensity and the like of the laser light spots, and improves the test precision of the laser signals. Compared with the traditional laser gun calibration technology, the small-space bullet-free gun calibration method enables the gun barrel axis to achieve the equivalent effect and is reliable, the laser beam signal test result is accurate, and the gun calibration precision of the laser gun calibration is greatly improved.
(3) Compared with the traditional manual gun calibration method, the method effectively eliminates the human error generated by live ammunition firing by a shooter, greatly reduces the labor cost, ammunition consumption cost and the like, and gets rid of the dependence of gun calibration on high-level shooters. The method improves the safety of the gun calibration, avoids the risk that the shooter may be threatened by the gun jump, the bore explosion and the like in the shooting process, and avoids the irreversible damage to the health of the shooter caused by long-term working environment with noise, smoke, and the like.
Drawings
FIG. 1 is a schematic diagram of a principal right three-axis side view of the gun calibration method.
FIG. 2 is a schematic view of the principle of the gun calibration method XOZ from a planar view.
FIG. 3 is a schematic view of the principle of the gun calibration method, YOZ, from a planar perspective.
Fig. 4 is a schematic illustration of the position coordinates of a set of simulated impact points, simulated projectile distribution centers, simulated aiming points, etc. on a standard range hypothetical target surface.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
As shown in figure 1, the method provides a small-space bullet-free gun calibration principle, which comprises a reference zero line 1, a transmission line laser beam 2, an aiming baseline laser beam 3, a PSD photosensitive surface 4, a firearm 5 and an imaginary target surface 6. The reference zero-bit line is parallel to the Z axis of the reference coordinate system and passes through a test origin O of the photosensitive surface of the PSD position sensitive sensor. The shooter 5 is stably fixed but the position posture is random, namely the heading angle deviation amount and the pitch angle deviation amount of the shooter 5 and the reference zero line 1 are random. The target surface 6 is supposed to be at the standard range, the target surface is perpendicular to the reference zero line, the target passes through the reference zero line, a coordinate system is established by taking the target and the reference zero line as references, and the target surface is superposed with an XOY plane of the established coordinate system (in the Y-axis direction). In order to avoid the influence of external noise, strong light, air turbulence and the like on a laser beam at a long distance, improve the test precision of the PSD photosensitive surface 4 on a laser beam signal, shorten the test distance of a gun calibration, get rid of the dependence of the gun calibration on a long-distance field, realize small space of the gun calibration, and place the PSD photosensitive surface 4 at a short distance of 0.5-2 m at the front end of a gun 5. The small-space bullet-free gun calibration method comprises the following specific implementation steps:
1.1, PSD position sensitive sensor tests the position signal and the angle pointing signal of the front-inserted emission line laser at different rotating angles, and the signals are subjected to rejection processing:
insert into the barrel before will have with the similar cooperation characteristics of plug-in components before the cold sight before in the preceding formula transmission line laser instrument of inserting to make this preceding formula transmission line laser instrument rotate more than a week in the barrel, with the influence that reduces transmission line laser beam 2's emission angle deviation, laser instrument and preceding plug-in components axiality deviation, preceding plug-in components and barrel's cooperation error etc. to barrel axis equivalence realization result. The emitting line laser beams 2 under various angles are tested through the PSD photosensitive surface 4 of the PSD position sensitive sensor, and spot position signals Bx and By and angle pointing signals Ax and Ay of the emitting line laser beams 2, which are emitted By the front-insertion type laser and are emitted onto the PSD photosensitive surface 4 under the condition of rotating at different angles, are obtained. The position signals Bx and By are two-dimensional coordinates of light spots of the emission line laser beam 2 on the PSD photosensitive surface 4, and the angle pointing signals Ax and Ay are an angle of the emission line laser beam 2 rotating around an x axis and an angle of the emission line laser beam 2 rotating around a y axis relative to a zero position coordinate system of the PSD photosensitive surface 4.
In order to reduce the influence of some uncertain factors such as strong external vibration and abnormal sound in the gun calibration process on the testing precision of the PSD position sensitive sensor and further reduce the influence of the external uncertain environment factors on the gun calibration result precision, the laser beam signals measured by the PSD photosensitive surface 4 are subjected to rejection processing by the aid of the Grabbs rejection criterion and other methods, and abnormal values are eliminated.
1.2, amplifying the measured signal and considering the drop h of the trajectory under different laser emission anglesiThe position coordinates (X) of each simulated impact point on the virtual target surface 6 of the standard range are obtainedi,Yi). The specific implementation steps are as follows:
1.2.1, amplifying the signals measured by the PSD photosensitive surface 4 to obtain the abscissa of the simulated impact point set on the standard range hypothetical target surface 6
As shown in FIG. 2, at the XOZ view angle, the PSD photosensitive surface 4 can measure the course included angle Ay between the emission laser beam 2 and the reference zero line 1 at different emission anglesiAnd a lateral distance Bx from the reference zero point Oi. Knowing the distance T between the starting position of the emission line laser beam 2 and the PSD photosensitive surface 4 after the firearm 5 is fixed, the abscissa X of each simulated impact point on the virtual target surface 6 at the standard range M under different laser emission angles can be simulatedi＝Bxi+(M-T)tan(Ayi)。
1.2.2, amplifying the signals measured by the PSD photosensitive surface 4, and taking the influence of trajectory drop into consideration to obtain the ordinate of the simulated impact point set on the standard range virtual target surface 6
As shown in FIG. 3, in the YOZ plane view, the PSD photosensitive surface 4 can measure the pitch included angle Ax between the radiation laser beam 2 and the reference zero line 1 at different emission anglesiAnd a longitudinal distance By from the reference zero point Oi. Meanwhile, the distance T between the starting position of the emission line laser beam 2 and the PSD photosensitive surface 4 after the firearm 5 is fixed is known, and Ax can be measured according to the PSD photosensitive surface 4iObtaining the firing angle alpha of the firearm 5iFurther obtain the corresponding drop h of trajectoryiSo as to simulate the vertical coordinate Y of each simulated impact point on the target surface 6 at the standard range M under different laser emission anglesi＝Byi+(M-T)tan(Axi)-hi。
1.3, for each obtained simulated impact point position coordinate (X)i,Yi) Circle center fitting is performed to obtain the position coordinates (X, Y) of the projectile distribution center. The specific implementation method comprises the following steps:
as shown in FIG. 4, in the obtained simulated impact point set (X)i,Yi) Selecting any three points from the circle, fitting the circle center positions of the three points by a method of equal distance from any point on the circle to the circle center to obtain a simulation impact point set (X) after one-time fittingi,Yi) Fitted centre point set (m)j,nj). Respectively aligning the abscissa m of the circle center point set by using a line connection methodjWith ordinate njThe mean value processing is performed to obtain the two-dimensional coordinate position (X, Y) of the center of distribution of the projectile on the hypothetical target surface 6 at the standard range.
Step 2, performing equivalent realization of the aiming baseline to obtain two-dimensional coordinates (X ', Y') of an aiming point on the hypothetical target surface 6 of the standard range:
2.1 the position of the baseline laser beam 3 is adjusted by controlling the line-of-sight laser, so that the baseline laser beam 3 can pass through the center of the sight and above the middle sharp point of the sight at the same time, and the spatial position of the baseline can be equivalently aimed. The specific implementation steps are as follows:
and 2.1.1, controlling the aiming line laser to identify the center position of the peep hole, and adjusting the position of the laser to enable the aiming baseline laser beam 3 to pass through the center position of the peep hole. And in the next step, the aiming baseline laser beam 3 is always ensured to pass through the center position of the sight;
2.1.2, controlling the line-of-sight laser to adjust the course angle, enabling the line-of-sight baseline laser beam 3 to transversely sweep, recording that the line-of-sight baseline laser beam 3 is shielded by a sight bead through a PSD photosensitive surface 4 of a PSD position sensitive sensor in the course of sweeping the course angle, so that two moments t at the beginning and the end when light energy signals on the PSD photosensitive surface 4 are zero1、t2Lower laser position and aiming line laser is adjusted to time
A down position. At this time, the collimated baseline laser beam 3 passes through the collimatorA star middle position;
and 2.1.3, controlling the sighting line laser to adjust the pitch angle, and enabling the sighting baseline laser beam 3 to sweep upwards from the current position until the light energy signal appears on the PSD photosensitive surface 4. At the moment, the aiming baseline laser beam 3 passes through the center of the sight and above the middle sharp point of the sight, and the aiming baseline is equivalently realized.
2.2, testing the equivalent of the aiming baseline by the PSD position sensitive sensor, aiming the position signal and the angle pointing signal of the baseline laser beam after the completion of the equivalent realization of the aiming baseline, and performing rejection processing on the signals:
after the target base line equivalent is realized, the target base line laser beam 3 is tested through the PSD photosensitive surface 4 of the PSD position sensitive sensor, and spot position signals Bx 'and By' and angle pointing signals Ax 'and Ay' of the target base line laser beam 3 on the PSD photosensitive surface 4 are obtained. The position signals Bx 'and By' are two-dimensional coordinates of light spots of the aiming baseline laser beam 3 on the PSD photosensitive surface 4, and the angle pointing signals Ax 'and Ay' are an angle of the aiming baseline laser beam 3 rotating around an x axis and an angle of the aiming baseline laser beam 3 rotating around a y axis relative to a zero position coordinate system of the PSD photosensitive surface 4 respectively.
In order to reduce the influence of some uncertain factors such as strong external vibration and abnormal sound in the gun calibration process on the testing precision of the PSD position sensitive sensor and further reduce the influence of the external uncertain environment factors on the gun calibration result precision, the laser beam signals measured by the PSD photosensitive surface 4 are subjected to rejection processing by the aid of the Grabbs rejection criterion and other methods, and abnormal values are eliminated.
And 2.3, amplifying the measured signals to obtain the position coordinates (X ', Y') of the aiming point on the virtual target surface 6 of the standard shooting distance. The specific implementation method comprises the following steps:
as shown in fig. 2, in the view of the XOZ plane, the PSD photosensitive surface 4 can measure the heading angle Ay ' between the aimed baseline laser beam 3 and the reference zero line 1, and the lateral distance Bx ' from the reference zero point O, and knowing the distance T ' from the starting position of the aimed baseline laser beam 3 to the PSD photosensitive surface 4 after the firearm 5 is fixed, the abscissa X ' ═ Bx ' + (M-T ') tan (Ay ') of the aimed point on the imaginary target surface 6 where the aimed baseline laser beam 3 hits the standard range M can be simulated.
As shown in fig. 3, in the view of the YOZ plane, the PSD photosensitive surface 4 can measure the pitch angle Ax ' between the baseline aiming laser beam 3 and the reference zero line 1, and the longitudinal distance By ' from the reference zero point O, and knowing the distance T ' from the starting position of the baseline aiming laser beam 3 to the PSD photosensitive surface 4 after the firearm 5 is fixed, it can simulate the ordinate Y ' ═ By ' + (M-T ') tan (Ax ') of the aiming point of the baseline aiming laser beam 3 hitting the imaginary target surface 6 at the standard range M. And obtaining the position coordinates (X ', Y') of the aiming point on the virtual target surface of the standard shooting distance.
as shown in fig. 4, the two-dimensional deviation amount between the coordinates (X, Y) of the center of distribution of the projectile and the coordinates (X ', Y') of the aiming point on the virtual target surface 6 of the standard range is calculated, and the two-dimensional deviation amount Δ X ═ X '-X and Δ Y ═ Y' -Y are obtained. And calculating the adjustment quantity of the mechanical sighting telescope of the gun 5 according to the requirement of the firing meter, and calibrating the mechanical sighting telescope of the gun 5 according to the adjustment quantity.
And 4, carrying out secondary verification on the gun after the adjustment, and judging whether the gun is qualified or not:
and (3) repeating the steps (1) to (3) after the adjustment of the firearm 5 is finished, adjusting the space positions of the emission line laser beam 2 and the aiming baseline laser beam 3 after the adjustment of the firearm 5 for the second time to obtain the two-dimensional coordinate positions of the projectile distribution center and the aiming point on the standard range virtual target surface 6 after the adjustment of the firearm 5, and obtaining the two-dimensional coordinate deviation amounts delta X and delta Y of the projectile distribution center and the aiming point on the standard range virtual target surface 6 after the adjustment of the firearm 5. If the deviation of the projectile distribution center from the aiming point, which is obtained from the values of Δ X and Δ Y after the gun 5 is calibrated, is within the range of the shooting accuracy standard R50, that is, the gun calibration is qualified, and the gun calibration is completed. If the position deviation amount of the projectile scattering center and the aiming point after the adjustment exceeds the range of the shooting precision standard R50, the gun calibration system applying the method is judged to have problems or the firearm is unqualified, the gun calibration system applying the method is subjected to troubleshooting, and the suspected unqualified firearm is checked. And continuing to calibrate the gun when the problem is found out and eliminated.
Claims (7)
1. A small-space bullet-free gun calibration method is characterized by comprising the following steps:
step 1, carrying out emission line equivalent realization to obtain two-dimensional coordinates (X, Y) of a projectile distribution center on a standard range hypothetical target surface: inserting a front-inserted transmitting line laser into a barrel and rotating the front-inserted transmitting line laser in the barrel for a circle, testing a position signal and an angle pointing signal of a laser beam of the front-inserted transmitting line laser under different rotating angles through a PSD position sensitive sensor at a close distance at the front end of the gun, performing rejection and amplification processing on the measured signals to obtain a position coordinate of a simulated impact point set on a standard shooting range imaginary target surface, and performing circle center fitting processing on the position coordinate of the simulated impact point set to obtain a position coordinate of a simulated projectile distribution center;
step 2, carrying out equivalent realization of the aiming baseline to obtain two-dimensional coordinates (X ', Y') of an aiming point on the hypothetical target surface of the standard range: the method comprises the steps of adjusting laser beam equivalence by controlling a sighting line laser to achieve the spatial position of a sighting baseline, testing a position signal and an angle pointing signal of the sighting baseline laser beam through a PSD position sensitive sensor at the front end of a gun in a close range, and performing rejection and amplification processing on the measured signal to obtain a position coordinate of a simulated sighting point on a standard shooting distance hypothetical target surface;
step 3, calculating the deviation amount of the two-dimensional coordinates of the projectile scattering center and the aiming point on the standard range virtual target surface, and solving the adjustment amount of the mechanical aiming tool: calculating the two-dimensional deviation amount of the projectile distribution center coordinate and the aiming point coordinate on the imaginary target surface of the standard range, calculating the calibration amount of the mechanical sighting device according to the requirement of a firing meter, and calibrating the mechanical sighting device of the firearm according to the calibration amount;
and 4, carrying out secondary verification on the gun after the adjustment, and judging whether the gun is qualified or not: and (3) repeating the steps 1 to 3, adjusting the space positions of the emission line laser beam and the aiming baseline laser beam after the gun is calibrated for the second time, obtaining the two-dimensional coordinate deviation amount of the projectile scattering center and the aiming point on the virtual target surface of the standard range after the gun is calibrated, if the position deviation amount of the projectile scattering center and the aiming point after the gun is calibrated is in the range of the shooting precision standard requirement, the gun is calibrated to be qualified, otherwise, the gun calibration system applying the method is judged to have problems or the gun is unqualified, the gun calibration system is subjected to fault troubleshooting, the suspected unqualified gun is checked, and the gun calibration is continued after the problems are found out and eliminated.
2. The small-space bullet-free gun calibration method according to claim 1, wherein the step 1 of obtaining two-dimensional coordinates of a projectile distribution center on a standard-range imaginary target surface specifically comprises the following steps:
1.1, testing position signals and angle pointing signals of laser beams of a front-inserted transmitting line laser under different rotating angles by a PSD position sensitive sensor, and performing rejection processing on the measured signals;
1.2, amplifying the measured signals, and considering the influence of trajectory drop under different laser emission angles to obtain the position coordinates of a simulated bullet impact point set on the hypothetical target surface of the standard range;
and 1.3, performing circle center fitting processing on the obtained position coordinates of the simulated projectile landing point set to obtain the position coordinates of the simulated projectile scattering center.
3. The small-space bullet-free gun calibration method according to claim 2, wherein the step 1.2 of obtaining the position coordinates of each simulated impact point on the standard-throw-distance imaginary target surface specifically comprises the following steps:
1.2.1, PSD photosensitive surface measures course included angle Ay between ray-emitting laser beam and reference zero line at different laser emission anglesiAnd a lateral distance Bx from the reference zero point Oi(ii) a By the formula Xi＝Bxi+(M-T)tan(Ayi) Simulating the abscissa of the simulated impact point set on the imaginary target surface at the standard shooting distance M under different laser emission angles; t, M is the distance between the starting position of the laser beam and the PSD photosensitive surface and the standard range after the firearm is fixed;
1.2.2, the PSD photosurface detects the pitching included angle Ax between the radiation laser beam and the reference zero line under different laser emission anglesiAnd anLongitudinal distance By from datum zero point Oi(ii) a Ax measured from PSD photosurfaceiObtaining the firing angle alpha of the firearmiFurther obtain the corresponding drop h of trajectoryiThen by formula Yi＝Byi+(M-T)tan(Axi)-hiAnd simulating the ordinate of the simulated impact point set on the virtual target surface at the standard range M under different laser emission angles.
4. The small-space bullet-free gun calibration method according to claim 2, wherein the step 1.3 is to perform circle center fitting on the coordinates of the impact point position of each obtained simulated bullet, and the specific method is as follows:
at the resulting set of simulated impact points (X)i,Yi) Selecting any three points from the circle, fitting the circle center positions of the three points by a method of equal distance from any point on the circle to the circle center to obtain a simulation impact point set (X) after one-time fittingi,Yi) Fitted centre point set (m)j,nj) (ii) a Respectively aligning the abscissa m of the circle center point set by using a line connection methodjWith ordinate njAnd performing mean processing to obtain a two-dimensional coordinate position (X, Y) of the simulated projectile distribution center on the standard range virtual target surface.
5. The small-space bullet-free gun calibration method according to claim 1, wherein the step 2 of obtaining two-dimensional coordinates of an aiming point on the imaginary target plane with the standard range specifically comprises the following steps:
2.1, adjusting the aiming baseline laser beam by controlling the aiming line laser to enable the aiming baseline laser beam to equivalently realize the spatial position of the aiming baseline;
2.2, testing the equivalent of the aiming baseline by a PSD position sensitive sensor, then aiming the position signal and the angle pointing signal of the baseline laser beam, and performing rejection processing on the signals;
and 2.3, amplifying the measured signal to obtain the position coordinates of the simulated aiming point on the virtual target surface of the standard range.
6. The small-space bullet-free gun calibration method according to claim 5, wherein the step 2.1 of equivalently realizing the spatial position of the aiming baseline specifically comprises the following steps:
2.1.1, adjusting the position of the laser to enable the aiming baseline laser beam to pass through the center position of the peep hole, and ensuring that the aiming baseline laser beam passes through the center position of the peep hole all the time in the next step;
2.1.2, controlling the sighting line laser to adjust the course angle, enabling the sighting baseline laser beam to transversely sweep, recording the fact that the sighting baseline laser beam is shielded by the sight bead in the course of sweeping the course angle through the PSD position sensitive sensor, so that the light energy signal on the PSD photosensitive surface is zero at the first moment and the last moment t1、t2Lower laser position and aiming line laser is adjusted to time
A down position;
and 2.1.3, controlling the sighting line laser to adjust the pitch angle, enabling the sighting baseline laser beam to sweep upwards from the current position until the light energy signal on the PSD photosensitive surface appears, and completing sighting baseline equivalent realization by simultaneously passing through the sighting center and the upper part of the middle sharp point of the sight.
7. The small-space bullet-free gun calibration method according to claim 5, wherein the position coordinates of the aiming point on the imaginary target surface of the standard range are obtained in step 2.3, and the specific method is as follows:
the PSD photosensitive surface measures a course included angle Ay ' between the aiming baseline laser beam and a reference zero line and a transverse distance Bx ' from a reference zero point O, the distance T ' from the starting position of the aiming baseline laser beam to the PSD photosensitive surface after the firearm is fixed and a standard shooting distance M, and the abscissa of the aiming baseline laser beam, which is projected on a virtual target surface at the standard shooting distance M to simulate an aiming point, is simulated through a formula X ' ═ Bx ' + (M-T ') tan (Ay ');
the PSD photosurface measures a pitch included angle Ax 'between the aiming baseline laser beam and a reference zero line and a longitudinal distance By' from a reference zero point O, the distance T 'from the initial position of the aiming baseline laser beam to the PSD photosurface after the firearm is fixed and a standard shooting distance M, and the vertical coordinate of the aiming baseline laser beam, which is shot on the virtual target surface at the standard shooting distance M, of the simulated aiming point is simulated through a formula Y' + (M-T ') tan (Ax'), so that the position coordinates (X ', Y') of the aiming point on the virtual target surface at the standard shooting distance M are obtained.
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| CN104880127A (en) * | 2015-06-11 | 2015-09-02 | 西安工业大学 | Wireless laser gun calibration instrument capable of realizing automatic target scoring |
| CN108871067A (en) * | 2018-07-06 | 2018-11-23 | 中国人民解放军陆军工程大学 | Firearm laser calibrator, calibration and gun calibration method and method for determining bore axis target point |
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| DE10050691A1 (en) * | 2000-10-13 | 2002-05-02 | Stn Atlas Elektronik Gmbh | Method and device for firing simulation |
| US10209034B2 (en) * | 2016-11-16 | 2019-02-19 | Huntercraft Limited | Pitching angle fitting method for integrated precision photoelectric sighting system |
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| CN104880127A (en) * | 2015-06-11 | 2015-09-02 | 西安工业大学 | Wireless laser gun calibration instrument capable of realizing automatic target scoring |
| CN108871067A (en) * | 2018-07-06 | 2018-11-23 | 中国人民解放军陆军工程大学 | Firearm laser calibrator, calibration and gun calibration method and method for determining bore axis target point |
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