CN113551639A - Measurement system and method for attitude measurement accuracy of attitude measurement device - Google Patents
Measurement system and method for attitude measurement accuracy of attitude measurement device Download PDFInfo
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- CN113551639A CN113551639A CN202110830593.4A CN202110830593A CN113551639A CN 113551639 A CN113551639 A CN 113551639A CN 202110830593 A CN202110830593 A CN 202110830593A CN 113551639 A CN113551639 A CN 113551639A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A measurement system and method for attitude measurement accuracy of an attitude measurement device, paste a cross strip on the surface of the main lens-barrel of the target theodolite, while the azimuth angle of the main lens-barrel of the target theodolite is fixed and move in the direction of pitch, obtain the main lens-barrel image of the target theodolite, and carry on the image processing in order to obtain the measured value of pitch angle of the main lens-barrel of the target theodolite to the main lens-barrel image, and then obtain the true value of pitch angle of the main lens-barrel through the record of the target theodolite oneself, according to measured value of pitch angle and true value of pitch angle, confirm the measurement accuracy of pitch angle of the attitude measurement device; similarly, when the pitch angle of the main lens cone of the target theodolite is fixed and moves in the azimuth direction, the yaw angle measured value of the main lens cone of the target theodolite is obtained, the yaw angle true value of the main lens cone is obtained through the record of the target theodolite, and the yaw angle measurement precision of the attitude measurement device is determined according to the yaw angle measured value and the yaw angle true value.
Description
Technical Field
The invention relates to the technical field of optical measurement of a target range, in particular to a system and a method for measuring attitude measurement precision of attitude measurement equipment.
Background
The attitude measurement device not only requires high-precision angle measurement capability and high-resolution imaging capability, but also needs to break through a traditional measurement model for performing qualitative point transformation on a target in function, treat the target as a three-dimensional target with a spatial three-dimensional geometrical structure, and realize the measurement of three-dimensional parameters of the spatial target, such as reentry of a missile, pitching and yaw angle in the flight process. The flight trajectory and the three-dimensional attitude information of each moment in the target flight phase are accurately recorded, the accuracy of target track entry and attack can be judged, and a basis is provided for model design and improvement.
In order to ensure that various performance indexes of the attitude measurement equipment meet requirements, the attitude measurement equipment needs to test various indexes in the stages of delivery and external field. A commonly used attitude measurement method for a target range is a central axis multi-station intersection measurement method, but in actual detection, it is difficult to provide a target which can be viewed by a plurality of attitude measurement devices, and it is impossible to ensure that observation objects of the plurality of attitude measurement devices are completely consistent.
According to the limit of objective factors such as attitude measurement detection conditions, the attitude measurement precision is usually simplified to target central axis slope measurement error detection in an indoor test stage. In the external field stage, due to the lack of a real measurable columnar target source, the system attitude measurement precision can not be effectively tested any more, and only the detected result can be adopted. However, the simulated target in the indoor stage is a static target, and the targets in actual measurement are all in a motion state, so that the actual measurement accuracy of the attitude measurement equipment cannot be completely reflected by indoor detection. Meanwhile, in the process of using the attitude measurement device in an external field, the transportation transition, the severe environment, the use loss and the like all cause the state change and the precision reduction of the device, and in order to ensure that the attitude measurement device is in a good state in the external field, it is necessary to frequently detect and confirm various performance indexes of the device.
Disclosure of Invention
The invention mainly solves the technical problem of providing a measurement system and a measurement method for detecting the attitude measurement precision of attitude measurement equipment, which can measure the precision of the attitude measurement equipment in an external field.
According to a first aspect, an embodiment provides a measurement system for attitude measurement accuracy of an attitude measurement device, comprising:
the theodolite target system comprises a target theodolite, wherein a cross strip is arranged on the outer surface of a main lens cone of the target theodolite and comprises a transverse strip and a vertical strip, the transverse strip and the vertical strip are intersected to form an intersection point, the transverse strip is parallel to the axis of the main lens cone of the target theodolite, and the vertical strip is perpendicular to the axis of the main lens cone of the target theodolite;
the control processing device is used for controlling the attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite when the azimuth angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the pitching direction, and performing image processing on the main lens cone image to acquire a pitch angle measurement value of the main lens cone of the target theodolite; the control processing device is also used for acquiring a true pitch angle value of the target theodolite; determining the pitch angle measurement precision of the attitude measurement equipment to be measured according to the pitch angle measurement value and the pitch angle true value;
the control processing device is also used for controlling the attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite when the pitch angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the azimuth direction, and performing image processing on the main lens cone image to acquire a yaw angle measurement value of the main lens cone of the target theodolite; the control processing device is also used for acquiring a true yaw angle value of the target theodolite; determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value;
the target theodolite is located in an imaging range of the attitude measurement equipment to be measured.
According to a second aspect, an embodiment provides a measurement method for attitude measurement accuracy of an attitude measurement apparatus, including:
when the azimuth angle of a main lens barrel of a target theodolite is fixed and the main lens barrel moves in the pitching direction, controlling attitude measurement equipment to be measured to acquire a main lens barrel image of the target theodolite, and performing image processing on the main lens barrel image to acquire a pitch angle measurement value of the main lens barrel of the target theodolite;
acquiring a true pitch angle value of a target theodolite;
determining the pitch angle measurement precision of the attitude measurement equipment to be measured according to the pitch angle measurement value and the pitch angle true value;
when the pitch angle of a main lens cone of a target theodolite is fixed and the main lens cone moves in the azimuth direction, controlling attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite, and performing image processing on the main lens cone image to acquire a yaw angle measurement value of the main lens cone of the target theodolite;
acquiring a true value of a yaw angle of a target theodolite; determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value;
wherein, target theodolite is located the attitude measuring equipment's that awaits measuring imaging range, the surface of target theodolite's main lens cone is equipped with a cross strip, the cross strip includes horizontal strip and vertical strip, horizontal strip intersects with vertical strip and forms an nodical, horizontal strip with the axis of target theodolite's main lens cone parallels, vertical strip with the axis of target theodolite's main lens cone is mutually perpendicular.
According to the measurement system and method for the attitude measurement precision of the attitude measurement equipment in the embodiment, a theodolite with a common external field is used as a target theodolite, a cross-shaped strip is pasted on the outer surface of a main lens barrel of the target theodolite, a control processing device obtains a main lens barrel image of the target theodolite when the azimuth angle of the main lens barrel of the target theodolite is fixed and moves in the pitching direction, the main lens barrel image is subjected to image processing to obtain a pitch angle measured value of the main lens barrel of the target theodolite, a pitch angle true value of the main lens barrel is obtained through the recording of the target theodolite, and the pitch angle measurement precision of the attitude measurement equipment is determined according to the pitch angle measured value and the pitch angle true value; similarly, when the pitch angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the azimuth direction, the control processing device acquires a main lens cone image of the target theodolite, performs image processing on the main lens cone image to acquire a yaw angle measured value of the main lens cone of the target theodolite, acquires a yaw angle true value of the main lens cone through the recording of the target theodolite, determines the yaw angle measurement precision of the attitude measurement device according to the yaw angle measured value and the yaw angle true value, and solves the problem that the attitude measurement device cannot perform precision testing in an external field.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system for attitude measurement accuracy of an attitude measurement apparatus according to an embodiment;
FIG. 2 is a schematic structural view of a cross-shaped strip;
fig. 3 is a flowchart of an attitude measurement accuracy measurement method for an attitude measurement apparatus according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
Referring to fig. 1, fig. 1 is a schematic structural diagram of a measurement system for measuring an attitude measurement accuracy of an attitude measurement apparatus according to an embodiment, where the measurement system includes: the device comprises a target theodolite 101, a to-be-measured attitude measuring device 102 and a control processing device 103.
As shown in fig. 2, the cross-shaped strip 200 includes a transverse strip 201 and a vertical strip 202, the transverse strip 201 intersects with the vertical strip 202 to form a crossing point, the transverse strip 201 is parallel to the axis of the main barrel of the target theodolite 101, and the vertical strip 202 is perpendicular to the axis of the main barrel of the target theodolite 101. The cross-shaped strips in this embodiment are dark cross-shaped strips, and the lengths of the transverse strips 201 and the vertical strips 202 are accurately measured.
The control processing device 103 is configured to control the to-be-measured attitude measurement apparatus 102 to acquire a main barrel image of the target theodolite 101 when the azimuth angle of the main barrel of the target theodolite 101 is fixed and the main barrel moves in the pitch direction, and perform image processing on the main barrel image to acquire a pitch angle measurement value of the main barrel of the target theodolite 101; the control processing device 103 is further configured to obtain a true pitch angle value of the target theodolite 101; and determining the pitch angle measurement precision of the attitude measurement equipment to be measured according to the pitch angle measurement value and the pitch angle true value.
The control processing device 103 is further configured to control the to-be-measured attitude measurement apparatus 102 to acquire a main barrel image of the target theodolite 101 when the pitch angle of the main barrel of the target theodolite 101 is fixed and the main barrel moves in the azimuth direction, and perform image processing on the main barrel image to acquire a yaw angle measurement value of the main barrel of the target theodolite 101; the control processing device 103 is further configured to obtain a true yaw value of the target theodolite 101; and determining the yaw angle measurement precision of the attitude measurement equipment 102 to be measured according to the yaw angle measurement value and the yaw angle true value. The target theodolite 101 is located within an imaging range of the attitude measurement device to be measured.
In the embodiment of the invention, the rotation angles of the main lens cone of the target theodolite in the azimuth direction and the pitching direction are accurately recorded, and can be directly obtained through the target theodolite. The attitude measurement device 102 to be measured respectively acquires images of main lens cones of the target theodolite at different positions, characteristic points of a cross-shaped strip on the main lens cones are acquired through image processing, offset values of a pitch angle and an azimuth angle of the target theodolite between two moments are calculated, a pitch angle measurement value and a yaw angle measurement value are obtained, the pitch angle measurement value and the yaw angle measurement value are compared with pitch angle truth values and yaw angle truth values of the main lens cones at the two moments measured by the target theodolite, measurement errors of the pitch angle and the yaw angle of the attitude measurement device 102 to be measured can be obtained, and measurement accuracy of the pitch angle and the yaw angle of the attitude measurement device 102 to be measured is obtained.
In one embodiment, the attitude measurement device to be measured may be a theodolite to be measured.
In one embodiment, image processing the primary barrel image to obtain a pitch angle measurement of the primary barrel of the target theodolite includes:
a main barrel image at a first timing t1 is acquired.
A plurality of picture elements on a lateral band of a cross-shaped band in the main barrel image at the first time t1 are extracted.
And fitting the multiple pixels on the transverse strip by using minimum linear two-step multiplication to obtain a transverse axis corresponding to the first time t1 and a slope k1 of the transverse axis.
And determining a first pitch angle corresponding to the target theodolite at a first time t1 according to the slope of the transverse axis.
The main barrel image at the second timing t2 is acquired.
A plurality of picture elements on the lateral stripes of the cross-shaped stripe in the main barrel image at the second timing t2 are extracted.
And fitting the multiple pixels on the transverse strip by using minimum linear quadratic multiplication to obtain a transverse axis corresponding to the second time t2 and the slope of the transverse axis.
And determining a second pitch angle corresponding to the target theodolite at a second moment t2 according to the slope of the transverse axis.
And obtaining a true pitch angle value of the main lens barrel of the target theodolite according to a first pitch angle corresponding to a first time t1 and a second pitch angle corresponding to a second time t 2.
According to the above method, the offset value of the pitch angle between the first time t1 and the second time t2 may be obtained, thereby obtaining a pitch angle measurement between the first time t1 and the second time t 2.
In this embodiment, the control processing device obtains the actual pitch angle E of the target theodolite corresponding to the first time t1 through the target theodolite respectivelyO1The actual pitch angle of the target theodolite at the second time t2 is EO2Then true value of pitch angle Δ EO＝EO2-EO1。
The first pitch angle corresponding to the target theodolite at the first moment t1 is determined according to the following formula:
Ec1＝tank1
wherein E isc1For the first pitch angle of the target theodolite at the first time t1, k1 is the slope of the transverse axis at the first time t 2.
Similarly, the target theodolite has a second pitch angle E corresponding to the second time t2c2The calculation method and the first depressionElevation angle Ec1The same is not described in detail here.
In the present embodiment, the measurement of the pitch angle between the first time t1 and the second time t2 is the measurement of the pitch angle between the first time t1 and the second time t2, and thus the measurement of the pitch angle between the first time t1 and the second time t2 is Δ Ec＝Ec2-Ec1。
In summary, the above process is repeated to obtain the measured pitch angle values and the true pitch angle values between n times by obtaining the measured pitch angle values and the true pitch angle values between the first time t1 and the second time t 2.
In one embodiment, image processing the main barrel image to obtain a yaw angle measurement of the main barrel of the target theodolite includes:
a main barrel image at a third timing t3 and a main barrel image at a fourth timing t4 are acquired.
The number of pixels of the cross-shaped band in the longitudinal direction in the main barrel image at the third timing t3 and the number of pixels of the cross-shaped band in the longitudinal direction in the main barrel image at the fourth timing t4 are extracted.
And obtaining a true value of the yaw angle of the main lens cone of the target theodolite according to the number of the pixels in the length direction corresponding to the third time t3 and the number of the pixels in the length direction corresponding to the fourth time t 4.
Wherein the yaw angle measurement of the main barrel of the target theodolite is determined according to the following formula:
ΔAcis a yaw angle measurement between a third time t3 and a fourth time t 4; delta l is the difference value of the components of the image length of the target theodolite imaged at different azimuth angles on the x axis; f is the focal length of the attitude measurement equipment to be measured; r is the distance between the attitude measurement equipment to be measured and the target theodolite; l is the length of the cruciform strip; a. the03cThe azimuth angle of the target theodolite is acquired by the attitude measurement equipment to be measured corresponding to the third time t 3; a. the04cIs a fourthThe azimuth angle of the target theodolite acquired by the attitude measurement device to be measured corresponding to the time t4, and E is the pitch angle of the target theodolite acquired by the attitude measurement device to be measured.
In this embodiment, the actual azimuth angles of the target theodolite corresponding to the third time t3 and the fourth time t4 can be directly read by the target theodolite, and if the actual azimuth angle of the target theodolite corresponding to the third time t3 is ao3The actual azimuth angle of the target theodolite corresponding to the fourth time t4 is ao4Then true yaw angle Δ Ao＝Ao2-Ao1。
In summary, by repeating the above process for the yaw angle measurement values and the yaw angle truth values between the third time t3 and the fourth time t4, which are obtained by the above process, the yaw angle measurement values and the yaw angle truth values between the n two times can be obtained.
Determining the pitch angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σEFor the accuracy of the pitch angle measurement, Delta E, of the attitude measurement device to be measuredoiIs true value of pitch angle, Δ EciIs the pitch angle measurement, i ═ 1,2, …, n; n is the number of calculations of the pitch angle measurement.
Determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value, wherein the step comprises the following steps:
determining the yaw angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σAFor measuring yaw angle, Delta A, of the attitude measuring device to be measuredoiIs a true value of yaw angle, Δ AciIs a yaw angle measurement, i ═ 1,2, …, n; n is the calculation of the yaw angle measurementThe number of times.
Referring to fig. 3, fig. 3 is a flowchart of an attitude measurement accuracy measurement method for an attitude measurement apparatus according to an embodiment, where the measurement method includes the following steps:
The image processing of the main barrel image to acquire a pitch angle measurement value of the main barrel of the target theodolite in step 301 includes:
in step 3011, a main barrel image at a first time t1 is acquired.
In step 3012, a plurality of pixels on a lateral stripe of a cross-shaped stripe in the main barrel image at the first time t1 are extracted.
Step 3013, fitting a plurality of pixels on the horizontal stripe by using minimum linear quadratic multiplication to obtain a horizontal axis corresponding to the first time t1 and a slope of the horizontal axis;
step 3014, determine a first pitch angle corresponding to the target theodolite at the first time t1 according to the slope of the traverse axis.
In step 3015, the main barrel image at the second time t2 is acquired.
Step 3016, extract a plurality of pixels on a horizontal stripe of the cross-shaped stripe in the main barrel image at the second time.
And 3017, fitting the multiple pixels on the horizontal stripe by using minimum linear quadratic multiplication to obtain a horizontal axis and a slope of the horizontal axis corresponding to the second moment.
Step 3018, determine a second pitch angle corresponding to the target theodolite at a second time t2 according to the slope of the lateral axis.
Step 3018, obtain a pitch angle measurement value of the main barrel of the target theodolite according to a first pitch angle corresponding to the first time t1 and a second pitch angle corresponding to the second time t 2.
And step 302, acquiring a true pitch angle value of the target theodolite.
And 303, repeating the steps 301 to 302n times to obtain n pitch angle measurement values and n pitch angle true values, and determining the pitch angle measurement accuracy of the attitude measurement equipment to be measured according to the n pitch angle measurement values and the pitch angle true values.
Determining the pitch angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σEFor the accuracy of the pitch angle measurement, Delta E, of the attitude measurement device to be measuredoiIs true value of pitch angle, Δ EciIs the pitch angle measurement, i ═ 1,2, …, n; n is the number of calculations of the pitch angle measurement.
And 304, when the pitch angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the azimuth direction, controlling the attitude measurement equipment to be measured to acquire the main lens cone image of the target theodolite, and performing image processing on the main lens cone image to acquire the yaw angle measurement value of the main lens cone of the target theodolite.
Image processing is performed on the main barrel image in step 304 to obtain a yaw angle measurement value of the main barrel of the target theodolite, including:
in step 3041, a main barrel image at a third timing t3 and a main barrel image at a fourth timing t4 are acquired.
In step 3042, the number of pixels of the cross-shaped stripe in the main barrel image at the third time t3 in the length direction and the number of pixels of the cross-shaped stripe in the main barrel image at the fourth time t4 in the length direction are extracted.
Step 3043, a true value of the yaw angle of the main barrel of the target theodolite is obtained according to the number of the pixels in the length direction corresponding to the third time t3 and the number of the pixels in the length direction of the cross-shaped strip in the image of the main barrel corresponding to the fourth time t 4.
And 305, acquiring a true yaw angle value of the target theodolite.
And 306, repeating the steps 304 to 305 for n times to obtain n yaw angle measurement values and n yaw angle true values, and determining the yaw angle measurement accuracy of the attitude measurement device to be measured according to the n yaw angle measurement values and the n yaw angle true values.
Determining the yaw angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σAFor measuring yaw angle, Delta A, of the attitude measuring device to be measuredoiIs a true value of yaw angle, Δ AciIs a yaw angle measurement, i ═ 1,2, …, n; n is the number of calculations of the yaw angle measurement.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A measurement system for attitude measurement accuracy of an attitude measurement apparatus, comprising:
the theodolite target system comprises a target theodolite, wherein a cross strip is arranged on the outer surface of a main lens cone of the target theodolite and comprises a transverse strip and a vertical strip, the transverse strip and the vertical strip are intersected to form an intersection point, the transverse strip is parallel to the axis of the main lens cone of the target theodolite, and the vertical strip is perpendicular to the axis of the main lens cone of the target theodolite;
the control processing device is used for controlling the attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite when the azimuth angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the pitching direction, and performing image processing on the main lens cone image to acquire a pitch angle measurement value of the main lens cone of the target theodolite; the control processing device is also used for acquiring a true pitch angle value of the target theodolite; determining the pitch angle measurement precision of the attitude measurement equipment to be measured according to the pitch angle measurement value and the pitch angle true value;
the control processing device is also used for controlling the attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite when the pitch angle of the main lens cone of the target theodolite is fixed and the main lens cone moves in the azimuth direction, and performing image processing on the main lens cone image to acquire a yaw angle measurement value of the main lens cone of the target theodolite; the control processing device is also used for acquiring a true yaw angle value of the target theodolite; determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value;
the target theodolite is located in an imaging range of the attitude measurement equipment to be measured.
2. The measurement system of claim 1, wherein image processing the primary barrel image to obtain a pitch angle measurement of a primary barrel of the target theodolite comprises:
acquiring a main lens barrel image at a first moment;
extracting a plurality of pixels on a transverse strip of a cross-shaped strip in a main lens barrel image at a first moment;
fitting a plurality of pixels on the transverse stripe by utilizing minimum linear quadratic multiplication to obtain a transverse axis corresponding to the first moment and a slope of the transverse axis;
determining a first pitch angle corresponding to the target theodolite at a first moment according to the slope of the transverse axis;
acquiring a main lens barrel image at a second moment;
extracting a plurality of pixels on a transverse strip of a cross-shaped strip in the main lens barrel image at a second moment;
fitting a plurality of pixels on the transverse stripe by utilizing minimum linear quadratic multiplication to obtain a transverse axis corresponding to the second moment and a slope of the transverse axis;
determining a second pitch angle corresponding to the target theodolite at a second moment according to the slope of the transverse axis;
and obtaining a true pitch angle value of the main lens cone of the target theodolite according to a first pitch angle corresponding to the first moment and a second pitch angle corresponding to the second moment.
3. The surveying system of claim 2, wherein said determining a first pitch angle for the target theodolite at a first time based on the slope of the roll axis comprises:
determining a first pitch angle corresponding to the target theodolite at a first moment according to the following formula:
Ec1＝tan k1
wherein E isc1For a first pitch angle of the target theodolite at a first time, k1 is the slope of the roll axis at the first time.
4. The measurement system of claim 1, wherein image processing the primary barrel image to obtain a yaw measurement of the primary barrel of the target theodolite comprises:
acquiring a main lens barrel image at a third moment and a main lens barrel image at a fourth moment;
extracting the number of pixels of a cross-shaped strip in the length direction in the main lens barrel image at the third moment and the number of pixels of the cross-shaped strip in the length direction in the main lens barrel image at the fourth moment;
and obtaining a true value of the yaw angle of the main lens cone of the target theodolite according to the number of the pixels in the length direction corresponding to the third moment and the number of the pixels in the length direction corresponding to the fourth moment.
5. The measurement system according to claim 4, wherein obtaining a true value of a yaw angle of the main barrel of the target theodolite according to the number of the longitudinal pixels corresponding to the third time and the number of the longitudinal pixels corresponding to the fourth time comprises:
determining a yaw angle measurement of a main barrel of the target theodolite according to the following formula:
wherein, Delta AcIs a yaw angle measurement between the third time and the fourth time; delta l is the difference value of the components of the image length of the target theodolite imaged at different azimuth angles on the x axis; f is the focal length of the attitude measurement equipment to be measured; r is the distance between the attitude measurement equipment to be measured and the target theodolite; l is the length of the cruciform strip; a. the03cAcquiring the azimuth angle of the target theodolite for the attitude measurement equipment to be measured corresponding to the third time; a. the04cAnd E is a pitch angle of the target theodolite acquired by the attitude measurement equipment to be measured.
6. The measurement system of claim 1, wherein determining the accuracy of the pitch measurement of the attitude measurement device under test based on the pitch measurement and the true pitch value comprises:
determining the pitch angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σEFor the accuracy of the pitch angle measurement, Delta E, of the attitude measurement device to be measuredoiIs true value of pitch angle, Δ EciIs the pitch angle measurement, i ═ 1,2, …, n; n is the number of times of calculation of the pitch angle measurement value;
determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value, wherein the step comprises the following steps:
determining the yaw angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σAFor measuring yaw angle, Delta A, of the attitude measuring device to be measuredoiIs a true value of yaw angle, Δ AciIs a yaw angle measurement, i ═ 1,2, …, n; n is the number of calculations of the yaw angle measurement.
7. A method for measuring an attitude measurement accuracy of an attitude measurement apparatus, comprising:
when the azimuth angle of a main lens barrel of a target theodolite is fixed and the main lens barrel moves in the pitching direction, controlling attitude measurement equipment to be measured to acquire a main lens barrel image of the target theodolite, and performing image processing on the main lens barrel image to acquire a pitch angle measurement value of the main lens barrel of the target theodolite;
acquiring a true pitch angle value of a target theodolite;
determining the pitch angle measurement precision of the attitude measurement equipment to be measured according to the pitch angle measurement value and the pitch angle true value;
when the pitch angle of a main lens cone of a target theodolite is fixed and the main lens cone moves in the azimuth direction, controlling attitude measurement equipment to be measured to acquire a main lens cone image of the target theodolite, and performing image processing on the main lens cone image to acquire a yaw angle measurement value of the main lens cone of the target theodolite;
acquiring a true value of a yaw angle of a target theodolite; determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value;
wherein, target theodolite is located the attitude measuring equipment's that awaits measuring imaging range, the surface of target theodolite's main lens cone is equipped with a cross strip, the cross strip includes horizontal strip and vertical strip, horizontal strip intersects with vertical strip and forms an nodical, horizontal strip with the axis of target theodolite's main lens cone parallels, vertical strip with the axis of target theodolite's main lens cone is mutually perpendicular.
8. The measurement method of claim 7, wherein image processing the primary barrel image to obtain a pitch angle measurement of a primary barrel of the target theodolite comprises:
acquiring a main lens barrel image at a first moment;
extracting a plurality of pixels on a transverse strip of a cross-shaped strip in a main lens barrel image at a first moment;
fitting a plurality of pixels on the transverse stripe by utilizing minimum linear quadratic multiplication to obtain a transverse axis corresponding to the first moment and a slope of the transverse axis;
determining a first pitch angle corresponding to the target theodolite at a first moment according to the slope of the transverse axis;
acquiring a main lens barrel image at a second moment;
extracting a plurality of pixels on a transverse strip of a cross-shaped strip in the main lens barrel image at a second moment;
fitting a plurality of pixels on the transverse stripe by utilizing minimum linear quadratic multiplication to obtain a transverse axis corresponding to the second moment and a slope of the transverse axis;
determining a second pitch angle corresponding to the target theodolite at a second moment according to the slope of the transverse axis;
and obtaining a pitch angle measured value of the main lens cone of the target theodolite according to a first pitch angle corresponding to the first moment and a second pitch angle corresponding to the second moment.
9. The measurement method according to claim 7, wherein image processing the main barrel image to obtain a yaw angle measurement value of the main barrel of the target theodolite includes:
acquiring a main lens barrel image at a third moment and a main lens barrel image at a fourth moment;
extracting the number of pixels of a cross-shaped strip in the length direction in the main lens barrel image at the third moment and the number of pixels of the cross-shaped strip in the length direction in the main lens barrel image at the fourth moment;
and obtaining a true value of the yaw angle of the main lens cone of the target theodolite according to the number of the pixels in the length direction corresponding to the third moment and the number of the pixels in the length direction corresponding to the fourth moment.
10. The measurement method according to claim 7, wherein determining the pitch angle measurement accuracy of the attitude measurement device under test based on the pitch angle measurement value and the pitch angle true value comprises:
determining the pitch angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σEFor the accuracy of the pitch angle measurement, Delta E, of the attitude measurement device to be measuredoiIs true value of pitch angle, Δ EciIs the pitch angle measurement, i ═ 1,2, …, n; n is the number of times of calculation of the pitch angle measurement value;
determining the yaw angle measurement precision of the attitude measurement equipment to be measured according to the yaw angle measurement value and the yaw angle true value, wherein the step comprises the following steps:
determining the yaw angle measurement accuracy of the attitude measurement equipment to be measured according to the following formula:
wherein σAFor measuring yaw angle, Delta A, of the attitude measuring device to be measuredoiIs a true value of yaw angle, Δ AciIs a yaw angle measurement, i ═ 1,2, …, n; n is the number of calculations of the yaw angle measurement.
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