CN113686327A - System and calculation method for calibrating attitude between rocket gun barrels - Google Patents

System and calculation method for calibrating attitude between rocket gun barrels Download PDF

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CN113686327A
CN113686327A CN202110597884.3A CN202110597884A CN113686327A CN 113686327 A CN113686327 A CN 113686327A CN 202110597884 A CN202110597884 A CN 202110597884A CN 113686327 A CN113686327 A CN 113686327A
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刘东锋
孙林
王威
袁玉芬
郭显成
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Wuxi Xingdi Instrument Co ltd
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Abstract

The invention provides a system for calibrating the attitude between rocket gun barrels, which comprises: the device comprises a target, a photoelectric calibration device matched with the target and an upper computer; five measuring points A, B, C, D, O are distributed on the target; the measuring point O is a central measuring point, three measuring points A, O, B are distributed on a straight line, the other three measuring points C, O, D are distributed on another straight line, and the straight line of the measuring point A, O, B intersects with the straight line cross of the measuring point C, O, D; the photoelectric calibration device comprises a collimation device, a digital imaging sensor and a mechanical shaft; the mechanical shaft, the digital imaging sensor and the collimating device are connected in sequence; wherein the mechanical axis is coincident with the optical axis of the electro-optical alignment device; the mechanical shaft is matched with the caliber of the gun barrel; and the upper computer is used for calculating the posture calibration between the rocket cannon barrels. The invention also provides a calculation method for the posture calibration between the rocket cannon barrels.

Description

System and calculation method for calibrating attitude between rocket gun barrels
Technical Field
The invention relates to the technical field of artillery, in particular to a system and a calculation method for calibrating the attitude between rocket artillery tubes.
Background
Artillery plays an increasingly important role in modern war. The fire suppression is realized on sea and land, the fighting capacity is improved, the advantages of the rocket launcher are gradually revealed in the field of air defense, such as low cost, high intensity, good maneuverability and the like, the rocket launcher in the active service of China is not inferior to the developed countries in the aspects of range, intensity, precision, lethality and the like, and the rocket launcher can meet the requirements of current and future war. However, the traditional experience method is adopted for improving the sighting accuracy of the rocket gun at the present stage, so that the attention is not paid, and the rocket gun needs to be improved and innovated by applying a modern theory.
The traditional parallelism between pipes is based on a reference pipe, and adopts a remote aiming point method or an inspection target method, and the traditional methods have the defects and shortcomings that: the required precision of the placement of the inspection target is high, and the error in the vertical direction is difficult to overcome; the requirements on the field are high, such as space size and light intensity; the operation needs more personnel, needs manual multiple aiming, and wastes time and labor; when the visibility is low, the aiming point or the cross line cannot be seen clearly from the pinhole, so that the eye fatigue is caused; the detection precision is influenced by the easily generated artificial operation error; the actual gun adjustment angle cannot be output; the precision is low.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a system and a calculation method for calibrating the posture between rocket cannon barrels. In order to realize the technical purpose, the invention adopts the technical scheme that:
in a first aspect of the present application, a system for calibrating an attitude between rocket guns is provided, including: the device comprises a target, a photoelectric calibration device matched with the target and an upper computer;
five measuring points A, B, C, D, O are distributed on the target; the measuring point O is a central measuring point, three measuring points A, O, B are distributed on a straight line, the other three measuring points C, O, D are distributed on another straight line, and the straight line of the measuring point A, O, B intersects with the straight line cross of the measuring point C, O, D;
the photoelectric calibration device comprises a collimation device, a digital imaging sensor and a mechanical shaft; the mechanical shaft, the digital imaging sensor and the collimating device are connected in sequence; wherein the mechanical axis is coincident with the optical axis of the electro-optical alignment device; the mechanical shaft is matched with the caliber of the gun barrel;
and the upper computer is connected with the photoelectric calibration device and is used for calculating and displaying the posture calibration between the rocket cannon barrels.
Further, the measuring points on the target are in the form of crosses or dots.
Further, the target is a mechanical target or a photoelectric simulation target.
In a second aspect of the present application, a method for calculating an attitude calibration between rocket guns is provided, which is applicable to the system for calibrating an attitude between rocket guns as described above, and includes:
step S1, obtaining the distance between five measuring points on the target, wherein H1 is the distance from the measuring point O to the measuring point A, H2 is the distance from the measuring point O to the measuring point B, H3 is the distance from the measuring point O to the measuring point C, and H4 is the distance from the measuring point O to the measuring point D;
step S2, aiming through the gun barrel to obtain an included angle alpha 1 of the rotation of the gun barrel when the first gun barrel serving as a reference gun barrel is respectively aligned with the measuring point O, B and an included angle alpha 2 of the rotation of the gun barrel when the first gun barrel is respectively aligned with the measuring point A, B;
the central position of the muzzle of the first gun barrel is G1, and the intersection point of the normal line of the straight line of the measuring point A, O, B and the straight line of the measuring point A, O, B is E; the distance from the measuring point B to the intersection point E is H, and the distance from G1 to the intersection point E is L;
α//calculating alpha as the angle between the axis of the first barrel when aligned with the measurement point B and the normal of the line on which the target measurement point A, O, B is located//The specific calculation formula is as follows:
Figure BDA0003091804980000021
Figure BDA0003091804980000022
Figure BDA0003091804980000023
by the formulae (1) to (3), we obtain:
Figure BDA0003091804980000024
alpha is obtained by calculation of formula (4)//；
Step S3, aiming through the gun barrel to obtain an included angle alpha 3 of the rotation of the gun barrel when the first gun barrel serving as a reference gun barrel is respectively aligned with the measuring point O, D and an included angle alpha 4 of the rotation of the gun barrel when the first gun barrel is respectively aligned with the measuring point C, D;
the central position of the muzzle of the first gun barrel is G1, and the intersection point of the normal line of the straight line of the measuring point C, O, D and the straight line of the measuring point C, O, D is F; the distance from the measuring point D to the intersection point F is H ', and the distance from G1 to the intersection point F is L';
α⊥calculating alpha for the angle between the axis of the first barrel when aligned with the measurement point D and the normal of the line on which the target measurement point C, O, D is located⊥The specific calculation formula is as follows:
Figure BDA0003091804980000025
Figure BDA0003091804980000026
Figure BDA0003091804980000027
by formulas (5) to (6), we obtain:
Figure BDA0003091804980000028
alpha is obtained by calculation of the formula (8)⊥；
By alpha//And alpha⊥Enabling the first gun barrel to be parallel to the normal line of the target;
step S4, similarly, obtaining an included angle beta between the axis of the second gun barrel aligned with the measuring point A and the normal of the straight line of the target measuring point A, O, B//And the angle beta between the axis of the second gun barrel when aligned with the measurement point C and the normal of the line on which the target measurement point C, O, D is located⊥；
By beta//And beta⊥The second gun tube can be made parallel to the normal of the target.
The invention has the advantages that: the relative angle position between the photoelectric calibration device and the target is interpreted through machine vision, the posture between the gun barrels is determined, and the gun barrels are adjusted to be parallel to each other. The operation method is simple and convenient, the distance between the target and the rocket launcher is not required, and the operation process is simplified.
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FIG. 1 is a schematic diagram of a system for calibrating attitude between rocket guns in an embodiment of the invention.
FIG. 2 is a schematic view of a target of interest in an embodiment of the present invention.
FIG. 3 is a schematic plan view of a computing aspect of an embodiment of the present invention.
FIG. 4 is a second schematic plan view of the calculation aspect in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a system for calibrating an attitude between rocket barrels, including: the device comprises a target 1, a photoelectric calibration device 2 matched with the target 1 and an upper computer 5;
five measuring points A, B, C, D, O are distributed on the target 1; the measuring point O is a central measuring point, three measuring points A, O, B are distributed on a straight line, the other three measuring points C, O, D are distributed on another straight line, and the straight line of the measuring point A, O, B intersects with the straight line cross of the measuring point C, O, D;
the target 1 may be a mechanical target or a photoelectric simulation target, wherein the photoelectric simulation target may generate a target with a fixed distance, such as 300m, 600mm, 1200m, or an infinite distance, as required;
the measuring point on the target 1 can be in the form of cross or round point, when the cross is adopted, the center of the cross is the position of the representative measuring point;
the photoelectric calibration device 2 comprises a collimation device 201, a digital imaging sensor 202 and a mechanical shaft 203; the mechanical shaft 203, the digital imaging sensor 202 and the collimating device 201 are connected in sequence; wherein the mechanical axis 203 coincides with the optical axis of the optoelectronic alignment device 2; the mechanical shaft 203 is matched with the caliber of the gun barrel so as to ensure that the mechanical shaft 203 is combined with the gun barrel of the rocket gun with high precision after the mechanical shaft 203 is inserted into the muzzle of the gun barrel, thereby ensuring that the mechanical shaft 203 is consistent with the axis of the gun barrel and the axis of the gun barrel is consistent with the optical shaft of the photoelectric calibration device 2;
the upper computer 5 is connected with the photoelectric calibration device 2 and is used for calculating (including image interpretation, data processing and the like) and displaying the posture calibration between the rocket cannons and the cannons;
for rocket guns, it has a reference gun barrel, the first gun barrel 3 in fig. 1 is taken as the reference gun barrel; the second gun barrel 4 is one of other gun barrels; the rocket gun is provided with a rocket gun adjusting system which is used for aiming and acquiring parameters such as an included angle;
as shown in fig. 2, fig. 3, and fig. 4, an embodiment of the present invention further provides a method for calculating an attitude calibration between rocket barrels, including:
step S1, obtaining the distance between five measuring points on the target, wherein H1 is the distance from the measuring point O to the measuring point A, H2 is the distance from the measuring point O to the measuring point B, H3 is the distance from the measuring point O to the measuring point C, and H4 is the distance from the measuring point O to the measuring point D;
step S2, aiming through the gun barrel to obtain an included angle alpha 1 of the rotation of the gun barrel when the first gun barrel 3 as a reference gun barrel is respectively aligned with the measuring point O, B and an included angle alpha 2 of the rotation of the gun barrel when the first gun barrel 3 is respectively aligned with the measuring point A, B;
the central position of the muzzle of the first barrel 3 is G1, and the intersection point of the normal line of the straight line of the measuring point A, O, B and the straight line of the measuring point A, O, B is E; the distance from the measuring point B to the intersection point E is H, and the distance from G1 to the intersection point E is L;
α//alpha is calculated for the angle between the axis of the first barrel 3 when it is aligned with the measurement point B and the normal to the line on which the target measurement point A, O, B is located//The specific calculation formula is as follows:
Figure BDA0003091804980000041
Figure BDA0003091804980000042
Figure BDA0003091804980000043
by the formulae (1) to (3), we obtain:
Figure BDA0003091804980000044
alpha is obtained by calculation of formula (4)//；
Step S3, aiming through the gun barrel to obtain an included angle alpha 3 of the rotation of the gun barrel when the first gun barrel 3 as a reference gun barrel is respectively aligned with the measuring point O, D and an included angle alpha 4 of the rotation of the gun barrel when the first gun barrel 3 is respectively aligned with the measuring point C, D;
the central position of the muzzle of the first barrel 3 is G1, and the intersection point of the normal line of the straight line of the measuring point C, O, D and the straight line of the measuring point C, O, D is F; the distance from the measuring point D to the intersection point F is H ', and the distance from G1 to the intersection point F is L';
α⊥calculating alpha for the angle between the axis of the first barrel 3 when aligned with the measurement point D and the normal of the line on which the target measurement point C, O, D is located⊥The specific calculation formula is as follows:
Figure BDA0003091804980000045
Figure BDA0003091804980000046
Figure BDA0003091804980000047
by formulas (5) to (6), we obtain:
Figure BDA0003091804980000048
alpha is obtained by calculation of the formula (8)⊥；
By alpha//And alpha⊥The rocket gun system automatically loads the watch to enable the first gun tube 3 to be parallel to the normal line of the target;
step S4, similarly, obtaining an included angle beta between the axis of the second gun barrel 4 aligned with the measuring point A and the normal of the straight line of the target measuring point A, O, B//And the angle beta between the axis of the second barrel 4 when aligned with the measurement point C and the normal of the line on which the target measurement point C, O, D is located⊥；
In fig. 3 and 4, the muzzle center position of the second barrel 4 is G2;
by beta//And beta⊥The rocket gun system automatically installs the watch to make the second gun tube 4 parallel to the normal of the target;
the parallelism of the barrels 3 and 4 is realized.
The calculations and operations can be performed for the remaining barrels in the same manner.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (4)

1. A system for calibrating the attitude between rocket cannon barrels is characterized by comprising: the device comprises a target (1), a photoelectric calibration device (2) matched with the target (1) and an upper computer (5);
five measuring points A, B, C, D, O are distributed on the target (1); the measuring point O is a central measuring point, three measuring points A, O, B are distributed on a straight line, the other three measuring points C, O, D are distributed on another straight line, and the straight line of the measuring point A, O, B intersects with the straight line cross of the measuring point C, O, D;
the photoelectric calibration device (2) comprises a collimation device (201), a digital imaging sensor (202) and a mechanical shaft (203); the mechanical shaft (203), the digital imaging sensor (202) and the collimating device (201) are connected in sequence; wherein the mechanical axis (203) coincides with the optical axis of the optoelectronic alignment device (2); the mechanical shaft (203) is matched with the caliber of the gun barrel;
and the upper computer (5) is connected with the photoelectric calibration device (2) and is used for calculating the posture calibration between the rocket gun barrels.
2. A rocket gun tube attitude calibration system as recited in claim 1,
the measuring points on the target (1) are in the form of crosses or dots.
3. A rocket gun tube attitude calibration system as recited in claim 1,
the target (1) is a mechanical target or a photoelectric simulation target.
4. A calculation method for posture calibration between rocket cannon barrels is suitable for a system for posture calibration between rocket cannon barrels as claimed in any one of claims 1-3, and is characterized by comprising the following steps:
step S1, obtaining the distance between five measuring points on the target, wherein H1 is the distance from the measuring point O to the measuring point A, H2 is the distance from the measuring point O to the measuring point B, H3 is the distance from the measuring point O to the measuring point C, and H4 is the distance from the measuring point O to the measuring point D;
step S2, aiming through the gun barrel to obtain an included angle alpha 1 of the rotation of the gun barrel when the first gun barrel (3) serving as a reference gun barrel is respectively aligned with the measuring point O, B and an included angle alpha 2 of the rotation of the gun barrel when the first gun barrel is respectively aligned with the measuring point A, B;
the central position of the muzzle of the first gun barrel (3) is G1, and the intersection point of the normal line of the straight line of the measuring point A, O, B and the straight line of the measuring point A, O, B is E; the distance from the measuring point B to the intersection point E is H, and the distance from G1 to the intersection point E is L;
α//calculating alpha for the included angle between the axis of the first gun barrel (3) when aligned with the measuring point B and the normal of the line where the target measuring point A, O, B is located//The specific calculation formula is as follows:
Figure FDA0003091804970000011
Figure FDA0003091804970000012
Figure FDA0003091804970000013
by the formulae (1) to (3), we obtain:
Figure FDA0003091804970000014
alpha is obtained by calculation of formula (4)//；
Step S3, aiming through the gun barrel to obtain an included angle alpha 3 of the rotation of the gun barrel when the first gun barrel (3) serving as a reference gun barrel is respectively aligned with the measuring point O, D and an included angle alpha 4 of the rotation of the gun barrel when the first gun barrel is respectively aligned with the measuring point C, D;
the central position of the muzzle of the first gun barrel (3) is G1, and the intersection point of the normal line of the straight line of the measuring point C, O, D and the straight line of the measuring point C, O, D is F; the distance from the measuring point D to the intersection point F is H ', and the distance from G1 to the intersection point F is L';
α⊥calculating alpha for the included angle between the axis of the first gun barrel (3) when aligned with the measuring point D and the normal of the line where the target measuring point C, O, D is located⊥The specific calculation formula is as follows:
Figure FDA0003091804970000021
Figure FDA0003091804970000022
Figure FDA0003091804970000023
by formulas (5) to (6), we obtain:
Figure FDA0003091804970000024
alpha is obtained by calculation of the formula (8)⊥；
By alpha//And alpha⊥The first gun barrel (3) can be made parallel to the normal of the target;
step S4, similarly, obtaining an included angle beta between the axis of the second gun barrel (4) aligned with the measuring point A and the normal of the straight line of the target measuring point A, O, B//And the angle beta between the axis of the second gun barrel (4) when aligned with the measuring point C and the normal of the line on which the target measuring point C, O, D is located⊥；
By beta//And beta⊥The second gun barrel (4) can be made parallel to the normal of the target.
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CN115031580A (en) * 2022-06-20 2022-09-09 无锡市星迪仪器有限公司 High-precision artillery correction method, processing device and high-precision artillery correction system
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