CN114265129A - Meteorological monitoring laser standard zero calibration method - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 39
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- 238000002372 labelling Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
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Abstract
The invention discloses a method for calibrating a standard zero point of a meteorological monitoring laser, which comprises the following steps: the laser emits a light beam; acquiring an absolute zero point; fixing the position of the coordinate paper, and controlling the laser emitting direction of a laser to the coordinate paper; adjusting the position of a CCD camera to acquire light spot data; processing the light spot data; recording the position coordinates on the coordinate paper at the moment, and taking the position coordinates on the coordinate paper as a relative zero point; returning to a standard zero point calibrated on the laser turntable after the laser turntable cruises for multiple times; controlling the laser emitting direction of a laser to be on the coordinate paper; acquiring light spot data through the position of a CCD camera; processing the light spot data; and calculating the angle deviation of the processed light spot and the standard zero point, adjusting the position of the turntable to the standard zero point, recording the adjustment angle, and repeatedly adjusting the laser emergent direction until the light spot is confirmed to be overlapped with the standard zero point. The invention can achieve the purpose of monitoring and calibrating the laser emission direction in real time, and has high precision and small deviation.
Description
Technical Field
The invention relates to the technical field of meteorological monitoring, in particular to a method for calibrating a standard zero point of a meteorological monitoring laser.
Background
The high-altitude cosmic ray observation station (LHAASO) is a national important scientific and technological infrastructure taking cosmic ray observation research as a core, and the core scientific aim is to research the origin, acceleration and propagation mechanism of cosmic rays inside and outside a galaxy system, compact celestial body high-energy physical processes such as black holes, neutron stars and the like, the search of dark matter particles and the discovery of new physics. In the absolute calibration and atmosphere monitoring process of LHAASO-WFCTA, a plurality of factors such as laser beam stability, laser rotation precision, a slow control system, a telescope and the like comprehensively influence the calibration result.
The monitoring of the weather conditions can monitor the scattering of laser light by atmosphere by measuring the scattering light of the laser light through a telescope, thereby monitoring the weather conditions. Each laser can cover all telescopes, but since LHAASO sites change rapidly in weather, for example 10 minutes, while for enough laser instances, 60 laser pulses are emitted at a time for a nitrogen molecule laser and 30 laser pulses are emitted at a time for a YAG laser. Finally, to control the firing time required for a single cycle, different lasers need to be used to cover different elevation angles. Therefore, the three-dimensional lifting turntable (i.e. the laser turntable) is easy to cause deviation of initial pointing after long-time operation, i.e. the error between the calibrated zero point and the actual zero point position is large, thereby causing inaccurate meteorological monitoring. Therefore, the zero point calibrated on the three-dimensional lifting turntable needs to be calibrated frequently; however, the manual zero point debugging often requires a lot of debugging time, and a certain error (the horizontal deviation angle is greater than 0.01 °, or the pitch deviation angle is greater than 0.01 °) may still be generated after the debugging.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for calibrating the standard zero point of a meteorological monitoring laser.
The purpose of the invention is realized by the following technical scheme:
a method for calibrating a standard zero point of a meteorological monitoring laser comprises the following steps:
labeling relative zero points:
step 1: the laser emits a light beam;
step 2: calibrating the north through a solar shadow method, calibrating and calibrating a horizontal pitch angle through a high-precision gradienter, and obtaining a pitch angle 0 degree in the north direction and a pitch angle 0 degree in the horizontal direction as absolute zero points;
and step 3: fixing the position of the coordinate paper to ensure that the height of the coordinate paper is consistent with that of the laser rotary table, controlling the laser rotary table to adjust the laser emitting direction of the laser, and rotating a fixed angle to ensure that the coordinate paper vertically hits the center of the coordinate paper;
and 4, step 4: adjusting the position of a CCD camera to acquire light spot data;
and 5: processing the light spot data;
step 6: recording the position coordinates on the coordinate paper at the moment, and taking the position coordinates on the coordinate paper as a relative zero point;
standard zero calibration:
and 7: returning to the standard zero angle calibrated on the laser turntable after the laser turntable cruises for many times;
and 8: controlling a laser turntable to adjust the laser emitting direction of a laser so that the laser emitting direction is assigned to coordinate paper;
and step 9: acquiring light spot data through the position of a CCD camera;
step 10: processing the light spot data;
step 11: calculating the angle deviation between the processed light spot and the standard zero point, adjusting the position of the turntable to the standard zero point, and recording the adjustment angle;
step 12: and repeating the processes from the step 8 to the step 11, and confirming that the light spot is coincided with the standard zero point.
Furthermore, the laser is a nitrogen molecule laser and is arranged on the laser turntable.
Further, the absolute zero point, i.e. the geographical absolute zero point, is the true north direction as the azimuth angle of 0 degree and the pitch angle in the horizontal direction is 0 degree; the standard zero point is a laser emitting fixed marking point of a fixed angle relative to the absolute zero point.
Furthermore, the coordinate paper is a piece of checkered paper, is arranged on the laser screen, and is used for calibrating the relation between the space and the pixels.
Furthermore, an attenuation sheet is arranged in front of the lens of the CCD camera and used for filtering ambient light and weakening the laser spot intensity.
Further, the specific process of processing the light spot data in the step 5 is as follows: projecting and superposing the intensity values of the light spot images which are not overexposed in the horizontal direction or the pitching direction to obtain a distribution curve of the intensity values in the direction, fitting by using a Gaussian curve, wherein the center value of the fitted Gaussian curve is the pixel position value x in the horizontal direction or the pitching direction of the screen where the light spot is located; the calibration value gamma of the on-screen distance corresponding to each pixel of the CCD image is obtained by calibrating by covering coordinate paper on the light screen, so that the specific position of the on-screen laser spot is obtained;
using trigonometric formulas
The position value of the light spot with the angle as a unit can be obtained, so that the relative offset of the laser turntable is obtained; wherein, L represents the distance between the laser source and the coordinate paper, and theta represents the relative offset angle of the light spots.
Further, the step 11 specifically includes the following sub-steps:
step 1101: calculating the deviation angle of the light spot pitch direction and the horizontal direction through software;
step 1102: and respectively adjusting the angles of the pitching rotary table and the azimuth rotary table to return to the standard zero position.
The invention has the beneficial effects that: according to the invention, the coordinate paper is arranged to display the laser spots, the relationship between the space and the pixels is calibrated, after the imaging pictures of the laser spots are collected, the specific positions of the spots are obtained through calculation, and the standard zero point is restored by adjusting the high-precision three-dimensional laser turntable, so that the purpose of monitoring and calibrating the laser emission direction is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of the method of the present invention.
FIG. 2 is a graph of intensity distribution projected on the horizontal axis of a light spot and a Gaussian fit.
Fig. 3 is a distribution diagram of the projection of the center position of the laser spot in the horizontal direction.
Fig. 4 is a graph of the results of monitoring for standard zero for 45 consecutive days.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this embodiment, as shown in fig. 1, a method for calibrating a standard zero point of a meteorological monitoring laser includes the following steps:
labeling relative zero points:
step 1: the laser emits a light beam;
step 2: calibrating the north through a solar shadow method, calibrating and calibrating a horizontal pitch angle through a high-precision gradienter, and obtaining a pitch angle 0 degree in the north direction and a pitch angle 0 degree in the horizontal direction as absolute zero points;
and step 3: fixing the position of the coordinate paper to ensure that the height of the coordinate paper is consistent with that of the laser rotary table, controlling the laser rotary table to adjust the laser emitting direction of the laser, and rotating a fixed angle to ensure that the coordinate paper vertically hits the center of the coordinate paper;
and 4, step 4: adjusting the position of a CCD camera to acquire light spot data;
and 5: processing the light spot data;
step 6: recording the position coordinates on the coordinate paper at the moment, and taking the position coordinates on the coordinate paper as a relative zero point;
standard zero calibration:
and 7: returning to the standard zero angle calibrated on the laser turntable after the laser turntable cruises for many times;
and 8: controlling a laser turntable to adjust the laser emitting direction of a laser so that the laser emitting direction is assigned to coordinate paper;
and step 9: acquiring light spot data through the position of a CCD camera;
step 10: processing the light spot data;
step 11: calculating the angle deviation between the processed light spot and the standard zero point, adjusting the position of the turntable to the standard zero point, and recording the adjustment angle;
the method specifically comprises the following steps: step 1101: calculating the deviation angle of the light spot pitch direction and the horizontal direction through software;
step 1102: and respectively adjusting the angles of the pitching rotary table and the azimuth rotary table to return to the standard zero position.
Step 12: and repeating the processes from the step 8 to the step 11, and confirming that the light spot is coincided with the standard zero point.
In the embodiment, the laser adopts a nitrogen molecule laser and is arranged on a laser turntable.
An absolute zero point, i.e., a geographical absolute zero point, is an azimuth angle of 0 degree in the due north direction and a pitch angle of 0 degree in the horizontal direction; the standard zero point is a laser emitting fixed marking point of a fixed angle relative to the absolute zero point.
In this embodiment, before determining the relative zero point, the laser turret needs to be correctly installed according to the procedure. The laser rotary table mainly comprises a position rotary table, a pitching rotary table, a lifting rotary table, a stepping motor, a high-precision encoder, a laser rotary table support, various lines (power lines, communication lines, network lines and the like) and the like. Need keep indoor sanitation in the installation, take a picture and record when installation laser revolving stage hardware need pay attention to the dismantlement. The transportation process requires attention to equipment safety. Based on the laser calibration operation experience of the Tibetan sheep eight-well cosmic observation station, a set of mature high-precision three-dimensional lifting laser rotary table installation process is summarized: the method comprises the steps of cleaning and installing the high-precision three-dimensional lifting laser rotary table, adjusting the horizontal state of the rotary table, debugging software and hardware of the laser rotary table, adjusting remote control and acquiring laser data.
After the installation is finished, the azimuth angle of the array x axis relative to the due north direction is calculated according to the sun shadow and the angle of the laser x axis at different moments, and the required azimuth angle can be obtained through the statistical average value of multiple measurements. The measurement precision can meet the requirements of absolute photon number calibration of LHAASO-WFCTA and pointing precision of an atmosphere monitoring system in the future. It should be noted that the azimuth of the sun shadow is calculated in real time according to the observation location and the observation time information, and the accuracy of the observation time also affects the accuracy of the obtained azimuth.
The coordinate paper is checkered paper, is arranged on the laser screen and is used for calibrating the relation between the space and the pixels.
The CCD camera is provided with an attenuation sheet in front of a lens for filtering ambient light and weakening the laser spot intensity.
The specific process for processing the light spot data comprises the following steps: the projection of the non-overexposed light spot image in the horizontal direction or the pitching direction is superposed with the intensity value thereof to obtain a distribution curve of the intensity value in the direction (as shown in fig. 2, the image of the laser light spot and the projection intensity distribution (blue) of the light spot on the horizontal axis and a Gaussian fitting curve (red), the X axis represents the projection of the position of the light spot in the horizontal direction, the Y axis represents the intensity of the light spot corresponding to the X axis), the Gaussian curve is used for fitting, and the central value of the fitted Gaussian curve is the pixel position value X in the horizontal direction or the pitching direction of the light spot on the screen; the calibration value gamma of the on-screen distance corresponding to each pixel of the CCD image is obtained by calibrating by covering coordinate paper on the light screen, so that the specific position of the on-screen laser spot is obtained;
laser forms a light spot on a screen which is far enough away from the screen with the distance of L, and then the light spot is imaged by a CCD camera with the distance of d from coordinate paper, and the obtained light spot image is shown in figure 2. In order to avoid overexposure and reduce the influence of background light, a 0.01% attenuation sheet is placed in front of the CCD.
Using trigonometric formulas
L represents the distance between the laser source and the coordinate paper, and theta represents the relative offset angle of the light spots; the position value of the light spot with the angle as the unit can be obtained, and the relative offset of the laser turntable can be obtained.
In order to measure the measurement accuracy of the method, a fitted gaussian curve center value distribution curve is obtained by means of multiple measurements at the same position, and the standard deviation of the fitted gaussian curve center value distribution curve is 0.0009 degrees, namely the measurement accuracy (as shown in fig. 3).
In this embodiment, when processing the light spot data, the software is used to find the centroid of the laser photograph: and Gaussian fitting and a centroid algorithm are adopted, and the Gaussian fitting is adopted for confirming the center of the light spot at this time. In the experiment, pictures of various parameters of the laser are converted into data, and then statistical treatment is carried out.
Wherein, a) measurement error: is a measure of the systematic error of the measurement process. The statistic of a group of experiments, standard deviation, describes the angular stability of the laser turntable system, when L is 214.5cm and d is 35.6cm, the measurement accuracy of the laser turntable system in the azimuth direction, the pitch direction and the elevation direction is 0.0009 degrees, 0.0009 degrees and 0.079 mm respectively, and the laser turntable system completely meets the requirements of WFCTA photon number absolute calibration and atmosphere monitoring system calibration.
b) And (4) testing the laser turntable in pitching, azimuth and lifting directions, and recording the measurement result, such as a graph.
c) The repetition precision refers to the precision of repeatedly reaching the same position, the distributed statistical standard deviation (Std Dev) is the repetition precision, and the repetition precision of the no-load level, the pitching direction and the lifting direction of the three-dimensional lifting laser turntable is respectively counted.
d) In an LHAASO-WFCTA imaging radar laser calibration experiment process, a PLC controls a three-dimensional lifting rotary table to scan the WFCTA, a two-dimensional included angle between a horizontal rotary surface and a pitching rotary surface in a cruising process needs to be accurately measured, and if the included angle is too large in difference with 90 degrees, the angular deviation in the horizontal direction or the pitching direction is increased. And (3) respectively measuring the no-load and load conditions of the three-dimensional lifting turntable by using a digital image processing technology. Keeping the pitch angle at 0 degrees, recording the track of which the horizontal direction rotation step length of the facula is 0.2 degrees, and obtaining the rotation track of which the azimuth angle is 0 degrees and the pitch direction in the same way. The locus of the cross light spot formed by the two parts is parallel to the X axis, namely the intersection line of the horizontal rotating surface and the screen, and parallel to the Y axis, namely the intersection line of the pitching rotating surface and the screen. Because the screen is perpendicular to the horizontal rotation surface and rotates in a pitching mode, the included angle of the tracks in the figure is the included angle of the two rotation surfaces. Fitting the data points in different directions respectively to obtain: (i) the unloaded two-dimensional included angle value is 89.96 degrees and 0.12 degrees; (ii) the two-dimensional included angle value of the load was 89.68 ° 0.12 °. Adding this value to the subsequent laser calibration simulation procedure can reduce one parameter.
In the present embodiment, the spot position of the nitrogen molecule laser is the average of the 20 laser pulse positions, and the accuracy of the horizontal direction of the spot obtained thereby is 0.004 °, and the accuracy of the pitch direction is 0.0003 °, which satisfy the requirements. As shown in fig. 4, the long-term monitoring result of the standard zero point indicates the deviation Δ α in the horizontal direction in the regular triangle, and the deviation Δ β in the pitch direction in the inverted triangle. Fig. 4 shows the results of long-term monitoring for 45 consecutive days, in which no zero calibration operation is required for 14 days and calibration of the standard zero point is required for the other 31 days.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and elements referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a ROM, a RAM, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (7)
1. A method for calibrating a standard zero point of a meteorological monitoring laser is characterized by comprising the following steps: labeling relative zero points:
step 1: the laser emits a light beam;
step 2: calibrating the north through a solar shadow method, calibrating and calibrating a horizontal pitch angle through a high-precision gradienter, and obtaining a pitch angle 0 degree in the north direction and a pitch angle 0 degree in the horizontal direction as absolute zero points;
and step 3: fixing the position of the coordinate paper to ensure that the height of the coordinate paper is consistent with that of the laser rotary table, controlling the laser rotary table to adjust the laser emitting direction of the laser, and rotating a fixed angle to ensure that the coordinate paper vertically hits the center of the coordinate paper;
and 4, step 4: adjusting the position of a CCD camera to acquire light spot data;
and 5: processing the light spot data;
step 6: recording the position coordinates on the coordinate paper at the moment, and taking the position coordinates on the coordinate paper as a relative zero point;
standard zero calibration:
and 7: returning to the standard zero angle calibrated on the laser turntable after the laser turntable cruises for many times;
and 8: controlling a laser turntable to adjust the laser emitting direction of a laser so that the laser emitting direction is assigned to coordinate paper;
and step 9: acquiring light spot data through the position of a CCD camera;
step 10: processing the light spot data;
step 11: calculating the angle deviation between the processed light spot and the standard zero point, adjusting the position of the turntable to the standard zero point, and recording the adjustment angle;
step 12: and repeating the processes from the step 8 to the step 11, and confirming that the light spot is coincided with the standard zero point.
2. The method for calibrating the standard zero point of the meteorological monitoring laser as claimed in claim 1, wherein the laser is a nitrogen molecule laser and is mounted on a laser turntable.
3. The method for calibrating the standard zero point of the meteorological monitoring laser as claimed in claim 1, wherein the absolute zero point, i.e. the geographical absolute zero point, is an azimuth angle of 0 degree in a due north direction and a pitch angle of 0 degree in a horizontal direction; the standard zero point is a laser emitting fixed marking point of a fixed angle relative to the absolute zero point.
4. The method as claimed in claim 1, wherein the coordinate paper is a checkerboard paper disposed on the laser screen for calibrating the relationship between space and pixels.
5. The method as claimed in claim 1, wherein an attenuator is disposed in front of the lens of the CCD camera to filter ambient light and attenuate the laser spot intensity.
6. The method for calibrating the standard zero point of the meteorological monitoring laser according to claim 1, wherein the specific process for processing the optical spot data in the step 5 is as follows:
projecting and superposing the intensity values of the light spot images which are not overexposed in the horizontal direction or the pitching direction to obtain a distribution curve of the intensity values in the direction, fitting by using a Gaussian curve, wherein the center value of the fitted Gaussian curve is the pixel position value x in the horizontal direction or the pitching direction of the screen where the light spot is located;
the calibration value gamma of the on-screen distance corresponding to each pixel of the CCD image is obtained by calibrating by covering coordinate paper on the light screen, so that the specific position of the on-screen laser spot is obtained;
using trigonometric formulas
L represents the distance between the laser source and the coordinate paper, and theta represents the relative deviation angle of the light spot, so that the position value of the light spot taking the angle as a unit can be obtained, and the relative deviation of the laser turntable can be obtained.
7. The method for calibrating the standard zero point of the meteorological monitoring laser according to claim 1, wherein the step 11 specifically comprises the following substeps:
step 1101: calculating the deviation angle of the light spot pitch direction and the horizontal direction through software;
step 1102: and respectively adjusting the angles of the pitching rotary table and the azimuth rotary table to return to the standard zero position.
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