CN114353589A - Device and method for measuring missile central axis extraction and takeoff drift - Google Patents
Device and method for measuring missile central axis extraction and takeoff drift Download PDFInfo
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Abstract
According to the device and the method for measuring the central axis extraction and takeoff drift amount of the guided missile, provided by the invention, the pitch angle of the device is adjusted under multiple measurement modes of the pitching platform, so that the vertical observation visual angle of the multi-line laser radar covers the vertical range of the guided missile in the launching stage; the rotating platform is used for adjusting the horizontal observation visual angle of the multi-line laser radar so as to enable the missile to be positioned in the central area of the horizontal observation visual angle of the multi-line laser radar; the multi-line laser radar is used for acquiring three-dimensional point cloud data of the missile in the launching stage in multiple measurement modes, sending the three-dimensional point cloud data to the service display through the optical fiber transceiver, further fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data, and fitting a central axis of the missile in the launching stage according to the fitted ellipse center of each scanning layer; and comparing the central axis obtained by fitting in the missile launching stage with the reference central axis of the missile in a static state, and measuring the drift parameter of the missile in the launching stage.
Description
Technical Field
The invention belongs to the technical field of space and space, and particularly relates to a device and a method for measuring missile central axis extraction and takeoff drift.
Background
Space and space technology are one of the international strong national competition focuses, and the development of remote strategic missile technology is also necessary for active defense. Missile is an essential active defense means in space remote strategy, and can protect national security. The passive missile aims at defense, and the defense missile is started to hit down the attack missile by predicting the attack missile track of the opposite side, so that the defense aim is achieved. Therefore, missile launching and flight accuracy are crucial for passive defense, and the missile takeoff phase (launching phase) is an important influence factor of the subsequent missile flight.
In the takeoff stage of the missile, the mass center of the missile deviates from the reference trajectory due to various interferences, the transverse drift and the hidden risk are very large, and disastrous results can be brought. The method has the advantages that the transverse takeoff drift amount of the missile during launching is accurately measured, important test data are provided for the performance improvement of the missile carrier engine, and meanwhile, parameter information related to dynamic performance, such as the flight attitude, the flight trajectory and the record of emergency events of the missile takeoff section, is also provided.
In the prior art, a method for measuring takeoff drift of a large carrier is a method for meeting three high-speed televisions. The method can only obtain the drift amount after the takeoff of the missile, and needs to comprehensively consider the influence factors of tracking and measuring the field coverage and simultaneously considering the initial section trajectory measurement. Under the condition of no static interference, the measurement precision of the method is decimeter magnitude, the drift quantity measurement requirement of the existing novel high-precision missile cannot be met, and the method is easily influenced by environmental factors.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a device and a method for measuring the central axis extraction and takeoff drift of a missile. The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a device for measuring the central axis extraction and takeoff drift amount of a guided missile, including:
the system comprises a shock insulation platform 1, a pitching platform 2, a rotating platform 3, a multi-line laser radar 4, an optical fiber transceiver 5 and a service display 6, wherein the shock insulation platform 1 is fixedly arranged on the horizontal ground, the pitching platform 2 is fixed on the shock insulation platform 1, the rotating platform 3 is fixed on the pitching platform 2, the multi-line laser radar 4 is built on the rotating platform 3,
the pitching platform 2 is used for adjusting the pitching angle of the pitching platform under various measurement modes to enable the vertical observation visual angle of the multi-line laser radar to cover the vertical range of the missile in the launching stage;
the rotating platform 3 is used for adjusting the horizontal observation visual angle of the multi-line laser radar 4 so as to enable the missile to be in the central area of the horizontal observation visual angle;
the multi-line laser radar 4 is used for acquiring three-dimensional point cloud data of a missile launching stage in multiple measurement modes and sending the three-dimensional point cloud data to the optical fiber transceiver 5;
the optical fiber transceiver 5 is used for sending the three-dimensional point cloud data to the service display 6;
the service display 6 is used for fitting the ellipse and the ellipse center of each scanning layer according to the three-dimensional point cloud data and fitting the central axis of the missile in the launching stage according to the ellipse center; and comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff drift parameter of the missile.
Optionally, the pitching table 2 is further configured to:
when the number of the multi-line laser radars 4 is 1 and the vertical observation visual angle of the multi-line laser radars 4 completely covers the measurement mode of the flight range of the missile in the launching stage, adjusting the pitch angle of the missile before launching the missile, so that the missile is located at the lowest position of the vertical observation visual angle of the multi-line laser radars 4 in a static state;
when the number of the multi-line laser radars 4 is 1 and the vertical observation visual angle of the multi-line laser radars 4 cannot completely cover the flight range of the guided missile in the launching stage, adjusting the pitch angle of the guided missile in the launching stage of the guided missile to drive the vertical observation visual angle of the multi-line laser radars to be adjusted, so that the guided missile is positioned in the central area of the vertical observation visual angle of the multi-line laser radars 4 in the launching stage;
when the number of the multi-line laser radars 4 is multiple and the vertical observation visual angles of the multi-line laser radars 4 are mutually overlapped to completely cover the flight range of the missile in the launching stage, the multi-line laser radars 4 are sequentially installed from bottom to top, and the pitch angle of the multi-line laser radars is adjusted before the missile is launched, so that the missile is positioned in the vertical observation visual angle of the multi-line laser radar 4 installed at the lowest position in a static state and positioned in the vertical observation visual angle of the multi-line laser radar 4 installed at the highest position at the end of the missile launching stage;
when the number of the multi-line laser radars 4 is multiple, and the vertical observation visual angles of the multi-line laser radars 4 are mutually overlapped and cannot completely cover the flight range of the missile in the launching stage, the multi-line laser radars 4 are sequentially installed from bottom to top, the pitch angle of the missile is adjusted along with the missile in the launching stage to drive the vertical observation visual angles of the multi-line laser radars 4 to be synchronously adjusted, and the missile is enabled to be located in the central area of the vertical observation visual angle of the multi-line laser radars 4 in the launching stage.
Optionally, the multi-line laser radar 4 is configured to scan the missile according to layers at the missile launching stage in multiple measurement modes, acquire three-dimensional point cloud data of each scanning layer, and send the three-dimensional point cloud data to the optical fiber transceiver 5.
Optionally, the service display 6 is further adapted to,
carrying out ellipse fitting on the three-dimensional point cloud data of each scanning layer by using a least square ellipse fitting algorithm, and calculating a fitting ellipse center;
performing linear fitting on the ellipse center fitted to each scanning layer by using a least square linear fitting algorithm to obtain a fitted central axis;
comparing the fitted central axis of the guided missile with a reference central axis of the guided missile in a static state, and determining a difference value;
and determining the takeoff drift amount of the missile according to the difference value.
Optionally, the service display 6 is provided with a function configuration area, a three-dimensional window area and a parameter display area on the display interface,
the function configuration area is used for providing operation buttons for controlling the connection or disconnection of the service display and the multi-line laser radar 4, setting a central axis in a static state, controlling the display range of the three-dimensional point cloud data, storing the three-dimensional point cloud data, reading the three-dimensional point cloud data off line and presetting the scanning time of a scanning layer;
the three-dimensional window area is used for displaying the drawn three-dimensional point cloud through the display window in an enlarging, reducing and rotating mode;
and the parameter display area is used for displaying the angle difference between the central axis fitted by the guided missile in the launching stage and the three-dimensional coordinate direction of the reference central axis of the guided missile in the static state and the transverse takeoff drift amount on the preset scanning surface in real time.
In a second aspect, the invention provides a method for measuring the central axis extraction and takeoff drift amount of a missile, which uses the measuring device in the first aspect, and comprises the following steps:
acquiring three-dimensional point cloud data of a missile launching stage in multiple measurement modes;
fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data;
fitting a central axis of the missile in a launching stage according to the ellipse center;
and comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff drift amount of the missile.
According to the device and the method for measuring the central axis extraction and takeoff drift amount of the guided missile, the pitching angle of a pitching platform is adjusted under various measurement modes, so that the vertical observation visual angle of a multi-line laser radar covers the vertical range of the guided missile in the launching stage; the rotating platform is used for adjusting the horizontal observation visual angle of the multi-line laser radar so as to enable the missile to be in the central area of the horizontal observation visual angle; the multi-line laser radar is used for acquiring three-dimensional point cloud data of the missile in the launching stage in multiple measurement modes, sending the three-dimensional point cloud data to the service display through the optical fiber transceiver, further fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data, and further fitting a central axis of the missile in the launching stage according to the ellipse center obtained by fitting each layer, so that the accuracy of fitting the central axis is improved; and comparing the guided missile central axis obtained by fitting with the guided missile reference central axis in a static state, and calculating the takeoff excursion parameter of the guided missile.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic view of a multi-line lidar scanning missile provided by the present invention;
FIG. 2 is a schematic view of an elliptical section of a multi-line lidar scanning missile cylinder provided by the present invention;
FIG. 3 is a structural diagram of a missile central axis extraction and takeoff drift measurement device provided by the invention;
FIG. 4 is a view showing an observation angle of view of a plurality of missile central axis extraction and takeoff drift measurement devices of the multi-line laser radar provided by the invention;
FIG. 5 is a schematic view of an integrated display interface of the missile central axis extraction and takeoff drift measurement device provided by the invention;
FIG. 6 is a flow chart of a missile central axis extraction and takeoff drift measurement method provided by the invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Example one
As shown in fig. 1, the missile is not in a regular cylindrical shape due to the existence of structures such as a propeller, a tail wing and the like on the surface of the missile, so that laser scanning and central axis analysis of the missile are difficult to perform. However, the middle part of most missiles is an approximate cylinder, so that laser scanning can be carried out only on the section of the structure of the missile, the structure of the missile is approximate to a cylinder, and fitting and measurement of the central axis of the missile are carried out.
As shown in fig. 3, the device for measuring the central axis extraction and takeoff drift amount of the guided missile provided by the invention comprises: the system comprises a shock insulation platform 1, a pitching platform 2, a rotating platform 3, a multi-line laser radar 4, an optical fiber transceiver 5 and a service display 6, wherein the shock insulation platform 1 is fixedly arranged on the horizontal ground, the pitching platform 2 is fixed on the shock insulation platform 1, the rotating platform 3 is fixed on the pitching platform 2, the multi-line laser radar 4 is built on the rotating platform 3,
the pitching platform 2 is used for adjusting the pitching angle of the pitching platform so that the vertical observation visual angle of the multi-line laser radar covers the vertical range of the missile in the launching stage;
it is worth to be noted that the multiline laser radar has different models and different vertical observation visual angles. When the vertical observation visual angle of the multi-line laser radar is large, the pitching platform 2 only needs to be finely adjusted in the static stage of the missile, and when the vertical observation visual angle is small, the pitching angle of the pitching platform needs to be adjusted, so that the vertical observation visual angle of the multi-line laser radar covers the vertical range of the missile in the launching stage. The invention has more selectable ranges and stronger adaptability to the multi-line laser radar.
The rotating platform 3 is used for adjusting the horizontal observation visual angle of the multi-line laser radar 4 so as to enable the missile to be in the central area of the horizontal observation visual angle;
the multi-line laser radar 4 is used for acquiring three-dimensional point cloud data of a missile launching stage in multiple measurement modes and sending the three-dimensional point cloud data to the optical fiber transceiver 5;
as shown in fig. 2, the multiline laser radar can acquire three-dimensional point cloud data of a surveying and mapping scene in real time, eliminate interference of noise points through a point cloud filtering technology, and acquire high-precision target form data. When the multi-line laser radar scans the missile, because the scanning surface of the multi-line laser beam is not perpendicular to the cylinder of the missile, the point cloud coordinate obtained by scanning each line is positioned on an ellipse under an ideal condition.
The optical fiber transceiver 5 is used for sending the three-dimensional point cloud data to the service display 6;
the service display 6 is used for fitting the ellipse and the ellipse center of each scanning layer according to the three-dimensional point cloud data and fitting the central axis of the missile in the launching stage according to the ellipse center; and comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff drift amount of the missile.
Referring to fig. 3, the multi-line laser radar scans to obtain three-dimensional point cloud data of the missile, the three-dimensional point cloud data is sent to the optical fiber transceiver through the ethernet interface, is converted into an optical signal and then is transmitted to a remote receiving control room through an optical fiber at a high speed, the optical signal is converted into an electric signal through the optical fiber transceiver again, the service display receives the multi-line laser radar data, the software integration system analyzes missile three-dimensional point cloud coordinates acquired by the multi-line laser radar, and redrawing of the point cloud coordinates is completed on a software interface; the software system fits the approximate ellipse of the point cloud of each scanning layer of the point cloud data of the scanning layer through an ellipse fitting algorithm and calculates the center of the ellipse, and then fits a straight line to a series of centers of the fitted ellipses of each layer by using a straight line fitting algorithm, so that the points can be approximate to the central axis of the missile rocket body.
And in the launching stage of the missile, extracting the central axis of the missile in real time by using the same method, and comparing the extracted central axis with the central axis of the static missile. In the takeoff stage, the angle difference between the central axis of the guided missile and the central axis of the static guided missile in the X, Y and Z directions is the inclination angle of the guided missile relative to the static guided missile in the X, Y and Z directions; and in the takeoff stage, the distance between the central axis of the missile and the corresponding point of the reference central axis of the missile in the static state on the preset scanning layer is the transverse takeoff drift amount of the missile relative to the static missile on each scanning layer.
The invention provides a device for measuring the extraction and takeoff drift amount of a central axis of a missile. The pitching platform is used in multiple measurement modes, and the pitching angle of the pitching platform is adjusted to enable the vertical observation visual angle of the multi-line laser radar to cover the vertical range of the missile in the launching stage; the rotating platform is used for adjusting the horizontal observation visual angle of the multi-line laser radar so as to enable the missile to be in the central area of the horizontal observation visual angle; the multi-line laser radar is used for acquiring three-dimensional point cloud data of the missile in the launching stage in multiple measurement modes, fitting the three-dimensional point cloud data to a service display through an optical fiber transceiver, further fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data, and fitting a central axis of the missile in the launching stage according to the ellipse center, so that the accuracy of fitting the central axis can be improved; and further comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and measuring a takeoff excursion parameter of the missile.
A pitching table 2, further configured to:
when the number of the multi-line laser radars 4 is 1 and the vertical observation visual angle of the multi-line laser radars 4 completely covers the measurement mode of the flight range of the missile in the launching stage, adjusting the pitch angle of the missile before launching the missile, so that the missile is located at the lowest position of the vertical observation visual angle of the multi-line laser radars 4 in a static state;
it is worth mentioning that: the single-line laser radar does not have a vertical viewing angle because the measured data is two-dimensional plane data, a pitching platform with high precision needs to be adjusted to track the target trace in real time, and the deviation of each frame of two-dimensional data is easy to occur in the tracking process. Under the condition that the vertical observation angle of the multi-line laser radar is large enough, the missile trail is tracked in real time without adjusting the pitching platform in the launching stage, and only in the static state, the pitching angle is finely adjusted, so that the missile is located at the lowest position of the vertical observation angle of the multi-line laser radar 4 in the static state.
When the number of the multi-line laser radars 4 is 1 and the vertical observation visual angle of the multi-line laser radars 4 cannot completely cover the flight range of the guided missile in the launching stage, adjusting the pitch angle of the guided missile in the launching stage of the guided missile to drive the vertical observation visual angle of the multi-line laser radars to be adjusted, so that the guided missile is positioned in the central area of the vertical observation visual angle of the multi-line laser radars 4 in the launching stage;
referring to fig. 3, when the number of the multi-line lidar is 1, the observation angles of different multi-line radars are different, and when the missile starts to launch, the missile may be within the vertical observation angle of the multi-line lidar or outside the vertical observation angle along with the rise of the missile in the launching stage. When the vertical observation visual angle of the multi-line laser radar can cover the flight range of the missile in the launching stage, the pitching table 2 only needs to adjust the pitching angle of the pitching table in the non-launching process of the missile, so that the vertical observation visual angle of the multi-line laser radar can cover the flight range. Otherwise, the pitch angle of the missile needs to be adjusted in real time to drive the multi-line laser radar on the missile to follow the flight track of the missile, so that the missile is always positioned in the central area of the vertical observation visual angle of the multi-line laser radar. However, the pitch angle adjustment of the single-line laser radar is required, the adjustment times and the adjustment range are required to be lower, and the accuracy is higher.
Certainly, if the vertical field angle of the 1 multi-line laser radar is small, that is, the scanning range of the 1 multi-line laser radar may be exceeded in the stage from the start of the missile to the departure from the tower, 1 or more identical multi-line laser radars may be set up on the multi-line laser radar to complete the extension of the scanning field, so that the real-time drift monitoring and measuring of the whole missile takeoff stage is realized, as shown in fig. 4.
When the number of the multi-line laser radars 4 is multiple and the vertical observation visual angles of the multi-line laser radars 4 are mutually overlapped to completely cover the flight range of the missile in the launching stage, the multi-line laser radars 4 are sequentially installed from bottom to top, and the pitch angle of the multi-line laser radars is adjusted before the missile is launched, so that the missile is positioned in the vertical observation visual angle of the multi-line laser radar 4 installed at the lowest position in a static state and positioned in the vertical observation visual angle of the multi-line laser radar 4 installed at the highest position at the end of the missile launching stage;
when the number of the multi-line laser radars 4 is multiple, and the vertical observation visual angles of the multi-line laser radars 4 are mutually overlapped and cannot completely cover the flight range of the missile in the launching stage, the multi-line laser radars 4 are sequentially installed from bottom to top, the pitch angle of the missile is adjusted along with the missile in the launching stage to drive the vertical observation visual angles of the multi-line laser radars 4 to be synchronously adjusted, and the missile is enabled to be located in the central area of the vertical observation visual angle of the multi-line laser radars 4 in the launching stage.
Referring to fig. 4, when the number of the multi-line lidar is multiple, the observation angles of different lidar are different, the vertical observation angles of the multiple lidar are overlapped, and the missile may be in the vertical observation angle after the overlapping of the multi-line lidar or outside the vertical observation angle after the overlapping in the launching stage. When the superposition vertical observation visual angle of the multi-line laser radar can cover the flight range of the missile in the launching stage, the pitching platform 2 only needs to adjust the pitching angle of the pitching platform when the missile is not launched so that the vertical observation visual angle of the multi-line laser radar can cover the flight range. Otherwise, the pitch angle of the missile needs to be adjusted in real time to drive a plurality of multi-line laser radars on the missile to follow the flight track of the missile, so that the missile is always positioned in the central area of the vertical observation visual angle overlapped by the multi-line laser radars.
In a specific embodiment, the multi-line laser radar 4 is configured to scan the missile in multiple measurement modes according to layers in the missile launching stage, acquire three-dimensional point cloud data of each scanning layer, and send the three-dimensional point cloud data to the optical fiber transceiver 5.
In a particular embodiment, the service display 6 is further adapted to,
carrying out ellipse fitting on the three-dimensional point cloud data of each scanning layer by using a least square ellipse fitting algorithm, and calculating a fitting ellipse center;
performing linear fitting on the ellipse center fitted to each scanning layer by using a least square linear fitting algorithm to obtain a fitted central axis;
comparing the fitted central axis with a reference central axis of the missile in a static state, and determining a difference value;
and calculating the takeoff drift parameter of the missile according to the difference value.
It can be understood that because the laser beam scanning surface is not perpendicular to the missile column, the point cloud coordinate obtained by each line of scanning is located on an ellipse under an ideal condition, so that a least square ellipse fitting algorithm is introduced to obtain the best ellipse fitting effect, and the error introduced by single point measurement is reduced.
The ellipse fitting method is a common ellipse fitting method, and the main idea is to solve unknown parameters so that the sum of squares of differences (i.e., errors or residuals) between theoretical values and observed values is minimized:
observed value yiI.e. groups of samples, the theoretical value y is the value of the function to be fitted. The objective is to establish an objective function E and solve the function or function parameters to be fitted when E is minimum.
The objective of so-called least squares, which may also be called the least squares sum, is to make the fitting object infinitely close to the target object by minimizing the sum of squares of the errors. That is, a least squares method may be used for the fitting to the function.
An ellipse at an arbitrary position in a two-dimensional planar coordinate system and having a central coordinate of (x)0，y0) The semimajor axis a and the semiminor axis b, the major axis deflection angle is theta, and the equation formula is
x2+Axy+By2+Cx+Dy+E＝0
In the originally measured N (N is more than or equal to 5) groups of data (x)i，yi) (i-1, 2,3, …, N), an objective function is determined according to the general equation of an ellipse and the principle of least squares
To determine the parameters A, B, C, D and E. Let the partial derivatives of F (A, B, C, D, E) for each parameter be zero, resulting in the following system of equations:
all the terms in the above formula except A, B, C, D and E can be obtained by calculation from measured data, the above linear equation set is solved, finally, the ellipse equation parameters can be obtained, and further, the fitted ellipse can be obtained.
Its central coordinate (x)0，y0) The semimajor axis a and the semiminor axis b have a major axis deflection angle theta.
The fitting ellipse is positioned in a laser scanning plane, and three-dimensional space coordinates corresponding to the center of the ellipse can be calculated by combining the inclination angle of the corresponding scanning section.
Similarly, the central coordinates of the ellipse fitted by the points on the scanning surface of each multi-line lidar can be further fitted to the central axis of the missile through a least square line fitting algorithm.
The standard equation of the space straight line is
Thereby simplifying to obtain
The spatial straight line corresponds to a straight line where the planes represented by the above 2 equations intersect, so fitting a straight line can fit the 2 plane equations, respectively. The sum of the squares of the differences between the approximate and actual values found by the fitting equation is:
Δx＝∑[xi-(azi+b)]2
Δy＝∑[yi-(czi+d)]2
according to the basic principle of the least square method, the partial derivatives are calculated by using the above formula pairs a, b, c and d and are all made to be zero.
Namely, it is
The values of a, b, c, d can be found as:
further, k in the linear equation is obtained1，k2，k3And obtaining the missile fitting central axis.
In a specific embodiment, the service display (6) is provided with a function configuration area, a three-dimensional window area and a parameter display area on a display interface,
the function configuration area is used for providing an operation button for controlling the connection or disconnection of a service display (6) and the multi-line laser radar (4), setting a central axis in a static state, controlling the display range of three-dimensional point cloud data, storing the three-dimensional point cloud data, reading the three-dimensional point cloud data off line and presetting the scanning time of a scanning layer;
the three-dimensional window area is used for displaying the drawn three-dimensional point cloud through a display window in an enlarging, reducing and rotating mode;
and the parameter display area is used for displaying the angle difference between the central axis fitted by the guided missile in the launching stage and the three-dimensional coordinate direction of the reference central axis of the guided missile in the static state and the transverse takeoff drift amount on the preset scanning surface in real time.
As shown in fig. 5, the display interface of the service display may be divided into three areas, which are a function configuration area 1, a three-dimensional window area 2, and a parameter display area 3.
The function configuration area 1 provides a control function for software and a setting function for device parameters. The connection and disconnection between the multi-line laser radar and the multi-line laser radar can be controlled, the central axis at a certain moment can be set as the reference central axis of the system, the range of point cloud to be displayed on the three-dimensional window 2 can be controlled, the data of the multi-line laser radar can be stored, the multi-line laser radar can be read off line, the line number of a scanning layer with the central axis shifting amount in the transverse direction can be preset, and the like.
And (4) redrawing lines in the three-dimensional window area 2 to display three-dimensional point clouds analyzed from the multi-line laser radar data. And the window can be enlarged or reduced, and the observation angle can be rotated.
The parameter display area 3 can display the angle difference of the central axis of the guided missile relative to the reference central axis of the static guided missile in the X, Y and Z directions and the transverse drift distance on a preset scanning surface in real time in the takeoff stage.
Example two
As shown in fig. 6, the method for measuring the central axis extraction and takeoff drift amount of the missile provided by the invention uses the measuring device in the first embodiment, and the measuring method includes:
s1, acquiring three-dimensional point cloud data of the missile launching stage in multiple measurement modes;
s2, fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data;
s3, fitting a central axis of the missile in the launching stage through a straight line fitting algorithm according to the ellipse center;
and S4, comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff excursion amount of the missile.
The invention provides a method for extracting a central axis of a missile and measuring the takeoff drift amount, which is characterized in that three-dimensional point cloud data of a missile launching stage in multiple measurement modes are obtained; fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data; and fitting the central axis of the missile in the launching stage according to the ellipse center, improving the accuracy of the central axis, comparing the central axis obtained by fitting with the reference central axis of the missile in a static state, and calculating the takeoff drift parameter of the missile.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. The utility model provides a measuring device that missile axis was drawed and take-off drift volume which characterized in that includes: the vibration isolation platform comprises a vibration isolation platform (1), a pitching platform (2), a rotating platform (3), a multi-line laser radar (4), an optical fiber transceiver (5) and a service display (6), wherein the vibration isolation platform (1) is arranged on a horizontal ground and fixed, the pitching platform (2) is fixed on the vibration isolation platform (1), the rotating platform (3) is fixed on the pitching platform (2), the multi-line laser radar (4) is built on the rotating platform (3),
the pitching platform (2) is used for adjusting the pitching angle of the pitching platform under various measurement modes to enable the vertical observation visual angle of the multi-line laser radar to cover the vertical range of the missile in the launching stage;
the rotating platform (3) is used for adjusting the horizontal observation visual angle of the multi-line laser radar (4) so as to enable the missile to be in the central area of the horizontal observation visual angle;
the multi-line laser radar (4) is used for acquiring three-dimensional point cloud data of a missile launching stage in multiple measurement modes and sending the three-dimensional point cloud data to the optical fiber transceiver (5);
the optical fiber transceiver (5) is used for transmitting the three-dimensional point cloud data to the service display (6);
the service display (6) is used for fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data and fitting a central axis of the missile in a launching stage according to the ellipse center; and comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff drift parameter of the missile.
2. The measuring device according to claim 1, wherein the pitching table (2) is further configured to:
when the number of the multi-line laser radars (4) is 1, and the vertical observation visual angle of the multi-line laser radars (4) completely covers the measurement mode of the flight range of the missile in the launching stage, adjusting the pitch angle of the missile before launching the missile, so that the missile is located at the lowest position of the vertical observation visual angle of the multi-line laser radars (4) in a static state;
when the number of the multi-line laser radars (4) is 1, and the vertical observation visual angle of the multi-line laser radars (4) cannot completely cover the flight range of the missile in the launching stage, adjusting the pitch angle of the multi-line laser radars along with the missile in the missile launching stage to drive the vertical observation visual angle of the multi-line laser radars to be adjusted, so that the missile is positioned in the central area of the vertical observation visual angle of the multi-line laser radars (4) in the launching stage;
when the number of the multi-line laser radars (4) is multiple, and the vertical observation visual angles of the multiple multi-line laser radars (4) are mutually overlapped to completely cover the flight range of the missile in the launching stage, the multiple multi-line laser radars (4) are sequentially installed from bottom to top, the pitch angle of the multi-line laser radars is adjusted before the missile is launched, so that the missile is positioned in the vertical observation visual angle of the lowest-installed multi-line laser radar (4) in the static state, and is positioned in the vertical observation visual angle of the highest-installed multi-line laser radar (4) at the tail of the missile launching stage;
when the plurality of multi-line laser radars (4) are arranged, and the vertical observation visual angles of the plurality of multi-line laser radars (4) are mutually overlapped and cannot completely cover the flight range of the missile in the launching stage, the plurality of multi-line laser radars (4) are sequentially installed from bottom to top, the pitch angle of the missile is adjusted in the launching stage of the missile to drive the vertical observation visual angles of the plurality of multi-line laser radars (4) to be synchronously adjusted, and the missile is located in the central area of the vertical observation visual angle of the multi-line laser radars (4) in the launching stage.
3. The measuring device according to claim 2, characterized in that the multi-line laser radar (4) is used for scanning the missile in layers in the missile launching phase under a plurality of measuring modes, acquiring three-dimensional point cloud data of each scanning layer and sending the three-dimensional point cloud data to the optical fiber transceiver (5).
4. Measuring device according to claim 1, characterized in that the service display (6) is further adapted to,
carrying out ellipse fitting on the three-dimensional point cloud data of each scanning layer by using a least square ellipse fitting algorithm, and calculating a fitting ellipse center;
performing linear fitting on the ellipse center fitted to each scanning layer by using a least square linear fitting algorithm to obtain a fitted central axis;
comparing the fitted central axis of the guided missile with a reference central axis of the guided missile in a static state, and determining a difference value;
and determining the takeoff drift amount of the missile according to the difference value.
5. The measuring device according to claim 1, characterized in that the service display (6) is provided with a function configuration area, a three-dimensional window area and a parameter display area on a display interface,
the function configuration area is used for providing operation buttons for controlling the connection or disconnection of a service display and the multi-line laser radar (4), setting a central axis in a static state, controlling the display range of three-dimensional point cloud data, storing the three-dimensional point cloud data, reading the three-dimensional point cloud data off line and presetting the scanning time of a scanning layer;
the three-dimensional window area is used for displaying the drawn three-dimensional point cloud through a display window in an enlarging, reducing and rotating mode;
and the parameter display area is used for displaying the angle difference between the central axis fitted by the guided missile in the launching stage and the three-dimensional coordinate direction of the reference central axis of the guided missile in the static state and the transverse takeoff drift amount on the preset scanning surface in real time.
6. A method for measuring the extraction of central axis of missile and the takeoff drift amount, which is characterized in that the measuring device of any one of claims 1 to 5 is used, and the measuring method comprises the following steps:
acquiring three-dimensional point cloud data of a missile launching stage in multiple measurement modes;
fitting an ellipse and an ellipse center of each scanning layer according to the three-dimensional point cloud data;
fitting a central axis of the missile in a launching stage according to the ellipse center;
and comparing the central axis obtained by fitting with a reference central axis of the missile in a static state, and determining the takeoff drift amount of the missile.
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Cited By (1)
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| CN115061148A (en) * | 2022-06-21 | 2022-09-16 | 中国人民解放军63921部队 | Rocket vertical takeoff section track measuring method and system |
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