CN114935327A - Improvement method of deck theodolite - Google Patents
Improvement method of deck theodolite Download PDFInfo
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- CN114935327A CN114935327A CN202210447378.0A CN202210447378A CN114935327A CN 114935327 A CN114935327 A CN 114935327A CN 202210447378 A CN202210447378 A CN 202210447378A CN 114935327 A CN114935327 A CN 114935327A
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- 238000004364 calculation method Methods 0.000 claims description 6
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- 238000005259 measurement Methods 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
Abstract
The invention provides an improvement method of a deck theodolite, which improves the original deck theodolite, increases satellite time receiving design, target automatic tracking design and true value on-line resolving design, the improved deck theodolite can automatically track and measure three-dimensional coordinate data of a target, automatically receives UTC time sent by a GNSS satellite, designs and embeds a true value resolving algorithm, and can resolve continuous real-time data of a bulwark angle, an elevation angle and a distance with a timestamp on line.
Description
Technical Field
The invention belongs to the technical field of deck theodolites, and particularly relates to an improvement method of a deck theodolite.
Background
The alignment is the key work for ensuring the hitting accuracy of the shipborne special system, and the alignment range includes the key parameters of a plurality of key devices which influence the use efficiency, such as a sighting device bulwark angle, an elevation angle, a detector azimuth, a distance, an elevation angle, a navigation attitude angle and the like. The zero position accuracy of the bulwark angle, the elevation angle and the distance of the sighting device system is an important parameter influencing the hitting precision of the sighting device system, and the bulwark angle, the elevation angle and the distance of the sighting device system are required to be subjected to zero position alignment in a docking half-seated pier state in a mooring test stage before ship delivery.
After a ship is launched or sails, the aligned bulwark angle, elevation angle and distance zero position can deviate along with the accumulation of sailing time, the zero position needs to be retested and calibrated, the sailing ship is difficult to have the condition of docking half-seated pier, the problems are solved by the generation of a deck theodolite, and the alignment of the bulwark angle, elevation angle and distance can be completed in a mooring state. Over a long period of time, deck theodolites have played a major role, but have also exposed some disadvantages, such as: the target needs to be manually aimed synchronously with the measured sighting device, the manual reading is carried out, under the condition that the platform swings and displaces, the operation difficulty is high, the requirement on guarantee conditions is strict, the efficiency is low, the precision is unstable, and the applicable scene is limited.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an improved method of the deck theodolite, which aims to solve the existing problems, increase the satellite time receiving design, the target automatic tracking design and the true value on-line resolving design, improve the alignment precision and efficiency, improve the estimated precision by 30 percent and improve the efficiency by 50 percent.
The technical scheme adopted by the invention for solving the technical problems is as follows: an improved method of deck theodolite, comprising the steps of:
s1) satellite time reception design:
embedding a satellite time receiving module of a global navigation satellite system in an original deck theodolite, interconnecting with a built-in processor of the deck theodolite, and receiving time information of coordinated universal time sent by the global navigation satellite system in real time;
s2) target automatic tracking design:
selecting an observer with an automatic tracking function, and observing the same cooperative target with the sighting device system;
s3) true value online solution design:
and designing a true value calculation algorithm, embedding the true value algorithm into a deck theodolite processor, and calculating true values of the bulwark angle, the elevation angle and the distance of the cooperative target in real time on line.
According to the scheme, the observer in the step S2 is a total station.
According to the above scheme, the true value resolving algorithm in step S3 is as follows:
s31) the deck theodolite observation cooperative target C is under a deck theodolite coordinate system Q, the origin of coordinates is located at a deck theodolite rotation center B, the origin of coordinates is corrected to a sighting device system rotation center R, and the transformation from the coordinate system Q to a deck coordinate system H is realized;
s32) the coordinate system H is transformed into a deck polar coordinate representation to obtain the board angle, elevation angle and slant distance [ b, e, d ] of the cooperative target C with respect to the center of rotation of the sight system.
According to the above scheme, the cooperation target C in the step S31 is [ x ] under the coordinate system Q b ,y b ,z b ]The three-dimensional interval between the lower deck theodolite and the rotation center R of the sighting device system in the deck coordinate system H is [ delta ] x ,Δ y ,Δ z ]The cooperative target C is [ x ] under the deck coordinate system H R ,y R ,z R ]The calculation process is as follows:
[x R ,y R ,z R ] T ＝[x b ,y b ,z b ] T -[Δ x ,Δ y ,Δ z ] T
in the above solution, the calculation formula of [ b, e, d ] of the cooperative target C with respect to the center of rotation of the sight system in step S32 is as follows:
according to the scheme, the three-dimensional interval in the step S32 is [ delta ] x ,Δ y ,Δ z ]Obtained by querying ship construction drawings or by direct measurement.
The invention has the beneficial effects that: the improved method of the deck theodolite is provided, Satellite time receiving design, target automatic tracking design and true value on-line resolving design are added, the improved deck theodolite can automatically track and measure three-dimensional coordinate data of a target, UTC (coordinated Universal time) time sent by a GNSS (Global Navigation Satellite System) Satellite is automatically received, a true value resolving algorithm is designed and embedded, continuous board angle, elevation angle and distance true value data with time stamps can be resolved on line in real time, synchronous manual target aiming and synchronous data reading with a sighting device system operator are not needed, aligning precision and efficiency are improved, environmental adaptability is better, normalized zero position aligning and precision checking work of ships can be better met, and good economic benefit and military benefit can be obtained.
Drawings
FIG. 1 is a diagram illustrating a centering correction for a cooperative object C in accordance with an embodiment of the present invention.
Fig. 2 is a schematic diagram of polar coordinate S transformation according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
The features and properties of the present application are described in further detail below with reference to examples.
The invention provides an improvement method of a deck theodolite, which is characterized by comprising the following steps of:
s1) satellite time reception design:
embedding a satellite time receiving module of a global navigation satellite system in an original deck theodolite, interconnecting with a built-in processor of the deck theodolite, and receiving time information of coordinated universal time sent by the global navigation satellite system in real time;
s2) automatic target tracking design:
selecting a total station with an automatic tracking function, and observing the same cooperative target with the sighting device system;
s3) true value online solution design:
and designing a true value calculation algorithm, embedding the true value algorithm into a deck theodolite processor, and calculating true values of the bulwark angle, the elevation angle and the distance of the cooperative target in real time on line.
The truth solving algorithm is as follows:
s31) observing a cooperative target C by the deck theodolite under a deck theodolite coordinate system Q, wherein the origin of coordinates is located at a deck theodolite rotation center B, correcting the origin of coordinates to a sighting device system rotation center R, and realizing the conversion from the coordinate system Q to a deck coordinate system H, wherein the cooperative target C is [ x ] under the coordinate system Q b ,y b ,z b ]The three-dimensional interval between the lower deck theodolite and the rotation center R of the sighting device system in the deck coordinate system H is [ delta ] x ,Δ y ,Δ z ]Obtained by inquiring ship construction drawings or direct measurement, and the cooperative target C is [ x ] under a deck coordinate system H R ,y R ,z R ]The calculation process is as follows:
[x R ,y R ,z R ] T ＝[x b ,y b ,z b ] T -[Δ x ,Δ y ,Δ z ] T
s32) converting the rectangular coordinates of the coordinate system H into polar coordinate representation of the deck, the bulwarks, elevation angles and oblique distances [ b, e, d ] of the cooperative target C with respect to the center of rotation of the sight system can be obtained, and the calculation formula is as follows:
although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (6)
1. An improved method of deck theodolite, comprising the steps of:
s1) satellite time reception design:
embedding a satellite time receiving module of a global navigation satellite system in an original deck theodolite, interconnecting with a built-in processor of the deck theodolite, and receiving time information of coordinated universal time sent by the global navigation satellite system in real time;
s2) target automatic tracking design:
selecting an observer with an automatic tracking function, and observing the same cooperative target with the sighting device system;
s3) true value online solution design:
and designing a true value calculation algorithm, embedding the true value calculation algorithm into a deck theodolite processor, and calculating true values of the bulwarks, the elevations and the distances of the cooperative targets in real time on line.
2. The method of claim 1, wherein the scope in step S2 is a total station.
3. The improved method for the deck theodolite as set forth in claim 1 or 2, wherein the truth solving algorithm in step S3 is as follows:
s31) observing a cooperative target C by the deck theodolite under a deck theodolite coordinate system Q, wherein the origin of coordinates is located at a deck theodolite rotation center B, and the origin of coordinates is corrected to a sighting device system rotation center R to realize the transformation from the coordinate system Q to a deck coordinate system H;
s32) the coordinate system H is transformed into the deck polar coordinates S to obtain the board angle, elevation angle and slant distance [ b, e, d ] of the cooperative target C with respect to the center of rotation of the sight system.
4. The improved method for the deck theodolite as claimed in claim 3, wherein the cooperative target C in step S31 is [ x ] in the coordinate system Q b ,y b ,z b ]The three-dimensional interval between the deck theodolite and the rotation center R of the sighting device system under the deck coordinate system H is [ delta ] x ,Δ y ,Δ z ]The cooperative target C is [ x ] under the deck coordinate system H R ,y R ,z R ]The calculation process is as follows:
[x R ,y R ,z R ] T ＝[x b ,y b ,z b ] T -[Δ x ,Δ y ,Δ z ] T 。
5. the improved method for the deck theodolite as claimed in claim 4, wherein the calculation formula of [ b, e, d ] of the cooperative target C relative to the sighting device system rotation center in step S32 is as follows:
6. the improved method for the deck theodolite as set forth in claim 4 or 5, wherein the three-dimensional interval is [ Δ ] in step S32 x ,Δ y ,Δ z ]Obtained by querying ship construction drawings or by direct measurement.
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