CN115200563B - Reference zero calibration method, system, equipment and medium for carrier-based follow-up device - Google Patents
Reference zero calibration method, system, equipment and medium for carrier-based follow-up device Download PDFInfo
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- CN115200563B CN115200563B CN202211019359.4A CN202211019359A CN115200563B CN 115200563 B CN115200563 B CN 115200563B CN 202211019359 A CN202211019359 A CN 202211019359A CN 115200563 B CN115200563 B CN 115200563B
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Abstract
The application provides a carrier-based servo device reference zero calibration method, a carrier-based servo device reference zero calibration system, carrier-based servo device reference zero calibration equipment and carrier-based servo device reference zero calibration medium, and relates to the technical field of servo device reference calibration. The method comprises the steps of carrying a radio wave transceiver on an unmanned aerial vehicle, carrying out signal transmission by using medium wave radio, paving a plurality of radio intensity sensing units on a directional antenna, detecting the azimuth with the maximum radio signal intensity by using a radar, confirming the direction position of the unmanned aerial vehicle, and simultaneously carrying out high-precision aiming by using laser to respectively carry out direction angles and high-low angles with a total station and an aiming instrument; the transmission speed of the light of the North Pole star, the transmission speed of the electromagnetic wave and the transmission speed of the laser are all light speeds, so that standard zero calibration is carried out by aiming at the star instead of the foggy day, and the problem that calibration cannot be carried out in the foggy day is solved.
Description
Technical Field
The application relates to the technical field of reference calibration of a servo device, in particular to a method, a system, equipment and a medium for calibrating the reference zero position of a carrier-based servo device.
Background
For a follow-up device or a system, the angle zero consistency check is an important basic work in the system test and use process, and is a precondition and foundation for the precise detection, target tracking, precise fire control calculation and precise target hitting of the carrier-based weapon system; in the prior art, the zero position calibration is basically to adopt the aiming star method to carry out the angle zero position consistency test under the mooring condition. The working principle is that the truth equipment and the measured equipment aim at the polar star at the same time at a certain instant by taking the relative unstable coordinate system of the ship as a reference, so that the angle error of each measured equipment in the direction and in the height is obtained. In the star aiming method, a theodolite is generally adopted as truth equipment for angle measurement, a horizontal reference of the theodolite is consistent with a ship reference platform, a azimuth reference is consistent with a ship bow-stern line, optical equipment of detected equipment and the theodolite aim at a certain star on the sky at the same time, and the star is selected mainly by considering factors such as brightness and moving speed of the star, whether other brighter stars exist in a certain range around the star, high angles and low angles of the star and the like, and the star is generally selected. However, the aiming method must be used at night and once in a foggy environment, the aiming method cannot be performed, so that a carrier-based follow-up device reference zero calibration method, system, equipment and medium are urgently needed.
Disclosure of Invention
The application aims to provide a carrier-based follow-up device reference zero calibration method which can solve the problem that carrier-based follow-up device reference zero calibration is carried out in a foggy environment.
Embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a calibration method for a reference zero position of a carrier-based follower, which includes presetting a laser total station, a dynamic angle measuring instrument, a laser collimator arranged on the follower, and a radar with a plurality of radio intensity sensing units laid on a directional antenna on a ship; under mooring conditions, establishing a rectangular coordinate system for the ship; determining coordinate points of a laser collimator, a laser total station, a radar and a dynamic angle measuring instrument according to a coordinate system; transmitting an unmanned aerial vehicle with a radio wave receiving and transmitting device, a first chemical laser and a second chemical laser to a preset direction; the unmanned aerial vehicle flies along a preset direction after taking off; the unmanned aerial vehicle transmits medium-wave radio waves to the ship at intervals of preset time by utilizing a radio transmitting device of the unmanned aerial vehicle; the radar turns according to radio waves received by the directional antenna of the radar, and calculates the interval distance between the unmanned aerial vehicle and the radar; when the interval distance reaches a preset distance, the unmanned aerial vehicle hovers and transmits a calibration signal to the radar; the radar and the radio wave receiving and transmitting device of the unmanned aerial vehicle simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference; when the radio signals continuously received for many times by the radio intensity sensing unit positioned on the central axis are all strongest on the directional antenna used for receiving signals on the radar, finishing correction; the unmanned aerial vehicle respectively positions according to the coordinates of the laser total station and the laser collimator, and respectively generates a total station testing range and a collimator testing range by taking coordinate points positioned by the laser total station and the laser collimator as circle centers; the first chemical laser sequentially emits laser according to preset point positions in the total station testing range until the laser total station receives the laser of the first chemical laser; the second chemical laser sequentially emits laser according to preset point positions in the collimator testing range until the laser collimator receives the laser of the second chemical laser; and the laser total station and the laser collimator respectively determine azimuth angles and high and low angles according to the received laser, and perform reference zero calibration on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
In some embodiments of the present application, the step of establishing a rectangular coordinate system for the ship using the laser total station includes: taking the rotation center of a laser receiver of the total laser station as an origin; the laser total station horizontal measurement plane is parallel to the plane of the ship reference platform; the laser total station is perpendicular to the measuring plane and the plane of the ship reference platform.
In some embodiments of the present application, the step of flying the unmanned aerial vehicle in a predetermined direction after taking off includes: and after the unmanned aerial vehicle takes off, a navigation system is utilized to provide direction guidance for the unmanned aerial vehicle, and the direction deviation is corrected.
In some embodiments of the application, the step of calculating the separation distance of the drone from the radar includes: the radar turns to a position facing the unmanned aerial vehicle and transmits a reply signal to the unmanned aerial vehicle; after receiving the reply signal, the unmanned aerial vehicle transmits a time signal to the radar; and calculating according to the time signal and the radio propagation speed to obtain the interval distance.
In some embodiments of the application, the step of performing steering angle correction of the radar includes: when a plurality of radio intensity sensing units on the radar directional antenna detect that corresponding signals are input, each radio intensity sensing unit respectively carries out real-time measurement and calculation of intensity and presets that the central axis of the directional antenna is taken as a reference; when the radio intensity detected by the radio intensity sensing unit at any position on the directional antenna is larger than the radio intensity detected by the sensing unit on the central axis, the radar direction position is subjected to angle correction at a preset angle.
In some embodiments of the application, the density of radio intensity sensing units distributed on the directional antenna near the central axis gradually decreases toward the position far from the central axis.
In some embodiments of the application, the drone employs a rotary-wing drone with wind-proof functionality.
In a second aspect, an embodiment of the present application provides a calibration system for a reference zero position of a ship-based follower device, which includes a preset module, configured to preset a laser total station, a dynamic angle measurement instrument, a laser collimator disposed on the follower device, and a radar with a plurality of radio intensity sensing units laid on a directional antenna on a ship; the coordinate system establishment module is used for establishing a rectangular coordinate system for the ship under the mooring condition; determining coordinate points of a laser collimator, a laser total station, a radar and a dynamic angle measuring instrument according to a coordinate system; the unmanned aerial vehicle transmitting module is used for transmitting the unmanned aerial vehicle with the radio wave receiving and transmitting device to a preset direction; the unmanned aerial vehicle flies along a preset direction after taking off; the unmanned aerial vehicle distance detection module is used for transmitting medium-wave radio waves to the naval vessel at intervals of preset time by using a radio transmitting device of the unmanned aerial vehicle; the radar turns according to radio waves received by the directional antenna of the radar, and calculates the interval distance between the unmanned aerial vehicle and the radar; the angle correction module is used for hovering the unmanned aerial vehicle when the interval distance reaches a preset distance and transmitting a calibration signal to the radar; the radar and the radio wave receiving and transmitting device of the unmanned aerial vehicle simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference; the angle confirmation module is used for finishing correction when the radio signals continuously received for many times by the radio intensity sensing unit positioned at the central axis are all strongest on the directional antenna used for receiving signals on the radar; the laser sighting module is used for positioning the unmanned aerial vehicle according to the coordinates of the laser total station and the laser sighting device, and respectively generating a total station testing range and a sighting device testing range by taking coordinate points positioned by the laser total station and the laser sighting device as circle centers; the first chemical laser sequentially emits laser according to preset point positions in the total station testing range until the laser total station receives the laser of the first chemical laser; the second chemical laser sequentially emits laser according to preset point positions in the collimator testing range until the laser collimator receives the laser of the second chemical laser; and the reference zero calibration module is used for determining azimuth angles and high-low angles according to the received laser respectively by the laser total station and the laser collimator and carrying out reference zero calibration on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
In a third aspect, an embodiment of the present application provides an electronic device comprising at least one processor, at least one memory, and a data bus; wherein: the processor and the memory complete the communication with each other through a data bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform a carrier-based follower reference zero calibration method.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a carrier-based follower reference zero calibration method.
Compared with the prior art, the embodiment of the application has at least the following advantages or beneficial effects:
for the defect that the aiming method is in foggy days, the sky is mainly blocked by fog and cannot be searched, so that for reference zero calibration of foggy days, the design adopts an unmanned aerial vehicle to carry a radio wave transceiver, utilizes medium wave radio to transmit signals, utilizes a radar which is paved with a plurality of radio intensity sensing units on a directional antenna to detect the position confirmation of the unmanned aerial vehicle in the direction with the maximum radio signal intensity, and utilizes laser to aim at the direction angle and the high-low angle with a total station and an aiming instrument with high precision; the transmission speed of the light of the North Pole star, the transmission speed of the electromagnetic wave and the transmission speed of the laser are all light speeds, so that standard zero calibration is carried out by aiming at the star instead of the foggy day, and the problem that calibration cannot be carried out in the foggy day is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calibrating the reference zero position of a carrier-based follow-up device in the application;
FIG. 2 is another flow chart of a method for calibrating the reference zero position of a carrier-based follower device according to the present application;
FIG. 3 is a schematic diagram of the distribution of directional antennas and a radio strength sensing unit according to the present application;
FIG. 4 is an initial diagram of a directional antenna according to the present application;
fig. 5 is a schematic view of an initial angular adjustment of a directional antenna according to the present application;
FIG. 6 is a schematic diagram of a carrier-based servo device reference zero calibration system according to the present application;
FIG. 7 is a schematic diagram of an electronic device according to the present application;
fig. 8 is a schematic diagram of the principle of the laser emitting laser light to the collimator testing range and the total station testing range.
Icon: 1. a preset module; 2. a coordinate system building module; 3. an unmanned aerial vehicle transmitting module; 4. the unmanned aerial vehicle distance detection module; 5. an angle correction module; 6. an angle confirmation module; 7. a laser aiming module; 8. a reference zero calibration module; 9. a processor; 10. a memory; 11. a data bus; 12. a directional antenna; 13. a radio strength sensing unit; 14. a central axis; 15. unmanned plane; 16. a radio signal; 17. a laser total station; 18. a test range; 19. presetting a point position.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those conventionally put in use in the application, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The various embodiments and features of the embodiments described below may be combined with one another without conflict.
Example 1
Referring to fig. 1, for the reference zero calibration method of the carrier-based follow-up device provided by the embodiment of the application, for the defect of the aiming method in foggy days, the sky is mainly blocked by fog and cannot be found, so that for the reference zero calibration in foggy days, the design adopts an unmanned aerial vehicle 15 to carry a radio wave transceiver, uses medium wave radio to transmit signals, and uses the radar detection radio signal 16 with a plurality of radio intensity sensing units 13 paved on a directional antenna 12 to carry out position confirmation of the unmanned aerial vehicle 15, and because the transmission speed of arctic light and the transmission speed of electromagnetic waves are both light speeds, the reference zero calibration is carried out by the aiming method instead of foggy days, thereby solving the problem that the calibration in foggy days cannot be carried out.
S1: the method comprises the steps of presetting a laser total station 17, a dynamic angle measuring instrument, a laser collimator arranged on a follow-up device and a radar with a plurality of radio intensity sensing units 13 paved on a directional antenna 12 on a ship;
for the design, the unmanned aerial vehicle 15 is mainly used for calibrating instead of the North Polaroid, and the calibrating method still uses the basic calculation principle of the aiming star method. The laser total station 17 performs position determination, and the dynamic angle measuring instrument performs dynamic angle measurement because the ship still can shake to a certain extent under the mooring condition. The radar with the plurality of radio intensity sensor units 13 is arranged on the directional antenna 12 in order to determine the signal direction.
S2: under mooring conditions, establishing a rectangular coordinate system for the ship; determining coordinate points of a laser collimator, a laser total station 17, a radar and a dynamic angle measuring instrument according to the coordinate system;
in contrast, when the reference zero calibration is required for the slave device after the direction of the radar and the unmanned aerial vehicle 15 is determined, coordinate points of the laser total station 17, the radar and the dynamic angle measuring instrument are converted by a calculation principle in the aiming method.
S3: transmitting the unmanned aerial vehicle 15 with the radio wave transceiving device, the first chemical laser and the second chemical laser to a preset direction; the unmanned aerial vehicle 15 flies along a preset direction after taking off;
the direction setting can be according to the approximate zero direction of the follow-up device in the ship-based weapon system, so that the correction step is saved.
S4: the unmanned aerial vehicle 15 transmits medium wave radio waves to the ship at preset time intervals by using a radio transmitting device of the unmanned aerial vehicle; the radar turns according to the radio waves received by the directional antenna 12 of the radar, and calculates the interval distance between the unmanned aerial vehicle 15 and the radar;
the electromagnetic wave in the medium wave form is selected, and the electromagnetic wave is transmitted in the medium wave form in the whole text because the mist has small influence on the medium wave. At the same time, the unmanned aerial vehicle 15 emits medium wave radio waves to the radar in order to calculate the distance according to the speed and the propagation time of the electromagnetic waves.
S5: when the separation distance reaches a preset distance, the unmanned aerial vehicle 15 hovers and transmits a calibration signal to the radar; the radar and the radio wave transceiver of the unmanned aerial vehicle 15 simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference;
for the distance that the unmanned aerial vehicle 15 needs to reach, the distance is set to 5 to 10km in the prior art by taking the lighthouse as a calibration mode, and the design also adopts the range. However, the lighthouse has extremely high requirements for fixation, and the lighthouse can be built only by containing island reefs in the range, but the design has no concern. The radar and the radio wave transceiver of the unmanned aerial vehicle 15 simultaneously face to continuously transmit signals, wherein the radar transmits signals to the unmanned aerial vehicle 15, and the radar is mainly used for enabling the unmanned aerial vehicle 15 to receive signals and avoiding that ships pass through collision. The radio wave transceiver of the unmanned aerial vehicle 15 transmits signals to the radar, so that the radar can search the position of the unmanned aerial vehicle 15 to provide reference electromagnetic waves, and the unmanned aerial vehicle 15 hovers, so that the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference.
S6: when the radio signal 16 continuously received by the radio intensity sensing unit 13 positioned at the central axis 14 for many times is strongest on the directional antenna 12 for receiving signals on the radar, the correction is finished;
the radio intensity sensing unit 13 positioned on the central axis 14 on the directional antenna 12 is directly selected as the reference of the direction, so that the method is more convenient.
S7: the unmanned aerial vehicle 15 respectively positions according to the coordinates of the laser total station 17 and the laser collimator, and respectively generates a total station testing range 18 and a collimator testing range 18 by taking coordinate points positioned by the laser total station 17 and the laser collimator as circle centers; the first chemical laser sequentially emits laser light in a total station testing range 18 according to a preset point position 19 until the laser total station 17 receives the laser light of the first chemical laser; the second chemical laser emits laser in sequence according to a preset point position 19 in the collimator testing range 18 until the laser collimator receives the laser of the second chemical laser;
the first chemical laser and the second chemical laser on the unmanned aerial vehicle 15 are arranged for position measurement by the laser total station 17. Wherein the first chemical laser and the second chemical laser use 10.6 micron carbon dioxide laser; the laser performance can be seen in papers Chai Jinhua and Liu Ning, and the long triangle photon science and technology innovation forum and the doctrine of the Anhui doctor science and technology forum in 2006 are analyzed by a remote laser ranging technology in foggy days: 250-252"; in the document, the 10.6-micron carbon dioxide laser has better penetrability to fog and can perform laser ranging within 30KM, and it is noted that the design only needs the laser total station 17 to receive the laser instead of directly ranging by laser in the document, and the distance required by the design is within 10KM, so that the energy consumption is far lower than that required by the document and the fog can be completely penetrated. It should be noted that, to further enhance the accuracy of calculation, the first chemical laser and the second chemical laser may be set to be the same in rotation center when rotated. Whereas for a laser, the principle of lasing at the collimator testing range 18 and the total station 17 testing range 18 is shown in fig. 8. The determination of the test range 18 mainly uses the initial azimuth determined by the radar, and the distance between the radar and the laser total station 17 as well as the distance between the radar and the laser total station can be directly measured; in the embodiment of the laser total station 17 and the collimator for receiving the laser, taking the accuracy x of the radar as an example, the position error of the laser total station 17 or the collimator is not greater than 2x according to the established coordinate system, that is, a circular test range 18 is established by taking the coordinate point of the laser total station 17 or the collimator as the center of a circle, in order to make the test range 18 easier to receive the laser, the diameter of the range is set as nx (n is greater than or equal to 2), the point positions 19 are preset in the test range 18, the laser sequentially emits the laser to the preset point positions 19, the sequence of the laser can be set according to the requirement, and only one scanning pass is needed, so that the direction is determined after the laser total station 17 or the collimator receives the laser.
S8: the laser total station 17 and the laser collimator respectively determine azimuth angles and high and low angles according to the received laser, and the reference zero calibration is carried out on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
The calculation of the laser total station 17, the radar and the dynamic angle measuring instrument is carried out by adopting the calculation principle of the aiming method, so that the reference zero calibration is carried out on the follow-up device.
In some embodiments of the present application, the step of establishing a rectangular coordinate system for the ship using the laser total station 17 includes: taking the rotation center of a laser receiver of the total laser station 17 as an origin; the laser total station 17 is parallel to the plane of the ship reference platform; the laser total station 17 is perpendicular to the measurement plane and to the plane of the ship reference platform.
For the establishment of a coordinate system, the laser total station 17 is mainly used for coordinate confirmation, and because zero calibration is carried out on a follow-up device of the ship, calculation is more convenient by taking a ship reference platform as a reference.
In some embodiments of the present application, the step of flying the unmanned aerial vehicle 15 in the predetermined direction after taking off includes: the unmanned aerial vehicle 15 provides direction guidance for the unmanned aerial vehicle 15 by using a navigation system after taking off, and corrects the direction deviation.
For the straight line flight of the unmanned aerial vehicle 15, certain deviation occurs due to the problem of self air pressure, so that a navigation system is required to provide direction guidance for the deviation; meanwhile, in the design, the unmanned aerial vehicle 15 can be provided with a height detector after hovering, so that the unmanned aerial vehicle can hover at a preset height.
In some embodiments of the present application, the step of calculating the separation distance of the drone 15 from the radar includes: the radar turns to a position towards the unmanned aerial vehicle 15 and transmits a reply signal to the unmanned aerial vehicle 15; after receiving the reply signal, the unmanned aerial vehicle 15 transmits a time signal to the radar; and calculating according to the time signal and the radio propagation speed to obtain the interval distance.
Referring to fig. 2, 3, 4 and 5, in some embodiments of the present application, the step of performing the steering angle correction of the radar includes: s51: when a plurality of radio intensity sensing units 13 on the radar directional antenna 12 detect that corresponding signals are input, each radio intensity sensing unit 13 respectively carries out real-time measurement and calculation of intensity, and the central axis 14 of the directional antenna 12 is preset as a reference; when the radio intensity detected by the radio intensity sensing unit 13 at any position on the directional antenna 12 is greater than the radio intensity detected by the sensing unit on the central axis 14, the radar performs angle correction at a preset angle to that position. This allows the radar angle to be repeatedly corrected, thus obtaining an accurate direction. Wherein fig. 4 and 5 are schematic diagrams of the directional antenna 12 angularly adjusted based on the intensity detected by the radio signal 16.
Referring to fig. 3, in some embodiments of the present application, the density of the radio intensity sensing units 13 distributed on the directional antenna 12 near the central axis 14 gradually decreases toward a position far from the central axis 14.
In some embodiments of the present application, the directional antenna 12 is located substantially near the central axis 14 in the area where high precision adjustment is required for determination of the direction, so that the density of the distribution of the radio intensity sensing units 13 in the area away from the central axis 14 can be suitably reduced, thereby reducing the cost.
In some embodiments of the present application, the drone 15 employs a rotary-wing drone 15 with wind-proof functionality.
The unmanned aerial vehicle 15 needs to hover, so the rotary-wing unmanned aerial vehicle 15 is adopted, and because wind with smaller grade may exist in foggy days, the rotary-wing unmanned aerial vehicle 15 with the windproof function is needed. In the prior art, an algorithm is basically adopted for the unmanned aerial vehicle 15 with the windproof function, namely, when encountering wind power, rotor deflection is utilized for adjustment.
Example 2
Referring to fig. 6, the reference zero calibration system of the carrier-based follow-up device provided by the application comprises a preset module 1, a laser total station 17, a dynamic angle measuring instrument, a laser collimator arranged on the follow-up device and a radar with a plurality of radio intensity sensing units 13 paved on a directional antenna 12, wherein the preset module is used for presetting the laser total station 17, the dynamic angle measuring instrument and the radar; the coordinate system establishment module 2 is used for establishing a rectangular coordinate system for the ship under the mooring condition; determining coordinate points of a laser collimator, a laser total station 17, a radar and a dynamic angle measuring instrument according to the coordinate system; a drone transmitting module 3 for transmitting the drone 15 with the radio wave transceiver to a preset direction; the unmanned aerial vehicle 15 flies along a preset direction after taking off; the unmanned aerial vehicle distance detection module 4 is used for transmitting medium-wave radio waves to the ship at intervals of preset time by utilizing a radio transmitting device of the unmanned aerial vehicle 15; the radar turns according to the radio waves received by the directional antenna 12 of the radar, and calculates the interval distance between the unmanned aerial vehicle 15 and the radar; the angle correction module 5 is used for hovering the unmanned aerial vehicle 15 and transmitting a calibration signal to the radar when the interval distance reaches a preset distance; the radar and the radio wave transceiver of the unmanned aerial vehicle 15 simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference; the angle confirmation module 6 finishes correction when the radio signal 16 which is continuously received for many times by the radio intensity sensing unit 13 positioned at the central axis 14 is strongest on the directional antenna 12 used for receiving signals on the radar; the laser aiming module 7 is used for respectively positioning the unmanned aerial vehicle 15 according to the coordinates of the laser total station 17 and the laser aiming device, and respectively generating a total station testing range 18 and an aiming device testing range 18 by taking coordinate points positioned by the laser total station 17 and the laser aiming device as circle centers; the first chemical laser sequentially emits laser light in a total station testing range 18 according to a preset point position 19 until the laser total station 17 receives the laser light of the first chemical laser; the second chemical laser emits laser in sequence according to a preset point position 19 in the collimator testing range 18 until the laser collimator receives the laser of the second chemical laser; the reference zero calibration module 8 is used for determining azimuth angles and high-low angles according to the received laser respectively by the laser total station 17 and the laser collimator, and performing reference zero calibration on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
Example 3
Referring to fig. 7, an electronic device according to the present application includes at least one processor 9, at least one memory 10 and a data bus 11; wherein: the processor 9 and the memory 10 complete the communication with each other through the data bus 11; the memory 10 stores program instructions executable by the processor 9, the processor 9 invoking the program instructions to perform a carrier-based follower reference zero calibration method.
For example, implementation:
the method comprises the steps of presetting a laser total station 17, a dynamic angle measuring instrument, a laser collimator arranged on a follow-up device and a radar with a plurality of radio intensity sensing units 13 paved on a directional antenna 12 on a ship; under mooring conditions, establishing a rectangular coordinate system for the ship; determining coordinate points of a laser collimator, a laser total station 17, a radar and a dynamic angle measuring instrument according to the coordinate system; transmitting the unmanned aerial vehicle 15 with the radio wave transceiving device, the first chemical laser and the second chemical laser to a preset direction; the unmanned aerial vehicle 15 flies along a preset direction after taking off; the unmanned aerial vehicle 15 transmits medium wave radio waves to the ship at preset time intervals by using a radio transmitting device of the unmanned aerial vehicle; the radar turns according to the radio waves received by the directional antenna 12 of the radar, and calculates the interval distance between the unmanned aerial vehicle 15 and the radar; when the separation distance reaches a preset distance, the unmanned aerial vehicle 15 hovers and transmits a calibration signal to the radar; the radar and the radio wave transceiver of the unmanned aerial vehicle 15 simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference; when the radio signal 16 continuously received by the radio intensity sensing unit 13 positioned at the central axis 14 for many times is strongest on the directional antenna 12 for receiving signals on the radar, the correction is finished; the unmanned aerial vehicle 15 respectively positions according to the coordinates of the laser total station 17 and the laser collimator, and respectively generates a total station testing range 18 and a collimator testing range 18 by taking coordinate points positioned by the laser total station 17 and the laser collimator as circle centers; the first chemical laser sequentially emits laser light in a total station testing range 18 according to a preset point position 19 until the laser total station 17 receives the laser light of the first chemical laser; the second chemical laser emits laser in sequence according to a preset point position 19 in the collimator testing range 18 until the laser collimator receives the laser of the second chemical laser; the laser total station 17 and the laser collimator respectively determine azimuth angles and high and low angles according to the received laser, and the reference zero calibration is carried out on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
The Memory 10 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 9 may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
Example 4
The present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor 9 implements a carrier-based follower reference zero calibration method. For example, implementation:
the method comprises the steps of presetting a laser total station 17, a dynamic angle measuring instrument, a laser collimator arranged on a follow-up device and a radar with a plurality of radio intensity sensing units 13 paved on a directional antenna 12 on a ship; under mooring conditions, establishing a rectangular coordinate system for the ship; determining coordinate points of a laser collimator, a laser total station 17, a radar and a dynamic angle measuring instrument according to the coordinate system; transmitting the unmanned aerial vehicle 15 with the radio wave transceiving device, the first chemical laser and the second chemical laser to a preset direction; the unmanned aerial vehicle 15 flies along a preset direction after taking off; the unmanned aerial vehicle 15 transmits medium wave radio waves to the ship at preset time intervals by using a radio transmitting device of the unmanned aerial vehicle; the radar turns according to the radio waves received by the directional antenna 12 of the radar, and calculates the interval distance between the unmanned aerial vehicle 15 and the radar; when the separation distance reaches a preset distance, the unmanned aerial vehicle 15 hovers and transmits a calibration signal to the radar; the radar and the radio wave transceiver of the unmanned aerial vehicle 15 simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference; when the radio signal 16 continuously received by the radio intensity sensing unit 13 positioned at the central axis 14 for many times is strongest on the directional antenna 12 for receiving signals on the radar, the correction is finished; the unmanned aerial vehicle 15 respectively positions according to the coordinates of the laser total station 17 and the laser collimator, and respectively generates a total station testing range 18 and a collimator testing range 18 by taking coordinate points positioned by the laser total station 17 and the laser collimator as circle centers; the first chemical laser sequentially emits laser light in a total station testing range 18 according to a preset point position 19 until the laser total station 17 receives the laser light of the first chemical laser; the second chemical laser emits laser in sequence according to a preset point position 19 in the collimator testing range 18 until the laser collimator receives the laser of the second chemical laser; the laser total station 17 and the laser collimator respectively determine azimuth angles and high and low angles according to the received laser, and the reference zero calibration is carried out on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A reference zero calibration method for a carrier-based follow-up device is characterized by comprising the following steps of
Presetting a laser total station, a dynamic angle measuring instrument, a laser collimator arranged on the follow-up device and a radar with a plurality of radio intensity sensing units laid on a directional antenna on a ship;
under mooring conditions, establishing a rectangular coordinate system for the ship; determining coordinate points of the laser collimator, the laser total station, the radar and the dynamic angle measuring instrument according to the coordinate system;
transmitting an unmanned aerial vehicle with a radio wave receiving and transmitting device, a first chemical laser and a second chemical laser to a preset direction; the unmanned aerial vehicle flies along a preset direction after taking off;
the unmanned aerial vehicle transmits medium-wave radio waves to the naval vessel at intervals of preset time by utilizing a radio transmitting device of the unmanned aerial vehicle; the radar turns according to radio waves received by a directional antenna of the radar, and calculates the interval distance between the unmanned aerial vehicle and the radar;
when the interval distance reaches a preset distance, the unmanned aerial vehicle hovers and transmits a calibration signal to the radar; the radar and the radio wave receiving and transmitting device of the unmanned aerial vehicle simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference;
when the radio signals continuously received for many times by the radio intensity sensing unit positioned at the central axis are all strongest on the directional antenna used for receiving signals on the radar, finishing correction;
the unmanned aerial vehicle respectively positions according to the coordinates of the laser total station and the laser collimator, and respectively generates a total station testing range and a collimator testing range by taking coordinate points positioned by the laser total station and the laser collimator as circle centers; the first chemical laser sequentially emits laser according to preset point positions in the total station testing range until the laser total station receives the laser of the first chemical laser; the second chemical laser sequentially emits laser according to preset point positions in the collimator testing range until the laser collimator receives the laser of the second chemical laser;
and the laser total station and the laser collimator respectively determine azimuth angles and high and low angles according to the received laser, and the radar and the dynamic angle measuring instrument are combined with coordinate points in a coordinate system to perform reference zero calibration on the follow-up device.
2. The method for calibrating the reference zero position of the carrier-based follow-up device according to claim 1, wherein the step of establishing the rectangular coordinate system of the ship by using the laser total station comprises the following steps:
taking the rotation center of the laser receiver of the total laser station as an origin;
the laser total station horizontal measurement plane is parallel to the plane of the ship reference platform; the laser total station is perpendicular to the measuring plane and the plane of the ship reference platform.
3. The method for calibrating the reference zero position of the carrier-based follow-up device according to claim 1, wherein the step of flying the unmanned aerial vehicle in a preset direction after taking off comprises the following steps:
and after the unmanned aerial vehicle takes off, a navigation system is used for providing direction guidance for the unmanned aerial vehicle, and the direction deviation is corrected.
4. The method of calibrating a reference zero of a carrier-based follower device of claim 1, wherein the step of calculating a separation distance between the unmanned aerial vehicle and the radar comprises:
the radar turns to a position facing the unmanned aerial vehicle and transmits a reply signal to the unmanned aerial vehicle; after receiving the reply signal, the unmanned aerial vehicle transmits a time signal to the radar; and calculating according to the time signal and the radio propagation speed to obtain the interval distance.
5. The method for calibrating the reference zero position of the carrier-based follow-up device according to claim 1, wherein the step of correcting the steering angle of the radar comprises the steps of:
when a plurality of radio intensity sensing units on the radar directional antenna detect that corresponding signals are transmitted, each radio intensity sensing unit respectively carries out intensity real-time measurement and calculation, and the central axis of the directional antenna is preset as a reference; and when the radio intensity detected by the radio intensity sensing unit at any position on the directional antenna is larger than the radio intensity detected by the central axis sensing unit, performing angle correction on the position by the radar at a preset angle.
6. The method of calibrating reference zero of carrier-based follow-up device according to claim 5, wherein the density of the radio intensity sensing units distributed on the directional antenna near the central axis gradually decreases toward a position far from the central axis.
7. The method for calibrating the reference zero position of the carrier-based follow-up device according to claim 1, wherein the unmanned aerial vehicle is a rotor unmanned aerial vehicle with a windproof function.
8. The reference zero calibration system of the carrier-based follow-up device is characterized by comprising
The preset module is used for presetting a laser total station, a dynamic angle measuring instrument, a laser collimator arranged on the follow-up device and a radar with a plurality of radio intensity sensing units laid on the directional antenna on the naval vessel;
the coordinate system establishment module is used for establishing a rectangular coordinate system for the ship under the mooring condition; determining coordinate points of the laser collimator, the laser total station, the radar and the dynamic angle measuring instrument according to the coordinate system;
the unmanned aerial vehicle transmitting module is used for transmitting the unmanned aerial vehicle with the radio wave receiving and transmitting device, the first chemical laser and the second chemical laser to a preset direction; the unmanned aerial vehicle flies along a preset direction after taking off;
the unmanned aerial vehicle distance detection module is used for transmitting medium-wave radio waves to the naval vessel at intervals of preset time by using a radio transmitting device of the unmanned aerial vehicle; the radar turns according to radio waves received by a directional antenna of the radar, and calculates the interval distance between the unmanned aerial vehicle and the radar;
the angle correction module is used for hovering the unmanned aerial vehicle when the interval distance reaches a preset distance and transmitting a calibration signal to the radar; the radar and the radio wave receiving and transmitting device of the unmanned aerial vehicle simultaneously transmit signals in opposite directions, and the radar carries out steering angle correction of the radar by taking the direction in which the received signals are strongest as a reference;
the angle confirmation module is used for finishing correction when the radio signals continuously received for many times by the radio intensity sensing unit positioned at the central axis are all strongest on the directional antenna used for receiving signals on the radar;
the laser sighting module is used for respectively positioning the unmanned aerial vehicle according to the coordinates of the laser total station and the laser sighting device, and respectively generating a total station testing range and a sighting device testing range by taking coordinate points positioned by the laser total station and the laser sighting device as circle centers; the first chemical laser sequentially emits laser according to preset point positions in the total station testing range until the laser total station receives the laser of the first chemical laser; the second chemical laser sequentially emits laser according to preset point positions in the collimator testing range until the laser collimator receives the laser of the second chemical laser;
and the reference zero calibration module is used for determining azimuth angles and high-low angles according to the received laser respectively by the laser total station and the laser collimator, and carrying out reference zero calibration on the follow-up device by combining coordinate points of the radar and the dynamic angle measuring instrument in a coordinate system.
9. An electronic device comprising at least one processor, at least one memory, and a data bus; wherein: the processor and the memory complete communication with each other through the data bus; the memory stores program instructions for execution by the processor, the processor invoking the program instructions to perform the method of any of claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-7.
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