CN115342838B - Method for detecting ship-shaking isolation degree of photoelectric theodolite - Google Patents
Method for detecting ship-shaking isolation degree of photoelectric theodolite Download PDFInfo
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Abstract
The invention relates to the technical field of photoelectric theodolite testing, and particularly provides a method for detecting ship-shaking isolation of a photoelectric theodolite, which comprises the following steps of S1: tracking a cooperative target, specifically: the method comprises the steps that an unmanned aerial vehicle is equipped and is fixed on the unmanned aerial vehicle, a photoelectric theodolite and a local reference are fixed on a ship body, the unmanned aerial vehicle is operated to fly away from the ship body, the position of the unmanned aerial vehicle under a polar coordinate system of the photoelectric theodolite is calculated, the calculated position value is used as a guide value to guide a cooperative target to a view field center and enable the cooperative target to be imaged in a view field, a measuring ship is rocked, and ship rocking isolation degree data are recorded; further comprising step S2: and carrying out ship shake isolation detection. The detection method can avoid the influence of adverse environmental factors such as severe weather on the ship swing isolation detection, can detect the self-tracking ship swing isolation of the detector loop of the non-visible light wave band in the photoelectric theodolite, and has strong applicability and universality.
Description
Technical Field
The invention relates to the technical field of photoelectric theodolite testing, in particular to a method for detecting ship rocking isolation of a photoelectric theodolite.
Background
In recent years, with the development of marine measurement technology and the test requirements of various weapon devices, the requirement for large-scale shipborne measurement and control is increasing, the test of the photoelectric theodolite is used as an important mode in shipborne measurement and control, the angle measurement and observation under a polar coordinate system can be carried out on targets in a visual field through an optical method, when the theodolite is placed on a ship, the measured angle value of the targets under a theodolite deck system can be obtained, and the measured angle of the deck system can be obtained by correcting ship attitude and ship position information generated by inertial navigation equipment, such as the ship course, the rolling, the pitching, the longitude, the latitude, the elevation and the like of the positions where the theodolite is located. When the test is carried out through the electro-optic theodolite:
1. when the target holding position is unchanged: if the ship position does not change, the position of the target under the geodetic polar coordinate system of the theodolite is kept unchanged; if the ship posture does not change at the same time, the position of the target under the polar coordinate system of the theodolite deck system is kept unchanged, namely the imaging position of the target in the theodolite field of view is unchanged.
2. When the target position or ship position changes: when the ship posture is not changed, the theodolite can calculate the position of the target relative to the ship position according to the real-time position of the target, and then the position of the target under a deck coordinate system of the theodolite is converted, so that the target is led into a view field in a digital guide mode and is subjected to digital guide tracking.
Based on the two conditions, as long as the ship posture is not changed, the target can be stably imaged in the field of view of the theodolite; when the ship posture changes, if the ship-rolling isolation correction is not carried out on the target guide position, the position of the target in the theodolite view field correspondingly shakes in the view field due to the change of the ship posture, different shaking rules occur along with the difference of the amplitude and the angle of the change of the ship posture, and when the amplitude of the change of the ship posture is large, the target does not form an image in the theodolite view field.
Therefore, in order to make the target stably image in the field of view, the position change guide is carried out on the target, and the ship-sway isolation correction is added at the same time; under the condition of the same swing amplitude and the same ship posture change angle, the imaging position of the target in the visual field shakes less and the ship swing isolation degree is higher under the same theodolite, the same detector and the same optical parameters.
At present, the traditional ship rolling isolation correction scheme usually adopts a fixed star as a target or erects cooperative targets at all positions, and when the fixed star is adopted as the target, parameters of the fixed star such as right ascension, declination, radial velocity and the like and ship position information are used as input to calculate the position of the fixed star under a theodolite geodetic coordinate system, then the position of the target under a theodolite deck coordinate system is calculated in real time by utilizing constantly changing ship posture information, and finally the ship rolling isolation detection of the photoelectric theodolite is realized by calculating the shaking amount of the fixed star in a theodolite visual field. The traditional method needs to observe fixed stars or other targets with known precise coordinates when detecting the ship-borne isolation of the photoelectric theodolite, and as a ship-borne device, the traditional method has various limitations when observing the targets, which are mainly embodied in the following aspects:
1. a cooperation target which accords with the observation angle of the shipborne photoelectric theodolite is difficult to erect on the water surface, and even if the cooperation target is erected in a specific area such as a bank, the requirement for verifying the ship shaking isolation degree at any time during the sea is difficult to meet;
2. if an observation target is erected in an area close to the shore and the like, the requirement for detecting the ship shaking isolation under various real sea conditions is difficult to realize;
3. a fixed star can be selected as the photoelectric theodolite, but when the unfavorable weather conditions that the fixed star is difficult to observe, such as heavy fog, cloudy and the like, are met, stable tracking measurement cannot be carried out on the position of a deck system of the fixed star, and the photoelectric theodolite is difficult to identify and extract a target or stably extract the target;
4. the fixed star is used as an observation target and is difficult to meet the requirement of stable imaging of a special spectrum waveband camera such as a medium wave or short wave camera, 1 fixed star is difficult to meet the target observation of a photoelectric theodolite with multi-waveband detection capability, and when the fixed star is selected as isolation detection, a star body of a corresponding waveband needs to be selected as the observation target in a targeted manner, so that certain limitation exists when the detection equipment shakes the isolation.
Therefore, in the traditional mode, the shipborne theodolite is extremely easy to be interfered by factors such as weather and the like during the detection of the ship rolling isolation degree during the outer navigation, and if continuous severe sea conditions are met, the ship rolling isolation degree detection can be difficult to perform in the whole voyage number; therefore, how to design a method for detecting the ship rocking isolation degree of the photoelectric theodolite, which is applicable to various weather environments, is a problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the problems, provides a method for detecting the ship-rocking isolation degree of the photoelectric theodolite, can detect the ship-borne photoelectric theodolite ship-rocking isolation degree under the severe weather conditions of cloudy weather, heavy fog and the like, can reduce the influence and limitation of environmental factors on the detection of the ship-rocking isolation degree by optical equipment, and has the multiband target detection capability.
In order to achieve the purpose, the invention provides the following technical scheme: a ship-rocking isolation degree detection method of a photoelectric theodolite is characterized by comprising the following steps:
s1: tracking a cooperative target;
s11: an unmanned aerial vehicle with an optical cooperative target is equipped, the cooperative target is fixed on the unmanned aerial vehicle, and a light source is turned on; fixing the photoelectric theodolite and the local reference on the ship body;
s12: operating the unmanned aerial vehicle to fly away from the hull, and operating the unmanned aerial vehicle to fly to a position suitable for the azimuth angle and the pitch angle of the hull deck system;
s13: the unmanned aerial vehicle sends a position coordinate value to the photoelectric theodolite in real time, and meanwhile, the local reference detects the position and the posture of the photoelectric theodolite;
s14: the photoelectric theodolite calculates the position of the unmanned aerial vehicle under a polar coordinate system of the photoelectric theodolite according to the position and the attitude of the photoelectric theodolite detected by the local reference and the position of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
s15: the servo subsystem of the photoelectric theodolite guides the cooperative target to the center of the field of view according to the position value of the unmanned aerial vehicle under the polar coordinate system of the photoelectric theodolite, which is calculated in the step S14, as a guide value;
s16: adjusting an optical system of the electro-optic theodolite to enable a cooperative target to image in a visual field; if the image processing subsystem can not stably extract the cooperative target or the imaging effect of the cooperative target is not good, repeating the step S12 until the necessary condition of extracting the cooperative target is met;
s17: the method comprises the following steps of (1) performing lively shaking on a measuring ship, simultaneously tracking a cooperative target by a photoelectric theodolite, and recording ship shaking isolation data;
s2: detecting the ship shaking isolation degree;
s21: calculating the deck pitch angle variable E of the photoelectric theodolite according to the data obtained in S14 j Delta E of earth pitch angle d Angle of change of deck angle j Delta angle of earth to earth d ；
S22: Δ E according to the pitch angle of deck j Delta E of earth pitch angle d Calculating pitching ship-rolling isolation G El (ii) a Depending on the azimuth angle of the deck j Delta angle of earth to earth d Calculating azimuth ship-sway isolation G Al 。
Preferably, the step S14 of calculating the position of the unmanned aerial vehicle in the polar coordinate system of the electro-optic theodolite specifically includes the following steps:
s141: if no relative motion exists between the photoelectric theodolite and a local reference, converting the geocentric rectangular coordinate system into a deck rectangular coordinate system, wherein the conversion formula is a formula (1):
wherein: h represents yawing, R represents rolling, and P represents pitching;
s142: convert deck rectangular coordinate system into deck polar coordinate system, specifically do: converting the position of the cooperation target into a polar coordinate system of the deck by using a formula (2), wherein the formula (2) is as follows:
wherein A is j As theoretical value of deck azimuth, E j Is a theoretical value of a pitch angle of a deck;
s143: convert deck polar coordinate system into the measurement system, specifically do: correcting the system error to the measurement system by the formula (3), wherein the formula (3) is:
wherein: g is the difference in orientation,cin order to be a difference in the line of sight,hthe position of the magnetic pole is a zero position difference,bis the error of the horizontal axis and is,Iis the vertical axis error, α is the vertical axis tilt angle, A c To remove the deck azimuth value after the error, E c To remove the deck pitch angle value after the error.
Preferably, the unmanned aerial vehicle is operated to fly to a position suitable for the azimuth angle and the pitch angle of the hull deck system in the step S12, specifically: when the pitch angle isolation degree is measured, the unmanned aerial vehicle is operated to fly to a position where the azimuth angle of the unmanned aerial vehicle and a ship deck system is 90 degrees +/-2 degrees or 270 degrees +/-2 degrees, and the pitch angle of the deck system is larger than 10 degrees.
Preferably, the drone is operated to fly to a position at 0 ° ± 2 ° or 180 ° ± 2 ° azimuth to the hull plating system when azimuth isolation is measured.
Preferably, in step S17, the photoelectric theodolite tracks the target, and the tracking method is digital guide mode tracking, self-tracking mode tracking or earth manual mode tracking; when the survey ship is shaken, one of a number-index mode tracking mode, a self-tracking mode or a ground manual mode tracking mode is selected to track the synthetic target; or switching between the guidance mode tracking, the self-tracking mode tracking or the earth manual mode tracking according to actual requirements to track the combined target.
Preferably, step S17 is to roll the survey vessel, wherein the amplitude of the roll is not less than 5 °; and S17, recording the ship rolling isolation data, wherein the recorded period is not less than 5 ship rolling periods.
Preferably, the method calculates the change amount E of the deck pitch angle of the electro-optic theodolite in the step S21 by using the calculation formula (4) and the calculation formula (5) j Δ E of the pitch angle of the earth d ，
Equation (4) is:
；
equation (5) is:
；
wherein: e ji+ Measuring a peak value of a deck pitch angle in an ith ship rolling period;
E ji- measuring a valley value for the deck pitch angle of the ith ship roll period;
E di+ measuring a wave crest value for the ground pitch angle of the ith ship shaking period;
E di- measuring a valley value for the ground pitch angle of the ith ship roll period;
calculating the deck azimuth angle variation A of the electro-optic theodolite in the step S21 by adopting a calculation formula (6) and a calculation formula (7) j Delta angle of earth to earth d ，
Equation (6) is:
；
the formula (7) is:
；
wherein: a. The ji+ Measuring a wave peak value for the deck azimuth angle of the ith ship shaking period;
A ji- measuring a valley value for the azimuth angle of the deck in the ith ship-shaking period;
A di+ measuring a wave crest value for the azimuth angle of the ith ship shaking period;
A di- the trough is measured for the geodetic azimuth of the ith roll cycle.
Preferably, the pitching ship rolling isolation degree G in the step S22 is calculated by using a calculation formula (8) and a calculation formula (9) El And azimuth ship roll isolation G Al ，
Equation (8) is:
；
equation (9) is:
。
preferably, the light source in step S11 is equipped on the drone and is matched with the optical system of the electro-optic theodolite and the detector response band.
Preferably, the local reference adopts an inertial navigation system; and S12, after the unmanned aerial vehicle is operated to fly to a position suitable for the azimuth angle and the pitch angle of the ship body deck system, the unmanned aerial vehicle runs in a hovering mode or a mode of running in the same direction as the ship body.
The invention has the beneficial effects that:
1. the invention detects the ship-shaking isolation of the photoelectric theodolite by matching the unmanned aerial vehicle with the photoelectric theodolite and a local reference through equipping the unmanned aerial vehicle with an optical cooperative target; the detection requirement of the ship rolling isolation degree can be met under the condition that an optical cooperative target is difficult to erect on the sea surface. The situation where it is difficult to erect the optical collaboration target is as follows: the high elevation angle observation target is difficult to erect and fix on the sea; the sea surface target with low elevation angle cannot meet the pitch angle observation angle range of the photoelectric theodolite under the condition of large ship rolling; erection of cooperative targets in specific areas such as the shore is still difficult to meet the requirement of verifying the ship's rolling isolation at any time during sea.
2. The ship rolling isolation detection method can replace the traditional scheme that fixed stars are adopted as observation targets, avoid the situation that the fixed stars are difficult to observe or the deck system position of the fixed stars is difficult to stably track and measure under severe weather conditions such as heavy fog, cloudy and the like when the fixed stars are adopted as the observation targets, reduce the limit of environmental factors on ship rolling isolation detection and reduce the degree of dependence on the external environment.
3. The ship-shaking isolation degree detection method adopts the light source matched with the optical system of the photoelectric theodolite for detecting the ship-shaking isolation degree and the response wave band of the detector, can simultaneously measure the ship-shaking isolation degree of a plurality of image tracking loops of one photoelectric theodolite in a self-tracking mode, and can also select the detector and the light source in a short wave band to detect the ship-shaking isolation degree in special sea weather such as heavy fog and the like, wherein the short wave has the characteristic of strong fog penetration capability, so that the application range and the universality of the detection can be greatly improved; the method can avoid the situation that the steady imaging of special spectrum band cameras such as medium wave or short wave cameras is difficult to meet when fixed stars are used as observation targets, and has multi-band detection capability.
Drawings
Fig. 1 is a schematic top view of a drone at 90 ° azimuth to the hull.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to fig. 1 and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
A ship-rocking isolation degree detection method of a photoelectric theodolite is characterized by comprising the following steps:
s1: tracking a cooperative target;
s11: an unmanned aerial vehicle with an optical cooperative target is equipped, the cooperative target is fixed on the unmanned aerial vehicle, and a light source is turned on; fixing the photoelectric theodolite and the local reference on the ship body;
the unmanned aerial vehicle has a high-precision positioning function and can remotely send positioning information to the photoelectric theodolite system in real time; the cooperative target can form a clear image with uniform brightness in each optical system of the photoelectric theodolite;
the electro-optic theodolite comprises an optical subsystem, an image processing subsystem, a servo subsystem and other function realization units; the local reference is mainly used for measuring the shaking amount of the ship body, an Inertial Navigation System (INS) is adopted as the local reference, and the information such as the speed, the yaw angle, the posture and the position of the ship body, namely the photoelectric theodolite in a navigation coordinate system can be obtained without depending on external information;
the size, the intensity, the wave band and the like of a light source on the unmanned aerial vehicle are matched with the optical system and the detector type of the photoelectric theodolite for detecting the ship shaking isolation degree, and the light source can enable a cooperative target to form an obvious and clear image in the photoelectric theodolite so that the image processing subsystem can stably extract the target in a view field.
S12: operating the unmanned aerial vehicle to fly away from the ship body, operating the unmanned aerial vehicle to fly to a position which is suitable for the azimuth angle of the ship body deck system and the pitch angle of the ship body deck system, and enabling the cooperative target to form an obvious and clear image in a corresponding optical system according to different optical system parameters; the method specifically comprises the following steps: when the pitch angle isolation degree is measured, the unmanned aerial vehicle is operated to fly to a position where the azimuth angle of the unmanned aerial vehicle and a ship deck system is 90 degrees +/-2 degrees or 270 degrees +/-2 degrees, and the pitch angle of the deck system is larger than 10 degrees, so that the phenomenon of interference or collision is avoided when the ship body shakes; when the azimuth isolation is measured, the unmanned aerial vehicle is operated to fly to a position with the azimuth angle of 0 +/-2 degrees or 180 +/-2 degrees with the ship deck system.
When the azimuth angle between the unmanned aerial vehicle and the ship body is 90 degrees, the diagram is shown in fig. 1, M is the ship body, N is the unmanned aerial vehicle, the ship bow points to 0 degree at the moment, and the unmanned aerial vehicle is positioned in the 90-degree direction of the ship body in the clockwise direction;
in order to keep the error of the azimuth angle between the unmanned aerial vehicle and the ship body deck system within +/-2 degrees, after the unmanned aerial vehicle is operated to fly to the position suitable for the azimuth angle and the pitch angle of the ship body deck system, the unmanned aerial vehicle runs in a hovering mode or a heading mode in the same direction as the ship body; to further improve the accuracy of the measurement, the drone is preferably hovered in a fixed position away from the hull.
S13: the unmanned aerial vehicle sends a position coordinate value to the photoelectric theodolite in real time, and meanwhile, the local reference detects the position and the posture of the photoelectric theodolite;
s14: the photoelectric theodolite calculates the position of the unmanned aerial vehicle under a polar coordinate system of the photoelectric theodolite according to the position and the posture of the photoelectric theodolite detected by the local reference and the position of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
s141: if there is no relative motion between the electro-optic theodolite and the local reference, the method specifically comprises the following steps: when the local reference and the photoelectric theodolite are rigidly connected with the ship body, the local reference and the photoelectric theodolite theoretically have no relative motion and no relative twisting, can be regarded as that an inertial navigation coordinate system is coincided with a photoelectric theodolite coordinate system, and can directly use a formula (1) to carry out coordinate conversion; the earth center rectangular coordinate system is converted into a deck rectangular coordinate system by adopting a matrix multiplication mode, and the formula (1) is as follows:
wherein: h represents yawing, R represents rolling, and P represents pitching;
s142: convert deck rectangular coordinate system into deck polar coordinate system, specifically do: converting the position of the cooperation target into a polar coordinate system of the deck by using a formula (2), wherein the formula (2) is as follows:
wherein A is j As theoretical value of deck azimuth, E j Is a theoretical value of a pitch angle of a deck;
s143: convert deck polar coordinate system into measurement system to get rid of the part that has the error such as equipment, specifically do: correcting the system error to the measurement system through the formula (3), wherein the formula (3) is as follows:
wherein: g is the difference in orientation,cin order to be a function of the collimation error,hthe position of the magnetic pole is a zero position difference,bis the error of the horizontal axis and is,Iis the vertical axis error, α is the vertical axis tilt angle, A c To remove the deck azimuth value after the error, E c To remove the deck pitch angle value after the error.
S15: the servo subsystem of the electro-optic theodolite guides the cooperative target to the center of the field of view according to the position value of the unmanned plane under the electro-optic theodolite polar coordinate system calculated in the step S14 as a guide value, namely A c 、E c Introducing the cooperation target into the center of the field of view as a guide value;
s16: adjusting an optical system of the photoelectric theodolite to enable the cooperative target to form a clear image with uniform brightness and moderate size in a visual field; if the image processing subsystem can not stably extract the cooperative target or the imaging effect of the cooperative target is not good, repeating the step S12 until the necessary condition of extracting the cooperative target is met;
s17: carrying out rolling on the measuring ship and keeping the rolling isolation degree until the detection of the ship rolling isolation degree is finished; simultaneously tracking the cooperative target by the photoelectric theodolite, and recording ship shaking isolation data, wherein the recorded data comprises ship shaking data such as ship shaking time and the like, encoder values of an azimuth angle and a pitch angle, miss distance of the cooperative target in the azimuth direction and the pitch direction and the like; wherein the rolling amplitude is not less than 5 degrees, and the period for recording the ship rolling isolation data is not less than 5 ship rolling periods;
the tracking method of the cooperative target comprises the following steps:
1) Number-quote mode tracking: when the ship body shakes, the photoelectric theodolite guides the cooperative target to a visual field by taking the position of the cooperative target as a guide source, the target is kept not to depart from the visual field, the image processor can stably extract the target, and the target regularly shakes in the center of the visual field by taking a ship shaking period as a period;
2) Tracking in self-tracking mode: after the cooperative target is guided to the central area of the view field, when the image processor and the equipment have the capability of stably extracting and tracking the target, a self-tracking mode is carried out, and the target shakes at the center of the view field;
3) Earth manual mode tracking: after the cooperative target is guided to the central area of the visual field, the single lever is operated, and the target shakes in the central area of the visual field.
When the survey ship is shaken, one of a number-index mode tracking mode, a self-tracking mode or a ground manual mode tracking mode is selected to track the synthetic target; or switching between the guidance mode tracking, the self-tracking mode tracking or the earth manual mode tracking according to actual requirements to track the combined target.
S2: detecting the ship shaking isolation degree;
s21: calculating the deck pitch angle variable E of the photoelectric theodolite according to the data obtained in S14 j Delta E of earth pitch angle d Angle of change of deck angle j Delta angle of earth to earth d (ii) a The method comprises the following specific steps:
calculating the change amount E of the deck pitch angle of the photoelectric theodolite by adopting a calculation formula (4) and a calculation formula (5) j Delta E of earth pitch angle d ，
Equation (4) is:
；
equation (5) is:
；
wherein: e ji+ Measuring a peak value of a deck pitch angle in an ith ship rolling period;
E ji- measuring a valley value for the deck pitch angle of the ith ship roll period;
E di+ measuring a wave peak value for the ground pitch angle of the ith ship rolling period;
E di- measuring a valley value for the ground pitch angle of the ith ship roll period;
calculating the deck azimuth angle variation A of the electro-optic theodolite in the step S21 by adopting a calculation formula (6) and a calculation formula (7) j Delta angle of earth to earth d ，
Equation (6) is:
；
equation (7) is:
；
wherein: a. The ji+ Measuring a wave peak value for the deck azimuth angle of the ith ship shaking period;
A ji- measuring a valley value for the azimuth angle of the deck in the ith ship-shaking period;
A di+ measuring a wave crest value for the azimuth angle of the ith ship shaking period;
A di- the valley is measured for the geodetic azimuth for the ith ship roll period.
S22: adopting a calculation formula (8) to calculate the change quantity E according to the pitch angle of the deck j Delta E of earth pitch angle d Calculating pitching ship-rolling isolation G El (ii) a Adopting a calculation formula (9) to calculate the variable quantity A according to the azimuth angle of the deck j Angle of change of earth to d Calculating azimuth ship-sway isolation G Al ，
Equation (8) is:
；
equation (9) is:
。
while embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be taken as limiting the invention. Variations, modifications, substitutions and alterations of the above-described embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A ship-rocking isolation degree detection method of a photoelectric theodolite is characterized by comprising the following steps:
s1: tracking a cooperative target;
s11: an unmanned aerial vehicle with an optical cooperative target is equipped, the cooperative target is fixed on the unmanned aerial vehicle, and a light source is turned on; fixing the photoelectric theodolite and the local reference on the ship body;
s12: operating the unmanned aerial vehicle to fly away from the hull, and operating the unmanned aerial vehicle to fly to a position suitable for the azimuth angle of the hull deck system and the pitch angle of the hull deck system;
s13: the unmanned aerial vehicle sends a position coordinate value to the photoelectric theodolite in real time, and the local reference detects the position and the posture of the photoelectric theodolite at the same time;
s14: the photoelectric theodolite calculates the position of the unmanned aerial vehicle under a polar coordinate system of the photoelectric theodolite according to the position and the posture of the photoelectric theodolite detected by the local reference and the position of the unmanned aerial vehicle sent by the unmanned aerial vehicle;
s15: the servo subsystem of the photoelectric theodolite guides the cooperative target to the center of the view field according to the position value of the unmanned aerial vehicle under the polar coordinate system of the photoelectric theodolite, which is calculated in the step S14, as a guide value;
s16: adjusting an optical system of the electro-optic theodolite to enable a cooperative target to image in a visual field; if the image processing subsystem can not stably extract the cooperative target or the imaging effect of the cooperative target is not good, repeating the step S12 until the necessary condition of extracting the cooperative target is met;
s17: the method comprises the following steps of (1) performing lively shaking on a measuring ship, simultaneously tracking a cooperative target by a photoelectric theodolite, and recording ship shaking isolation data;
s2: detecting the ship shaking isolation degree;
s21: calculating the deck pitch angle variable E of the photoelectric theodolite according to the data obtained in S14 j Delta E of earth pitch angle d Angle of change of deck angle j Delta angle of earth to earth d ；
S22: Δ E according to the pitch angle of deck j Delta E of earth pitch angle d Calculating pitching ship-rolling isolation G El (ii) a Depending on the azimuth angle of the deck j Delta angle of earth to earth d Calculating azimuth ship-sway isolation G Al 。
2. The method for detecting the ship rocking isolation degree of the electro-optic theodolite according to claim 1, wherein the step S14 of calculating the position of the unmanned aerial vehicle under the electro-optic theodolite polar coordinate system specifically includes the following steps:
s141: if no relative motion exists between the photoelectric theodolite and the local reference, converting the geocentric rectangular coordinate system into a deck rectangular coordinate system, wherein the conversion formula is a formula (1):
wherein: h represents yawing, R represents rolling, and P represents pitching;
s142: convert deck rectangular coordinate system into deck polar coordinate system, specifically do: converting the position of the cooperation target into a polar coordinate system of the deck by using a formula (2), wherein the formula (2) is as follows:
wherein A is j Is the theoretical value of the azimuth angle of the deck，E j Is a theoretical value of a pitch angle of a deck;
s143: convert deck polar coordinate system into the measurement system, specifically do: correcting the system error to the measurement system through the formula (3), wherein the formula (3) is as follows:
wherein: g is the difference in orientation,cin order to be a function of the collimation error,hthe position of the magnetic pole is a zero position difference,bis the error of the horizontal axis and is,Iis the vertical axis error, α is the vertical axis tilt angle, A c To remove the deck azimuth value after the error, E c To remove the deck pitch angle value after the error.
3. The method for detecting the ship-roll isolation degree of the photoelectric theodolite according to claim 2, wherein in step S12, the unmanned aerial vehicle is operated to fly to a position suitable for an azimuth angle and a pitch angle of a ship deck system, specifically: when the pitch angle isolation degree is measured, the unmanned aerial vehicle is operated to fly to a position where the azimuth angle of the unmanned aerial vehicle and a ship deck system is 90 degrees +/-2 degrees or 270 degrees +/-2 degrees, and the pitch angle of the deck system is larger than 10 degrees.
4. The electro-optic theodolite roll isolation detection method of claim 3, wherein the unmanned aerial vehicle is operated to fly to a position at 0 ° ± 2 ° or 180 ° ± 2 ° azimuth to the hull deck system when measuring azimuthal isolation.
5. The electro-optical theodolite vessel rocking isolation detection method according to any one of claims 1 to 4, wherein in step S17 the electro-optical theodolite tracks a cooperative target by a tracking method of a digital-guided mode tracking, a self-tracking mode tracking or a ground manual mode tracking; after the survey vessel is shaken, one of a number-guidance mode tracking mode, a self-tracking mode or a ground manual mode tracking mode is selected to track the synthetic target; or switching between the guidance mode tracking, the self-tracking mode tracking or the earth manual mode tracking according to actual requirements to track the combined target.
6. The method according to claim 5, wherein the step S17 of generating the survey ship is performed with a rolling amplitude of not less than 5 °; and S17, recording the ship rolling isolation data, wherein the recorded period is not less than 5 ship rolling periods.
7. The method of claim 6, wherein the method for detecting the isolation of the electro-optic theodolite from the ship 'S pitch angle is characterized in that the method for calculating the change of the electro-optic theodolite' S deck pitch angle E in the step S21 is calculated by using a formula (4) and a formula (5) j Delta E of earth pitch angle d ，
Equation (4) is:
；
equation (5) is:
；
wherein: e ji+ Measuring a peak value of a deck pitch angle in an ith ship rolling period;
E ji- measuring a valley value for the deck pitch angle of the ith ship roll period;
E di+ measuring a wave peak value for the ground pitch angle of the ith ship rolling period;
E di- measuring a valley value for the ground pitch angle of the ith ship roll period;
calculating the deck azimuth angle variation A of the electro-optical theodolite in the step S21 by adopting a calculation formula (6) and a calculation formula (7) j Delta angle of earth to earth d ，
Equation (6) is:
；
formula (7) Comprises the following steps:
；
wherein: a. The ji+ Measuring a wave peak value for the deck azimuth angle of the ith ship shaking period;
A ji- measuring a valley value for the azimuth of the deck in the ith ship shaking period;
A di+ measuring a wave peak value for the azimuth angle of the ith ship shaking period;
A di- the trough is measured for the geodetic azimuth of the ith roll cycle.
8. The method of claim 7, wherein the pitching ship-sway isolation G of step S22 is calculated by using a formula (8) and a formula (9) El And azimuth ship roll isolation G Al ，
Equation (8) is:
；
equation (9) is:
。
9. the method of claim 8, wherein the light source is provided on the drone and matched with the optical system of the electro-optic theodolite and the detector response band in step S11.
10. The method according to claim 9, wherein the local reference is an inertial navigation system; and S12, after the unmanned aerial vehicle flies to a position suitable for the azimuth angle of the ship body deck system and the pitch angle of the ship body deck system, the unmanned aerial vehicle runs in a hovering mode or a ship body co-direction advancing mode.
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| CN103017793A (en) * | 2012-12-21 | 2013-04-03 | 中国科学院长春光学精密机械与物理研究所 | Method for stabilizing visual axis of ship-bone theodolite during ship swing |
| CN105930595A (en) * | 2016-04-27 | 2016-09-07 | 中国人民解放军63680部队 | Ship sway isolation degree static testing method based on tracking reality target |
| CN115077560A (en) * | 2022-05-30 | 2022-09-20 | 中国卫星海上测控部 | Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103017793A (en) * | 2012-12-21 | 2013-04-03 | 中国科学院长春光学精密机械与物理研究所 | Method for stabilizing visual axis of ship-bone theodolite during ship swing |
| CN105930595A (en) * | 2016-04-27 | 2016-09-07 | 中国人民解放军63680部队 | Ship sway isolation degree static testing method based on tracking reality target |
| CN115077560A (en) * | 2022-05-30 | 2022-09-20 | 中国卫星海上测控部 | Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system |
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